Dual-mode sensor for sensing distance and force of cabin inspection robot

Abstract

The embodiment of the invention discloses a dual-mode sensor for sensing the distance and force of a cabin inspection robot, and the dual-mode sensor comprises a sensor structure upper plate and a sensor structure lower plate, and the sensor structure upper plate and the sensor structure lower plate form an integrated structure through an elastic element. The first non-contact sensor is arranged on the outer side of the sensor structure upper plate so as to form a first non-contact sensor structure used for sensing a pressure difference signal corresponding to the approaching distance of an object to be detected; the target layer is used as a sensing surface of the second non-contact sensor; the second non-contact sensor is arranged on the inner side of the sensor structure lower plate so as to form a second non-contact sensor structure used for sensing a pressure signal corresponding to the approaching distance of the target object layer. According to the invention, non-contact force measurement is adopted, so that the feedback of the whole structure to a force signal is more stable, and the whole sensing capability of the sensor is not damaged, so that high durability and high sensitivity can be maintained.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a dual-mode sensor for distance and force sensing of a cabin inspection robot. Background Art

[0002] With the advancement of the era of industrial intelligence, complex and diverse scenarios will be the main application requirements of intelligent manipulators. Intelligent manipulators need to have stronger environmental perception, motion coordination and flexible adaptability, among which the environmental perception ability (sensor system) of intelligent manipulators will be one of their most critical capabilities.

[0003] At present, most existing sensors have a single interaction mode and can only perceive a single type of information, which limits the intelligence and integration of intelligent manipulators. Therefore, the performance of multi-mode sensors with multiple sensing functions has great research potential.

[0004] Specifically, since the ship engine room inspection robot is a highly integrated machine, it has many components that require electricity, that is, this type of sensor is too dependent on power supply, causing a burden on power supply and most of them can only perceive a single type of information. Summary of the invention

[0005] Based on this, in order to reduce the power supply burden of the cabin inspection robot, a dual-mode sensor based on friction nanogenerator technology that can perform self-powered sensing is proposed. Compared with traditional sensors, this sensor eliminates the dependence on power supply, and compared with traditional sensors that can only perform single sensing, it can simultaneously perceive force and distance.

[0006] In order to achieve the above-mentioned design objectives, the technical solution of the present invention is:

[0007] A dual-mode sensor for distance and force sensing of a cabin inspection robot, characterized by comprising:

[0008] An upper sensor structure plate and a lower sensor structure plate are arranged opposite to each other, wherein an elastic element is used to form an integrated structure between the upper sensor structure plate and the lower sensor structure plate;

[0009] A first non-contact sensor is arranged outside the upper plate of the sensor structure to form a first non-contact sensor structure for sensing a pressure difference signal corresponding to a proximity distance of an object to be measured;

[0010] A target layer, which is arranged on the inner side of the upper plate of the sensor structure and is used as a sensing surface of the second non-contact sensor;

[0011] The second non-contact sensor is arranged on the inner side of the lower plate of the sensor structure to form a second non-contact sensor structure for sensing the pressure signal corresponding to the approach distance of the target object layer. The approach distance of the target object layer can indirectly represent the pressure corresponding to the compression deformation of the elastic element caused by the object to be tested.

[0012] Optionally, in one embodiment, the first non-contact sensor / the second non-contact sensor adopts the same triboelectric sensor structure, which at least includes a non-contact sensor triboelectric layer and an electrode layer conductive sponge arranged in sequence.

[0013] Optionally, in one embodiment, the friction electric layer of the non-contact sensor is formed by mixing and solidifying graphene nano powder and silicone rubber in a certain proportion.

[0014] Optionally, in one embodiment, the content of the graphene nanopowder is 0.01wt% to 0.2wt%.

[0015] Optionally, in one embodiment, the sensor structure upper plate / sensor structure lower plate is made of PLA plate.

[0016] Optionally, in one embodiment, the targeting layer is made of FEP film material.

[0017] Optionally, in one embodiment, the targeting layer and the second non-contact sensor are arranged opposite to each other and have the same shape and size.

[0018] Implementing the embodiments of the present invention will have the following beneficial effects:

[0019] (1) The present invention converts external force signals into distance signals of internal non-contact sensors through the designed new integrated dual-mode sensor structure device, thereby realizing accurate perception of changes in external forces;

[0020] (2) The present invention realizes the reasonable application of non-contact sensors and simplifies the manufacturing process of sensors by making the sensors used for distance sensing and force sensing the same type of non-contact sensors;

[0021] (3) The present invention adopts a self-powered sensing structure based on friction nanogenerator technology. The friction nanogenerator can directly generate high voltage, which is very easy to collect compared with other signals, and does not require an external power supply, reducing the laying of power supply cables, saving a lot of costs and providing great convenience. It can effectively solve the defect that traditional sensors are mostly powered by the body. Once the power supply system has problems, the sensor cannot provide sensing function for the body;

[0022] (4) The dual-mode sensor of the present invention has a simple structure and is easy to disassemble and clean. Compared with the fixed range of traditional mechanical sensors, the range of the mechanical part of the sensor can be flexibly adjusted by replacing the spring that is easy to disassemble and assemble. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] in:

[0025] Figure 1 It is an overall schematic diagram corresponding to the dual-mode sensor of the present invention;

[0026] Figure 2 This is a schematic diagram of the overall structure corresponding to the dual-mode sensor of the present invention;

[0027] Figure 3 It is a schematic diagram of the structure of a first non-contact sensor corresponding to the dual-mode sensor of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of a second non-contact sensor corresponding to the dual-mode sensor of the present invention;

[0029] Figure 5 This is a schematic diagram of assembling a triboelectric sensor corresponding to the dual-mode sensor of the present invention;

[0030] Figure 6 It is a schematic diagram of the working principle of the dual-mode sensor of the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of the dual-mode sensor of the present invention when it is installed on a mechanical arm to work.

[0032] In the figure: 1. first non-contact sensor (external); 2. upper plate (PLA) of sensor structure; 3. elastic element; 4. second non-contact sensor (internal); 5. lower plate (PLA) of sensor structure; 6. target layer; 7. triboelectric layer of non-contact sensor; 8. conductive sponge of electrode layer of non-contact sensor; 9. reserved hole for spring of upper plate of first sensor structure; 10. grounding wire of first non-contact sensor; 11. grounding wire of second non-contact sensor. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. It is understood that the terms "first", "second", etc. used in the present invention can be used to describe various elements in this article, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element. For example, without departing from the scope of the present application, the first element can be referred to as the second element, and similarly, the second element can be the first element. Both the first element and the second element are elements, but they are not the same element.

[0035] Solve the shortcomings of existing technologies, such as Figure 1-Figure 5 As shown, in this embodiment, a dual-mode sensor for distance and force sensing of a cabin inspection robot is proposed, which is characterized by comprising:

[0036] An upper sensor structure plate 2 and a lower sensor structure plate 5 are arranged opposite to each other, wherein an elastic element 3 is used to form an integrated structure between the upper sensor structure plate 2 and the lower sensor structure plate 5;

[0037] A first non-contact sensor 1, which is arranged outside the upper plate 2 of the sensor structure to form a first non-contact sensor structure for sensing a pressure difference signal corresponding to a proximity distance of a detected object;

[0038] A target layer 6, which is arranged on the inner side of the upper plate 2 of the sensor structure and is used as a sensing surface of the second non-contact sensor;

[0039] The second non-contact sensor 4 is arranged on the inner side of the lower plate 5 of the sensor structure to constitute a second non-contact sensor structure for sensing the pressure signal corresponding to the approach distance of the target object layer. The approach distance of the target object layer can indirectly represent the pressure corresponding to the compression deformation of the elastic element caused by the object to be tested.

[0040] Based on the above structural design, it can be known that the first non-contact sensor (external) 1 of the dual-mode sensor is fixed on the outer side of the upper plate 2 (PLA) of the sensor structure, and the target layer 6 serving as the target of the second non-contact sensor 4 (inside) is fixed on the inner side of the upper plate 2 (PLA) of the sensor structure, and the second non-contact sensor 4 (inside) is fixed on the lower plate of the sensor structure through the sensor position reserved by the lower plate 5 (PLA) of the sensor structure; at the same time, the upper plate 2 (PLA) of the sensor structure and the lower plate 5 (PLA) of the sensor structure fix the two ends of the elastic element 3 through their respective spring reserved holes 9 so as to be connected as a whole, and at the same time, the grounding wires 10 and 11 are connected to the inside of the conductive sponge 8 of the electrode layer of the first non-contact sensor 1 / the second non-contact sensor 4.

[0041] Based on the above structure and scheme, it can be determined that Figure 6 As shown, when an external object approaches the first non-contact sensor, based on the principle of triboelectric effect, the electrons in the electrodes of the triboelectric layer 7 of the first non-contact sensor will be connected to the external circuit through the grounding wire and flow to the receiving device to realize charge transfer, thereby converting the signal of the external object approaching into an observable voltage signal. The distance between the external object and the first non-contact sensor is proportional to the change in the voltage signal, and the closer the distance, the greater the change; when the external object coincides with the external boundary of the first non-contact sensor, the force received by the dual-mode sensor is zero at this time. As the external object continues to apply external force to the dual-mode sensor, the spring between the upper plate of the sensor structure and the lower plate of the sensor structure will convert the mechanical signal change of the external force into the distance signal change between the internal FEP film and the second non-contact sensor by itself, thereby clearly sensing the change in force between the dual-mode sensor and the external object through the voltage change of the second non-contact sensor.

[0042] In some specific embodiments, the first non-contact sensor 1 / the second non-contact sensor 4 adopts the same triboelectric sensor structure, and the sensing division is different only due to the different positions and external configurations. Specifically, both of them at least include a non-contact sensor triboelectric layer 7 and an electrode layer conductive sponge 8 arranged in sequence, so that the non-contact sensor triboelectric layer 7 is completely embedded in the non-contact sensor electrode layer conductive sponge 8, which can significantly enrich the friction charge, increase the electrode area in the electrostatic field, thereby increasing the number of charged carriers induced in the electrode, enhancing the effect of electrostatic induction, and providing excellent sensing performance and performance. The first non-contact sensor 1 is installed on the outside of the upper plate of the sensor structure to detect the position or state of the external target object; the second non-contact sensor 4 is installed on the lower plate of the sensor structure on the opposite side of the upper plate of the sensor structure to detect the position or state of the FEP film.

[0043] In some more specific embodiments, the non-contact sensor triboelectric layer is formed by mixing and solidifying graphene nanopowder and silicone rubber in a certain proportion. In some more specific embodiments, the content of the graphene nanopowder is 0.01wt% to 0.2wt%; the preferred model of the silicone rubber is one of Ecoflex 0010, Ecoflex 0020, and Ecoflex 0030. The design of mixing graphene nanopowder in silicone rubber as the material of the non-contact sensor triboelectric layer can improve the overall charge capture ability through the mixing of graphene nanopowder to increase the friction charge density, thereby increasing the non-contact sensing ability of the non-contact sensor by enhancing the electrical output of the friction nanogenerator.

[0044] In some specific embodiments, Figure 2 As shown (the figure includes (a) and (b) two structural diagrams at different visual angles), the sensor structure upper plate 2 / sensor structure lower plate 5 adopts PLA plate, that is, the sensor structure upper plate 2 (PLA) and the sensor structure lower plate 5 (PLA) are both printed by a 3D printer using PLA material. Furthermore, the sensor structure upper plate 2 needs to reserve suitable holes and a flat area, and the holes include a first non-contact sensor mounting hole and a spring reserved hole. The first non-contact sensor mounting hole is used to ensure that the first non-contact sensor is firmly installed; the spring reserved hole is used to ensure that the spring can pass through and be fixed smoothly. At the same time, the area is a FEP film fixing area to ensure that the FEP film can be flatly fixed on the inner side of the sensor structure upper plate. Similarly, the sensor structure lower plate 5 also needs to reserve suitable holes, and the holes include a second non-contact sensor mounting hole and a spring reserved hole. The second non-contact sensor mounting hole is used to ensure that the second non-contact sensor is firmly installed; the spring reserved hole is used to ensure that the spring can pass through and be fixed smoothly.

[0045] In some specific embodiments, the targeting layer is made of FEP film material, which is fixed on the inner side of the upper plate of the sensor structure. The fixed targeting material used as the targeting layer of the second non-contact sensor (inside), i.e., as the sensing surface cooperating with the second non-contact sensor 4 (inside), is made of FEP film material. The FEP film material has a dielectric constant viscosity of 2.1 at high and low temperatures of 60HZ-60MHZ, has excellent chemical stability and thermal stability, can operate at high voltage and high frequency, and enhance the detection effect of the sensor.

[0046] In some specific embodiments, the targeting layer is aligned with the second non-contact sensor and has the same shape and size.

[0047] In some specific embodiments, the elastic element 3 is a spring and the number is multiple, in this case the number is 4, which are arranged at the four top corners of the plate structure through reserved holes on the upper plate of the sensor structure and the lower plate of the sensor structure, so that the upper and lower plates of the sensor structure are connected as a whole and provide elasticity.

[0048] In some more specific embodiments, the preferred wire diameter of the spring is one of 0.4 to 0.8 wire diameters (selectable as required), and the material of the grounding wires 10 and 11 mentioned above can be selected from one or more of silver, gold, platinum, copper, and iron.

[0049] The working principle of a dual-mode sensor for distance and force sensing of a cabin inspection robot disclosed in the present invention is as follows:

[0050] like Figure 7 First, the dual-mode sensor is installed on the robotic arm. When the cabin inspection robot is running, it drives the dual-mode sensor to pass over the plane. In the initial state, there is no charge transfer of the dual-mode sensor; preset scene 1---when a positively charged object approaches the first non-contact triboelectric sensor 1, its non-contact sensor triboelectric layer 7 will attract electrons from the outside to flow to the grounding wire 10. Then, as the positively charged object continues to approach the first non-contact triboelectric sensor 1, the amount of external charge attracted from the non-contact sensor triboelectric layer 7 will reach a maximum value; when the positively charged object gradually moves away, the non-contact sensor triboelectric layer 7 will flow to the outside through the grounding wire 10 to achieve electrical balance. Similarly, if the object is negatively charged, the electron transfer process between the electrode layer conductive sponge 8 and the outside will be opposite, and the potential difference between the non-contact triboelectric sensor 1 and the charged object will change with the change of the distance between them. At the same time, the pressure difference signal sensed by the non-contact triboelectric sensor is sent to the robotic arm, and this signal change can be used to determine whether the object appears or is close. At the same time, preferably, when the distance between the plane detected by the non-contact triboelectric sensor 1 and the robotic arm is fixed, the type of object material can be determined by the strength of the pressure difference signal when the object just appears, thereby determining the category of the object.

[0051] Secondly, when the cabin inspection robot senses an object through the non-contact triboelectric sensor 1 in the dual-mode sensor, it will drive the robot arm to grab the platform object. When the non-contact triboelectric sensor 1 contacts the surface of the object, the elastic element-spring inside the dual-mode sensor will be compressed and deformed, thereby shortening the distance between the upper plate 2 of the sensor structure and the lower plate 5 of the sensor structure; at the same time, the distance between the target object layer 6-FEP film fixed on the upper plate 2 of the sensor structure and the second non-contact sensor fixed on the lower plate 5 of the sensor structure is also shortened. Since the initial distance between the FEP film and the second non-contact sensor 4 and the initial material properties of the FEP film are fixed, the induction principle of the first non-contact triboelectric sensor described above can be used to judge the change in the distance between the upper plate 2 of the sensor structure and the lower plate 5 of the sensor structure, thereby inferring the compression deformation length of the spring, and the elastic modulus of the spring is also known, so the relationship between the pressure difference signal and the force change can be known, thereby judging the magnitude of the external force applied to the dual-mode sensor.

[0052] Implementing the embodiments of the present invention will have the following beneficial effects:

[0053] The force sensing part of the sensor structure described in the present invention does not judge the magnitude of the force by deformation generated by direct contact like traditional sensors, but adopts non-contact force measurement, which makes the feedback of the force signal of the whole structure more stable and does not destroy the overall sensing ability of the sensor. Therefore, the sensor structure designed in the form described in this case can maintain high durability and high sensitivity.

[0054] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A dual-mode sensor for distance and force sensing of a cabin inspection robot, characterized in that: include: An upper sensor structure plate and a lower sensor structure plate are arranged opposite to each other, wherein an elastic element is used to form an integrated structure between the upper sensor structure plate and the lower sensor structure plate; A first non-contact sensor is arranged outside the upper plate of the sensor structure to form a first non-contact sensor structure for sensing a pressure difference signal corresponding to a proximity distance of an object to be measured; A target layer, which is arranged on the inner side of the upper plate of the sensor structure and is used as a sensing surface of the second non-contact sensor; The second non-contact sensor is arranged on the inner side of the lower plate of the sensor structure to form a second non-contact sensor structure for sensing the pressure signal corresponding to the approach distance of the target object layer. The approach distance of the target object layer can indirectly represent the pressure corresponding to the compression deformation of the elastic element caused by the object to be tested.

2. A dual-mode sensor for distance and force sensing of a cabin inspection robot according to claim 1, characterized in that: The first non-contact sensor / the second non-contact sensor adopts the same triboelectric sensor structure, which at least includes a non-contact sensor triboelectric layer and an electrode layer conductive sponge arranged in sequence.

3. A dual-mode sensor for distance and force sensing of a cabin inspection robot according to claim 2, characterized in that: The friction electric layer of the non-contact sensor is formed by mixing and solidifying graphene nano powder and organic silicon rubber in a certain proportion.

4. A dual-mode sensor for distance and force sensing of a cabin inspection robot according to claim 3, characterized in that: The content of the graphene nano powder is 0.01wt% to 0.2wt%.

5. The dual-mode sensor for distance and force sensing of a cabin inspection robot according to claim 1, characterized in that: The sensor structure upper plate / sensor structure lower plate adopts a PLA plate.

6. A dual-mode sensor for distance and force sensing of a cabin inspection robot according to claim 1, characterized in that: The targeting layer is made of FEP film material.

7. The dual-mode sensor for distance and force sensing of a cabin inspection robot according to claim 1, characterized in that: The target layer and the second non-contact sensor are arranged opposite to each other and have the same shape and size.

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