Skin sensing system for mechanical movable component

Abstract

The invention relates to the field of skin perception, in particular to a skin perception system for a mechanical movable component. The problems that in an existing electronic skin, when a mechanical movable component covers the electronic skin to move and encounters an obstacle, the electronic skin cannot conduct sensing treatment in time, the mechanical movable component collides with the obstacle, and the electronic skin and the mechanical movable component are damaged are solved. The sensing unit, the data processing unit and the sensing control unit are arranged, so that in the moving process of the mechanical moving component covering the electronic skin, when the surrounding encounters an obstacle, the obstacle can be accurately captured, the electronic skin can sense and process the obstacle, and after sensing of the electronic skin is completed, the obstacle can be accurately captured. Therefore, the mechanical movable component is controlled and processed, and the mechanical movable component and the electronic skin are prevented from being damaged due to the fact that the mechanical movable component collides with an obstacle.

Description

Technical Field

[0001] The invention relates to the field of skin perception, and in particular to a skin perception system for a mechanical movable component. Background Art

[0002] Active components refer to various components in moving devices such as robots and mechanical arms. Each independent moving unit in the machine is called a component. Flexible electronic skin is generally covered on the robot's mechanical arm, which allows the robot to "feel" and flexibly avoid various obstacles encountered in its progress. Flexible electronic skin contains hundreds of independent sensors. With the help of information collected by the sensors, the robot can use the so-called "sense of touch" to control its direction, identify the surrounding situation, and find the best route. Covering electronic skin in mechanical active components can improve their efficiency. In existing electronic skins, when mechanical active components are covered with electronic skin and move, when encountering obstacles, the electronic skin cannot perceive and process them in time, causing the mechanical active components to collide with the obstacles, thereby causing damage to the electronic skin and the mechanical active components. Summary of the invention

[0003] (1) Technical issues to be solved

[0004] In order to overcome the problem in existing electronic skin that when the mechanical active component covers the electronic skin and moves, when encountering an obstacle, the electronic skin cannot perceive and process it in time, causing the mechanical active component to collide with the obstacle, thereby causing damage to the electronic skin and the mechanical active component.

[0005] (2) Technical solution

[0006] The technical solution of the present invention is: a skin sensing system for a mechanical movable component, comprising a mechanical movable component body and an electronic skin adhered to the surface of the mechanical movable component body; characterized in that: it also comprises a flexible substrate, a sensing unit, a data processing unit, and a sensing control unit, wherein a flexible substrate is installed between the sensing unit, the data processing unit, and the sensing control unit, and the sensing control unit is connected to the sensing unit through the data processing unit;

[0007] The sensing unit includes a main control module, an infrared sensor module or a pressure sensor module used in conjunction with the main control module. The infrared sensor module, the pressure sensor module and the main control module are connected via an interface to form a sensing unit.

[0008] The data processing unit includes a data acquisition module, a data fusion module, and a data transmission module. The data acquisition module, the data fusion module, and the data transmission module are connected through an interface to form a data processing unit;

[0009] The perception control unit includes a data processing module and a control module. The data processing module and the control module are connected via an interface to form a perception control unit.

[0010] Preferably, a composite structure of a sensing unit, a data processing unit and a sensing control unit is provided to replace the original single structure, so that when the mechanical movable component covering the electronic skin is in motion and encounters an obstacle in the surrounding area, the obstacle can be accurately captured, so that the electronic skin senses and processes the obstacle. After the electronic skin completes the sensing, the data processing unit processes the distance of the obstacle, and when the appropriate distance is reached, the data processing unit can transmit the data to the sensing control unit to control and process the mechanical movable component. When the mechanical movable component does not collide with the obstacle, the electronic skin can control the mechanical movable component to stop moving in time to avoid the collision between the mechanical movable component and the obstacle, thereby causing damage to the mechanical movable component and the electronic skin, further improving the electronic skin's ability to sense obstacles, increasing the safety performance of the mechanical movable component during movement, greatly improving the application capability of the electronic skin, making the electronic skin more widely used, and avoiding the mechanical movable component from being unable to sense obstacles in time during movement.

[0011] Furthermore, a soft protective film is installed on the surface of the perception unit, the data processing unit and the perception control unit to protect the perception unit, the data processing unit and the perception control unit, thereby protecting the perception unit, the data processing unit and the perception control unit and preventing the perception unit, the data processing unit and the perception control unit from being affected by dust and the like, causing poor contact and the like, thereby affecting the perception effect of obstacles.

[0012] Furthermore, the flexible substrate between the sensing unit, the data processing unit and the sensing control unit is adhered to each other up and down by double-sided tape, thereby improving the adhesion between the sensing unit, the data processing unit and the sensing control unit, and avoiding the separation and detachment of the sensing unit, the data processing unit and the sensing control unit due to poor adhesion when the sensing unit, the data processing unit and the sensing control unit are used for a long time.

[0013] Furthermore, data is transmitted between the perception control unit, the data processing unit and the perception unit via an interface, thereby enabling the perception control unit, the data processing unit and the perception unit to perform data transmission processing, further improving the perception effect of the mechanical movable component.

[0014] Furthermore, the flexible substrate is a flexible circuit board made of a polyamide film material, thereby improving the softness of the flexible substrate.

[0015] Furthermore, the soft protective film is made of PU film material, so that the soft protective film has good elasticity and high lightness, and can waterproof the sensing unit, the data processing unit and the sensing control unit, making the thickness of the soft protective film extremely thin.

[0016] Furthermore, a pressure buffer silicone layer is installed in the pressure sensing module inside the sensing unit, which can be used to buffer the force of collision with the outside world, thereby further improving the overall buffering effect.

[0017] Furthermore, thermally conductive silicone films are attached to the inside of the perception control unit, data processing unit and perception unit to conduct heat to the perception control unit, data processing unit and perception unit, thereby avoiding overheating of the perception control unit, data processing unit and perception unit due to long-term use, thereby affecting data processing.

[0018] Furthermore, the perception control unit, the data processing unit and the perception unit are sealed by silicone adhesive, thereby sealing the perception control unit, the data processing unit and the perception unit to prevent dust, water, etc. from entering the interior of the perception control unit, the data processing unit and the perception unit through the connection.

[0019] Furthermore, the perception control unit, the data processing unit and the perception unit are communicatively connected via a CAN bus interface, thereby enabling communication transmission processing, further improving utilization efficiency.

[0020] (3) Beneficial effects

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. By setting a composite structure of a sensing unit, a data processing unit and a sensing control unit to replace the original single structure, the mechanical active component covered with the electronic skin can accurately capture obstacles when encountering obstacles in the surrounding area during the movement, so that the electronic skin can sense and process the obstacles. After the electronic skin completes the sensing, the data processing unit processes the distance of the obstacle, and when the appropriate distance is reached, the data processing unit can transmit the data to the sensing control unit to control and process the mechanical active component. When the mechanical active component does not collide with the obstacle, the electronic skin can control the mechanical active component to stop moving in time to avoid the collision between the mechanical active component and the obstacle, thereby causing damage to the mechanical active component and the electronic skin, further improving the electronic skin's ability to sense obstacles, increasing the safety performance of the mechanical active component during the movement, greatly improving the application ability of the electronic skin, making the electronic skin more widely used, and avoiding the mechanical active component from failing to sense obstacles in time during the movement;

[0023] 2. Through the sensing unit, the distance between the mechanical active component covering the electronic skin and the obstacle is sensed and processed through the infrared sensor module and the pressure sensor module, so that the distance of the obstacle can be sensed in time. The distance between obstacles is accurately controlled through the infrared sensor module, which further improves the working efficiency of obstacle sensing. The pressure sensor module can sense the moment when the mechanical active component covering the electronic skin contacts the obstacle in time, thereby avoiding the collision between the mechanical active component covering the electronic skin and the obstacle. The main control module can control the infrared sensor module and the pressure sensor module, control the use of the infrared sensor module and the pressure sensor module, and transmit the sensed data to the data processing unit, further improving the sensing efficiency.

[0024] 3. The data transmitted from the sensing unit can be analyzed through the data processing unit. When the data is transmitted, the data is first collected and processed by the acquisition module. The collected data enters the data fusion module, and the data fusion module performs fusion analysis and processing on the collected data. When the data reaches the point where the movement of the mechanical active component covering the electronic skin needs to be stopped, the data fusion module transmits the data to the data transmission module, and then proceeds to the next step, so that the efficiency of data processing can be improved, and the sensing data can be processed in a timely manner;

[0025] 4. Through the sensing control unit, the motion of the mechanical active components covering the electronic skin can be controlled. When the data processing unit transmits the processed data, the data processing module further analyzes the data, and the analyzed data is transmitted to the control module. At this time, the control module transmits instructions to the main control unit that controls the mechanical active components, so as to control the movement of the mechanical active components covering the electronic skin to stop, further improving the efficiency of the sensing processing, and avoiding the mechanical active components covering the electronic skin from colliding with obstacles, causing damage to the mechanical active components covering the electronic skin, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Shown is a flow chart of the perception unit, data processing unit and perception control unit of the present invention;

[0027] Figure 2 What is shown is a schematic diagram of the overall perception process of the present invention;

[0028] Figure 3 Shown is a schematic diagram of the mechanical active component main body and electronic skin structure of the present invention;

[0029] Figure 4Shown is a schematic diagram of the three-dimensional structure of the electronic skin and sensing unit of the present invention;

[0030] Figure 5 Shown is a schematic diagram of the structure of the clamping assembly sensing unit, data processing unit and sensing control unit of the present invention;

[0031] Figure 6 Shown is a schematic diagram of the three-dimensional structure of the sensing unit and the flexible substrate of the present invention;

[0032] Figure 7 Shown is a schematic diagram of the three-dimensional structure of the data processing unit and the flexible substrate of the present invention;

[0033] Figure 8 Shown is a schematic diagram of the three-dimensional structure of the sensing control unit and the flexible substrate of the present invention;

[0034] Fig. 9 Shown is a schematic diagram of the flexible three-dimensional structure of the sensing unit of the present invention;

[0035] Fig.10 Shown is a schematic diagram of the three-dimensional structure of the flexible substrate of the present invention;.

[0036] Explanation of the reference numerals: 1-mechanical active component body, 12-electronic skin, 2-sensing unit, 3-data processing unit, 4-sensing control unit, 5-flexible substrate. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0038] Embodiment 1:

[0039] See also Figure 1-10 The present invention provides an embodiment: a skin sensing system for a mechanical movable component, comprising a mechanical movable component body 1 and an electronic skin 12 adhered to the surface of the mechanical movable component body 1; characterized in that: it also comprises a flexible substrate 5, a sensing unit 2, a data processing unit 3, and a sensing control unit 4, wherein the flexible substrate 5 is installed between the sensing unit 2, the data processing unit 3 and the sensing control unit 4, and the sensing control unit 4 is connected to the sensing unit 2 through the data processing unit 3;

[0040] The sensing unit 2 includes a main control module, an infrared sensor module or a pressure sensor module used in conjunction with the main control module. The infrared sensor module, the pressure sensor module and the main control module are connected through an interface to form a sensing unit 2. The distance between the mechanical active component 1 covering the electronic skin 12 and the obstacle is sensed by the infrared sensor module and the pressure sensor module, so that the distance of the obstacle can be sensed in time. The distance between the obstacles is accurately controlled by the infrared sensor module, which further improves the working efficiency of obstacle sensing. The pressure sensor module can sense the moment when the mechanical active component 1 covering the electronic skin 12 contacts the obstacle in time, so as to avoid the collision between the mechanical active component 1 covering the electronic skin 12 and the obstacle. The main control module can perform main control processing on the infrared sensor module and the pressure sensor module, and can control the use of the infrared sensor module and the pressure sensor module. The main control module can transmit the sensed data to the data processing unit 3, which further improves the sensing efficiency.

[0041] The data processing unit 3 includes a data acquisition module, a data fusion module, and a data transmission module. The data acquisition module, the data fusion module, and the data transmission module are connected through an interface to form a data processing unit 3, which can analyze the data transmitted from the sensing unit 2. When the data is transmitted, the data is first collected and processed by the acquisition module, and the collected data enters the data fusion module. The data fusion module performs fusion analysis and processing on the collected data. When the data reaches the point where the movement of the mechanical active component 1 covering the electronic skin 12 needs to be stopped, the data fusion module transmits the data to the data transmission module, so as to proceed to the next step, so that the efficiency of data processing can be improved, and the sensing data can be processed in time;

[0042] The perception control unit 4 includes a data processing module, a control module, and the data processing module and the control module are connected through an interface, thereby forming a perception control unit 4, which enables the motion control of the mechanical active component 1 covering the electronic skin 12. When the data processing unit 3 transmits the processed data, the data is further analyzed by the data processing module, and the analyzed data is transmitted to the control module. At this time, the control module transmits instructions to the main control unit that controls the mechanical active component, so as to control the movement of the mechanical active component 1 covering the electronic skin 12 to stop, further improving the efficiency of the sensing processing, and avoiding the mechanical active component 1 covering the electronic skin 12 from colliding with obstacles, causing damage to the mechanical active component 1 covering the electronic skin 12.

[0043] Embodiment 2:

[0044] See also Figure 5-6In this embodiment, the surfaces of the sensing unit 2, the data processing unit 3 and the sensing control unit 4 are all installed with a soft protective film, so as to protect the sensing unit 2, the data processing unit 3 and the sensing control unit 4, so as to protect the sensing unit 2, the data processing unit 3 and the sensing control unit 4, and prevent the sensing unit 2, the data processing unit 3 and the sensing control unit 4 from being affected by dust, etc., causing poor contact, etc., thereby affecting the perception effect of obstacles;

[0045] The flexible substrate 5 between the sensing unit 2, the data processing unit 3 and the sensing control unit 4 is attached up and down by double-sided adhesive, thereby improving the adhesion between the sensing unit 2, the data processing unit 3 and the sensing control unit 4, and avoiding the separation and falling of the sensing unit 2, the data processing unit 3 and the sensing control unit 4 due to poor adhesion when the sensing unit 2, the data processing unit 3 and the sensing control unit 4 are used for a long time;

[0046] The perception control unit 4, the data processing unit 3 and the perception unit 2 are connected through an interface to transmit data, so that the perception control unit 4, the data processing unit 3 and the perception unit 2 can perform data transmission processing, further improving the perception effect of the mechanical movable component 1;

[0047] The flexible substrate 5 is a flexible circuit board made of polyamide film, so that the softness of the flexible substrate 5 can be improved;

[0048] The soft protective film is made of PU film material, so that the soft protective film has good elasticity and high lightness, and can waterproof the sensing unit 2, the data processing unit 3 and the sensing control unit 4, making the thickness of the soft protective film extremely thin;

[0049] A pressure buffer silicone layer is installed in the pressure sensing module inside the sensing unit 2, which can be used to buffer the force of collision with the outside world, thereby further improving the overall buffering effect;

[0050] The inside of the sensing control unit 4, the data processing unit 3 and the sensing unit 2 are all affixed with thermally conductive silicone soft sheets, so as to conduct heat to the sensing control unit 4, the data processing unit 3 and the sensing unit 2, so as to avoid overheating of the sensing control unit 4, the data processing unit 3 and the sensing unit 2 due to long-term use, thereby affecting the processing of data;

[0051] The sensing control unit 4, the data processing unit 3 and the sensing unit 2 are sealed by a silicone adhesive, thereby sealing the sensing control unit 4, the data processing unit 3 and the sensing unit 2 to prevent dust, water and the like from entering the inside of the sensing control unit 4, the data processing unit 3 and the sensing unit 2 from the connection;

[0052] The perception control unit 4, the data processing unit 3 and the perception unit 2 are communicatively connected via a CAN bus interface, thereby enabling communication transmission processing, further improving usage efficiency.

[0053] When the main body 1 of the mechanical movable component covered with the electronic skin 12 is working, when an obstacle is encountered in the surrounding area, the distance between the mechanical movable component 1 covered with the electronic skin 12 and the obstacle is sensed and processed through the infrared sensing module and the pressure sensing module, so that the distance of the obstacle can be sensed in time, and the distance between the obstacles is accurately controlled by the infrared sensing module, which further improves the working efficiency of obstacle sensing. The pressure sensor module can sense in time when the mechanical movable component 1 covered with the electronic skin 12 contacts the obstacle, thereby avoiding the collision between the mechanical movable component 1 covered with the electronic skin 12 and the obstacle. The main control module can perform main control processing on the infrared sensing module and the pressure sensing module, and can control the use of the infrared sensing module and the pressure sensing module, and the main control module can transmit the sensed data to the data processing unit 3, which further improves the sensing efficiency. At this time, the data is transmitted to the data processing unit 3, and the data processing unit 3 analyzes the data transmitted from the perception unit 2. When the data is transmitted, First, the data is collected and processed by the collection module, and the collected data enters the data fusion module. The data fusion module fuses and analyzes the collected data. When the data reaches the point where the movement of the mechanical active component 1 covering the electronic skin 12 needs to be stopped, the data fusion module transmits the data to the data transmission module, and then proceeds to the next step, so that the efficiency of data processing can be improved, and the sensing data can be processed in time. Through the perception control unit 4, the movement of the mechanical active component 1 covering the electronic skin 12 can be controlled. When the data processing unit 3 transmits the processed data, the data processing module further analyzes the data, and the analyzed data is transmitted to the control module. At this time, the control module transmits instructions to the main control unit that controls the mechanical active component, so as to control the movement of the mechanical active component 1 covering the electronic skin 12 to stop, further improving the efficiency of the sensing processing, and avoiding the mechanical active component 1 covering the electronic skin 12 from colliding with obstacles, causing damage to the mechanical active component 1 covering the electronic skin 12, etc.

[0054] Through the above steps, when the mechanical active component 1 covered with the electronic skin 12 is in motion and encounters obstacles in the surrounding area, the obstacles can be accurately captured, so that the electronic skin 12 can sense and process the obstacles. After the electronic skin 12 completes the perception, the data processing unit 3 processes the distance of the obstacle and the like. When the appropriate distance is reached, the data processing unit 3 can transmit the data to the perception control unit 4, so as to control and process the mechanical active component 1. When the mechanical active component 1 does not collide with the obstacle, the electronic skin 12 can control the mechanical active component 1 to stop moving in time to avoid the collision between the mechanical active component 1 and the obstacle, thereby causing damage to the mechanical active component 1 and the electronic skin 12, further improving the electronic skin 12's ability to sense obstacles, increasing the safety performance of the mechanical active component 1 during movement, greatly improving the application ability of the electronic skin 12, making the electronic skin 12 more widely used, and avoiding the mechanical active component 1 from being unable to sense obstacles in time during movement.

[0055] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of those skilled in the art without departing from the spirit of the present invention.

Claims

1. A skin sensing system for a mechanical movable component, comprising a mechanical movable component body (1) and an electronic skin (12) adhered to the surface of the mechanical movable component body (1); characterized in that: It also comprises a flexible substrate (5), a sensing unit (2), a data processing unit (3), and a sensing control unit (4), wherein the flexible substrate (5) is installed between the sensing unit (2), the data processing unit (3), and the sensing control unit (4), and the sensing control unit (4) is connected to the sensing unit (2) via the data processing unit (3); The sensing unit (2) comprises a main control module, an infrared sensor module or a pressure sensor module used in conjunction with the main control module, and the infrared sensor module, the pressure sensor module and the main control module are connected via an interface, thereby forming the sensing unit (2); The data processing unit (3) comprises a data acquisition module, a data fusion module and a data transmission module, wherein the data acquisition module, the data fusion module and the data transmission module are connected via an interface, thereby forming the data processing unit (3); The perception control unit (4) comprises a data processing module and a control module. The data processing module and the control module are connected via an interface, thereby forming the perception control unit (4).

2. The skin sensing system for a mechanical movable component according to claim 1, characterized in that: The surfaces of the perception unit (2), the data processing unit (3) and the perception control unit (4) are all installed with a soft protective film, so as to protect the perception unit (2), the data processing unit (3) and the perception control unit (4).

3. The skin sensing system for a mechanical movable component according to claim 2, characterized in that: The flexible substrate (5) between the sensing unit (2), the data processing unit (3) and the sensing control unit (4) is adhered up and down by double-sided adhesive.

4. The skin sensing system for a mechanical movable component according to claim 3, characterized in that: Data is transmitted between the perception control unit (4), the data processing unit (3) and the perception unit (2) via an interface.

5. The skin sensing system for a mechanical movable component according to claim 4, characterized in that: The flexible substrate (5) is a flexible circuit board made of polyamide film material.

6. The skin sensing system for a mechanical movable component according to claim 5, characterized in that: The soft protective film is made of PU film material.

7. The skin sensing system for a mechanical movable component according to claim 6, characterized in that: A pressure buffering silicone layer is installed in the pressure sensing module inside the sensing unit (2), which can be used to buffer the force of collision with the outside world.

8. The skin sensing system for a mechanical movable component according to claim 7, characterized in that: The inside of the sensing control unit (4), the data processing unit (3) and the sensing unit (2) are all affixed with thermally conductive silicone soft films.

9. The skin sensing system for a mechanical movable component according to claim 8, characterized in that: The sensing control unit (4), the data processing unit (3) and the sensing unit (2) are sealed by means of a silicone adhesive.

10. The skin sensing system for a mechanical movable component according to claim 9, characterized in that: The perception control unit (4), the data processing unit (3) and the perception unit (2) are communicatively connected via a CAN bus interface.

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