A programmable robot control system

Abstract

The present invention provides a programmable robot control system, which relates to the technical field of robot control and includes: a flexible humidity sensor array, an energy storage module, a resistance acquisition device, Bluetooth, and a robot control terminal; the energy storage module powers the resistance acquisition device and Bluetooth, the flexible humidity sensor array is connected to the resistance acquisition device, the resistance acquisition device uploads the collected data to the robot control system through Bluetooth, and the robot control system processes the data and converts the data into corresponding control signals to control the movement of the programmable robot. The technical solution of the present invention overcomes the problem in the prior art that controlling a programming robot by a contact method is likely to cause the spread of bacteria or viruses.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and particularly relates to a programmable robot control system. Background Art

[0002] In the context of the Internet of Things era, most switches or interfaces for human-machine interaction (HMI) need to be manually touched to respond, which will inevitably lead to device wear and aging and affect its cleanliness. The human-machine interaction interfaces in public places such as elevator buttons and ATMs require non-contact operation to isolate the spread of viruses or bacteria. The water content of the human skin can account for 20% of the total water content of the human body, and the humidity on the skin surface will be significantly different from the environmental humidity, which makes it possible to control machines non-contact through a humidity sensor (HS). Based on this technology, it is expected to control programmable robots in a non-contact manner.

[0003] Therefore, there is a need for a programmable robot control system that reduces the spread of bacteria or viruses through a non-contact method. Summary of the Invention

[0004] The main purpose of the present invention is to provide a programmable robot control system to solve the problem that controlling a programming robot by a contact method in the prior art is likely to cause the spread of bacteria or viruses.

[0005] To achieve the above object, the present invention provides a programmable robot control system, including: a flexible humidity sensor array, an energy storage module, a resistance acquisition device, Bluetooth, and a robot control terminal; the energy storage module powers the resistance acquisition device and Bluetooth, the flexible humidity sensor array is connected to the resistance acquisition device, the resistance acquisition device uploads the collected data to the robot control system through Bluetooth, and the robot control system processes the data and converts the data into corresponding control signals to control the movement of the programmable robot.

[0006] Further, the resistance acquisition module has multiple channels, and the multiple channels simultaneously acquire the resistance values of multiple flexible humidity sensors on the flexible humidity sensor array.

[0007] Further, the energy storage module includes: a DC power supply, or a triboelectric nanogenerator (TENG), or an electromagnetic generator (EMG), or other energy supply devices.

[0008] Further, the preparation method of the flexible humidity sensor includes the following steps:

[0009] S1, preparing an Ag / PEDOT:PSS material.

[0010] S2, preparing an interdigital electrode substrate.

[0011] S.3. Print the Ag / PEDOT:PSS material onto the interdigital electrodes using the screen printing method to complete the preparation of the flexible humidity sensor.

[0012] Further, step S1 specifically includes the following steps:

[0013] S1.1. Prepare 3,4-ethylenedioxythiophene (EDOT) as the monomer, polystyrene sulfonic acid (PSS) as the dopant, and sodium persulfate (Na2S2O8) as the oxidant.

[0014] S1.2. Dissolve 2 g of PSS in 100 ml of water, and then add 1 g of the Na2S2O8 oxidant to form a homogeneous solution.

[0015] S1.3. Dissolve 0.5 mM of silver nitrate (AgNO3) in deionized water to prepare an AgNO3 solution, and add it to the solution obtained in step S2.

[0016] Further, it is characterized in that step S1 further includes the following steps:

[0017] S1.4. Prepare a reducing agent solution with 10 mM of sodium borohydride (NaBH4), and slowly add the NaBH4 solution and 5 g of the EDOT monomer dropwise to the solution under stirring conditions.

[0018] S1.5. Magnetically stir at 0 °C for 24 hours, add 10 mM of citric acid (C6H8O7) as a stabilizer during the reaction and stir to finally obtain a PEDOT / PSS solution doped with Ag nanoparticles.

[0019] S1.6. After the reaction, wash the mixture with deionized water to remove the residual oxidant and unreacted monomer, and then perform centrifugal purification for 10 h using a centrifuge to obtain a pure Ag / PEDOT:PSS material.

[0020] Further, step S2 specifically includes the following steps:

[0021] S2.1. Select a planar flexible PCB circuit board with polyimide as the substrate.

[0022] S2.2. Uniformly sputter a layer of Cu / Ni metal film on the surface of the PCB circuit board to form interdigital meander electrodes.

[0023] S2.3. Use the spin coating method to coat a uniform, strongly adherent and defect-free photoresist film on the surface of the PCB circuit board.

[0024] S2.4. Use a photolithography machine to irradiate the PCB circuit board covered with a mask plate with ultraviolet light to change the solubility of the photoresist in the irradiated area.

[0025] S2.5, Immerse the PCB circuit board covered with the mask in the developer to remove the photoresist in the unexposed part, forming a three-dimensional mask pattern.

[0026] S2.6, Use wet etching technology to remove the Cu / Ni thin film not protected by the photoresist in the mask pattern, thereby forming interdigital meander metal electrodes on the surface of the PCB circuit board.

[0027] S2.7, Remove the remaining photoresist through the stripping process, only retaining the Cu / Ni electrode pattern formed on the surface of the PCB circuit board, and then forming an interdigital electrode substrate.

[0028] Furthermore, step S3 specifically includes the following steps:

[0029] S3.1, Fix the pre-fabricated screen printing plate on the interdigital electrode substrate, apply pressure on the interdigital electrode substrate using a squeegee, and move from one end of the screen printing plate to the other end, so that the Ag / PEDOT:PSS material passes through the pattern area of the screen and is evenly extruded onto the interdigital electrode substrate, forming a thin film with a specific pattern.

[0030] S3.2, Anneal the obtained thin film and the interdigital electrode substrate in a nitrogen-filled glove box at 230 °C for 30 minutes to complete the preparation of the flexible humidity sensor.

[0031] Furthermore, the planar flexible PCB circuit board has a size of 1×1.2 cm and a bottom plate thickness of 1 mm.

[0032] Furthermore, the effective area of the Cu / Ni electrodes of the interdigital electrode substrate is 8×6 mm, the electrode line width and line gap are both 200 μm, and the thickness is 20 μm.

[0033] The present invention has the following beneficial effects:

[0034] In the present invention, Ag nanoparticles are introduced into PEDOT, and polystyrene sulfonic acid (PSS) is used as a dopant to form an Ag / PEDOT:PSS material. A humidity sensor with good conductivity and flexibility is designed, and the humidity sensor is applied to the control system of an editable robot. Through characterization methods such as SEM, TEM, XRD, and XPS, the morphology and molecular structure of Ag / PEDOT:PSS are clearly understood. Then, a high-precision humidity sensor is fabricated on a meander electrode substrate by screen printing. Ag / PEDOT:PSS combines the high conductivity of silver nanoparticles with the excellent film-forming property, flexibility, and humidity response characteristics of PEDOT:PSS, showing excellent sensing performance: humidity signal response (219%), response / recovery time (2.3 s / 16.2 s @ 83% humidity), repeatability, and long-term stability (more than 30 days), etc. The excellent working performance and simple usage method enable it to have a wide range of application scenarios in the fields of wearable devices, education and training, intelligent medical care, etc. It provides a technical possibility for the intelligent transformation of the social welfare industry. Description of the Drawings

[0035] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. In the drawings:

[0036] Figure 1 Shows the structural diagram of a programmable robot control system of the present invention.

[0037] Figure 2 Shows the SEM image of the PEDOT:PSS material.

[0038] Figure 3 Shows the SEM image of the Ag material.

[0039] Figure 4 Shows the Ag / PEDOT:PSS material.

[0040] Figure 5 Shows the TEM image of the PEDOT:PSS material.

[0041] Figure 6 Shows the TEM image of the Ag material.

[0042] Figure 7 Shows the distribution map of Ag element in the Ag / PEDOT:PSS material.

[0043] Figure 8Shows the C element distribution map in the Ag / PEDOT:PSS material.

[0044] Figure 9 Shows the O element distribution map in the Ag / PEDOT:PSS material.

[0045] Figure 10 Shows the S element distribution map in the Ag / PEDOT:PSS material.

[0046] Figure 11 Shows the xrd patterns of Ag, PEDOT:PSS, and Ag / PEDOT:PSS materials.

[0047] Figure 12 Shows the total measurement spectrogram.

[0048] Figure 13 Shows the spectrogram of Ag.

[0049] Figure 14 Shows the spectrogram of O1s.

[0050] Figure 15 Shows the spectrogram of c 1s.

[0051] Figure 16 Shows the spectrogram of S2p.

[0052] Figure 17 Shows the resistance curves of sensors made of PEDOT:PSS material and Ag / PEDOT:PSS material at different humidities.

[0053] Figure 18 Shows the response curves of sensors made of Ag and Ag / PEDOT:PSS materials at different humidities.

[0054] Figure 19 Shows the fitting curves of the responses of sensors made of Ag and Ag / PEDOT:PSS materials at different humidities.

[0055] Figure 20 Shows the up and down test curves of sensors made of Ag and Ag / PEDOT:PSS materials.

[0056] Figure 21 Shows the hysteresis characteristic diagram of the sensor made of Ag / PEDOT:PSS material at relative humidity of 0 - 97%.

[0057] Figure 22 Shows the response / recovery time curves of sensors made of Ag and Ag / PEDOT:PSS materials at 83% humidity.

[0058] Figure 23The response curve of the sensor made of Ag / PEDOT:PSS material during continuous testing under 0-97% humidity is shown.

[0059] Figure 24 The repeatability curve of the sensor made of Ag / PEDOT:PSS material under 10% and 50% humidity conditions is shown.

[0060] Figure 25 The stability curve of the sensor made of Ag / PEDOT:PSS material under different humidities is shown.

[0061] Figure 26 The response curves of fast, normal, and slow breathing of the sensor based on Ag / PEDOT:PSS material are shown.

[0062] Figure 27 The response curves of deep and shallow breathing of the sensor based on Ag / PEDOT:PSS material are shown. Detailed implementation

[0063] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0064] Embodiment 1

[0065] As Figure 1 shown, a programmable robot control system includes: a flexible humidity sensor array, an energy storage module, a resistance acquisition device, Bluetooth, and a robot control terminal; the energy storage module powers the resistance acquisition device and Bluetooth, the flexible humidity sensor array is connected to the resistance acquisition device, the resistance acquisition device uploads the collected data to the robot control system through Bluetooth, the robot control system processes the data and converts it into corresponding control signals to control the movement of the programmable robot. The non-contact sliding of the finger on the flexible humidity sensor array can change the resistance value of the flexible humidity sensor. After receiving these time-varying electrical signals, the programmable robot will perform a series of actions, such as walking forward, walking backward, and turning left. The resistance acquisition device acquires the resistance value of each flexible humidity sensor and wirelessly transmits it to the wireless receiving module on the robot through Bluetooth. After receiving the resistance value of the flexible humidity sensor array, the robot control terminal processes the data and converts it into corresponding control signals to control the movement of the robot. In addition, this system is expected to control ATMs, elevators, robots, unmanned aerial vehicles, and robotic vehicles in a non-contact manner.

[0066] Specifically, the resistance acquisition module has multiple channels, and the multiple channels simultaneously acquire the resistance values of multiple flexible humidity sensors on the flexible humidity sensor array. The resistance values are wirelessly transmitted to the robot control terminal via Bluetooth. The robot control terminal will process the received resistance data to obtain the humidity of each flexible humidity sensor and execute corresponding response programs according to the humidity results.

[0067] Specifically, the energy storage module includes: a DC power supply, or a triboelectric nanogenerator TENG, or an electromagnetic generator EMG, or other energy supply devices.

[0068] Specifically, the preparation method of the flexible humidity sensor includes the following steps:

[0069] S1. Prepare Ag / PEDOT:PSS material. PEDOT is poly(3,4-ethylenedioxythiophene)-polystyrene sulfonate.

[0070] S2. Prepare an interdigital electrode substrate.

[0071] S3. Use the screen printing method to print the Ag / PEDOT:PSS material onto the interdigital electrodes to complete the preparation of the flexible humidity sensor.

[0072] Specifically, step S1 specifically includes the following steps:

[0073] S1.1. Prepare 3,4-ethylenedioxythiophene EDOT as a monomer, polystyrene sulfonic acid PSS as a dopant, and sodium persulfate Na2S2O8 as an oxidant.

[0074] S1.2. Dissolve 2 g of PSS in 100 ml of water, and then add 1 g of Na2S2O8 oxidant to form a homogeneous solution.

[0075] S1.3. Dissolve 0.5 mM of silver nitrate AgNO3 in deionized water to prepare an AgNO3 solution, and add it to the solution obtained in step S2.

[0076] Specifically, it is characterized in that step S1 further includes the following steps:

[0077] S1.4. Prepare a reducing agent solution with 10 mM of sodium borohydride NaBH4, and slowly drop the NaBH4 solution and 5 g of EDOT monomer into the solution under stirring conditions.

[0078] S1.5, Stir magnetically at 0 °C for 24 hours. To prevent the aggregation of Ag nanoparticles, 10 mM citric acid C6H8O7 is added as a stabilizer during the reaction and stirred. Finally, a PEDOT / PSS solution doped with Ag nanoparticles is obtained. EDOT polymerizes into PEDOT under the action of sodium persulfate gallium oxide, while PSS plays a doping role to enhance the conductivity of PEDOT.

[0079] S1.6, After the reaction, wash the mixture with deionized water to remove residual oxidants and unreacted monomers, and then centrifuge and purify it for 10 h by a centrifuge to obtain a pure Ag / PEDOT:PSS material.

[0080] Specifically, step S2 specifically includes the following steps:

[0081] S2.1, Select a planar flexible PCB circuit board with polyimide as the substrate.

[0082] S2.2, Sputter a layer of Cu / Ni metal film evenly on the surface of the PCB circuit board to form interdigital meander electrodes.

[0083] S2.3, Use the spin coating method to coat a uniform, strongly adherent and defect-free photoresist film on the surface of the PCB circuit board for subsequent pattern transfer.

[0084] S2.4, Use a lithography machine to irradiate the PCB circuit board covered with a mask plate with ultraviolet light, so that the solubility of the photoresist in the irradiated area changes.

[0085] S2.5, Immerse the PCB circuit board covered with a mask plate in a developer to remove the unexposed part of the photoresist and form a three-dimensional mask pattern.

[0086] S2.6, Use wet etching technology to remove the Cu / Ni film not protected by the photoresist in the mask pattern, thereby forming interdigital meander metal electrodes on the surface of the PCB circuit board.

[0087] S2.7, Remove the remaining photoresist through a stripping process, leaving only the Cu / Ni electrode pattern formed on the surface of the PCB circuit board, and then form an interdigital electrode substrate.

[0088] Specifically, step S3 specifically includes the following steps:

[0089] S3.1, Fix the prefabricated screen printing plate on the interdigital electrode substrate, apply pressure on the interdigital electrode substrate with a squeegee, and move from one end of the screen printing plate to the other end, so that the Ag / PEDOT:PSS material passes through the pattern area of the screen and is evenly extruded onto the interdigital electrode substrate to form a film with a specific pattern.

[0090] S3.2. Anneal the obtained thin film and the interdigital electrode substrate in a glove box filled with nitrogen at 230 °C for 30 minutes to complete the preparation of the flexible humidity sensor.

[0091] Specifically, the planar flexible PCB circuit board has a size of 1×1.2 cm and the bottom plate thickness is 1 mm.

[0092] Specifically, the effective area of the Cu / Ni electrode of the interdigital electrode substrate is 8×6 mm, the electrode line width and line gap are both 200 μm, and the thickness is 20 μm.

[0093] The surface morphologies of PEDOT:PSS, Ag, and Ag / PEDOT:PSS composites were characterized by scanning electron microscopy (SEM, Hitachi S-4800). Figure 2 The morphology of PEDOT:PSS is shown. The overall material is relatively flat, with wrinkles and protrusions on the surface. Figure 3 The SEM image of Ag shows loosely packed silver nanoparticles. Figure 4 The SEM image of the Ag / PEDOT:PSS composite is shown. It can be observed that PEDOT:PSS is filled between the loosely packed silver nanoparticles, which is beneficial to improving the conductivity of the composite. On the one hand, PEDOT:PSS is filled between the gaps of the loosely packed Ag nanoparticles, fully connecting the Ag nanoparticles and reducing the contact resistance between the silver nanoparticles, thus significantly improving the conductivity of Ag. On the other hand, the Ag in PEDOT:PSS also enhances the conductivity of PEDOT:PSS by providing additional conductive pathways. As Figure 5 shown, the TEM image of PEDOT:PSS shows its thin film structure. Figure 6 The TEM image shows evenly distributed Ag nanoparticles. From Figures 7 - 10 the elemental mapping image of the Ag / PEDOT:PSS composite shown, it can be seen that Ag, C, O, and S elements are evenly distributed in the material, indicating the successful preparation of the Ag / PEDOT:PSS composite.

[0094] X-ray diffraction (XRD) characterization was performed on Ag, PEDOT:PSS, and Ag / PEDOT:PSS samples. The model of the X-ray diffractometer used was D8 ADVANCE, and the radiation used was Cu Kα radiation The results are as Figure 11As shown, the diffraction peak of the PEDOT:PSS material at 2θ = 26° corresponds to the (020) plane of the orthorhombic unit cell. Many diffraction peaks can be seen from the diffraction peaks of Ag. The data was taken in the 2θ range from 30 to 80 degrees with a step size of 0.0202 degrees. The data is in agreement with the JCPDS standard powder diffraction card (04 - 0783). In the diffraction pattern, five peaks at 2θ values of 38.18, 44.37, 64.49, 77.46, and 81.57 degrees were identified as Ag, corresponding to the -(111), (200), (220), (311), and (222) planes of Ag. The XRD pattern of Ag / PEDOT:PSS contains all the diffraction peaks of pure Ag and pure PEDOT:PSS materials, further proving the presence of Ag and PEDOT:PSS. To further analyze the elemental composition of the Ag / PEDOT:PSS composite material, the present invention characterized it by XPS, as Figures 11 - 15 shown. In the total XPS spectrum of the Ag / PEDOT:PSS composite material, that is, Figure 12 , the peaks of O, Ag, C, and S can be clearly seen, which also proves the successful synthesis of the Ag / PEDOT:PSS material. The effect of the addition of Ag on the electronic structure of PEDOT:PSS was analyzed by XPS. Figure 13 is the Ag 3d spectrum of the sample, accurately determining the doublet characteristics of Ag 3d5 / 2 and Ag 3d3 / 2. The Ag 3d5 / 2 and Ag 3d3 / 2 peaks are located at energy spectrum values of 368.48 and 374.68 eV respectively, indicating that the Ag nanoparticles are in the metallic state in PEDOT and PSS. In addition, the O1s spectrum ( Figure 14 ) has a peak at 533 eV, which is related to the C=O bond in PEDOT. The peak near 531 eV is related to the C-O bond in PSS. As Figure 15 shown, the XPS energy level spectrum of C1s has an obvious peak near 284.8 eV, belonging to the C-C bond, and a shoulder peak near 286 eV, belonging to the C-O bond. At the same time, the C1s spectrum of the sample shows a typical oxygen-containing polymer, with an additional oscillating peak appearing at 298.11 eV, corresponding to the O-C-O bond. As Figure 16 shown, the two S2p XPS peaks in the binding energy range of 162 eV to 166 eV belong to the S atoms in the PEDOT chain, and the S2p XPS peaks in the binding energy range of 166 eV to 172 eV belong to the S atoms in the PSS chain.

[0095] The flexible humidity sensor prepared by the present invention was successively placed in humidity glass bottles with different saturated salt solutions to prepare humidities from 0% to 97%. After the resistance of the flexible humidity sensor stabilized at each humidity, it was placed in 0% humidity to restore its resistance. After the resistance recovered to the initial value, it was put into the humidity of the next concentration for testing.

[0096] Figure 17 shows the resistance changes of sensors based on pure PEDOT:PSS material and Ag / PEDOT:PSS material at different humidities from 11% to 97%. The resistance of the sensor increases with the increase in humidity concentration. The resistances of the sensors made of PEDOT:PSS and Ag / PEDOT:PSS materials at 0% humidity are approximately 73.2 kΩ and 252.6 kΩ respectively, which indicates that the doping of Ag reduces the resistance of the sensor. The presence of Ag nanoparticles in PEDOT:PSS increases its highest occupied molecular orbital (HOMO) level and reduces its work function. Reducing the work function can improve the conductivity of PEDOT:PSS. At the same time, the sensor with reduced resistance is more conducive to being adapted to the signal acquisition circuit for the integrated design of the humidity monitoring system. To better quantify and compare the performance of the sensors, we convert the resistance of the sensors into response. The responses of the sensors made of PEDOT:PSS and Ag / PEDOT:PSS materials at different humidities are as Figure 18 shown. It can be seen that the response of the sensor made of Ag / PEDOT:PSS material is higher than that of the sensor made of PEDOT:PSS material, which indicates that the Ag / PEDOT:PSS material has better humidity sensing effect. The calculation method of the response (S) is as follows:

[0097]

[0098] where, R g is the resistance of the sensor at a certain concentration of humidity. R a is the resistance of the sensor at 0% humidity. As Figure 19 shown, the fitting curves of the sensors made of PEDOT:PSS and Ag / PEDOT:PSS materials indicate that with the increase in humidity concentration, the response of the sensor gradually increases. The fitting functions of the resistance values (Y) and relative humidity (X) of the sensors made of PEDOT:PSS and Ag / PEDOT:PSS materials are Y = 42.4 + 1.7*X and Y = 67.7 + 1.7*X respectively, and the regression coefficients R2 are 0.9526 and 0.9571 respectively, indicating that the fitting formulas are very accurate.

[0099] Figure 20 shows the response changes caused by the increase in humidity (11 - 97% humidity) and the decrease in humidity (97 - 11% humidity). The response curves obtained through the upward test and the downward test are basically symmetric. It is proved that the sensor made of Ag / PEDOT:PSS material has excellent adsorption - desorption performance. Based on the above test results, a hysteresis curve is drawn, as Figure 21 shown, and it can be seen that the hysteresis effect of the sensor made of Ag / PEDOT:PSS material can be ignored.

[0100] Figure 22 The response / recovery curves of the Ag / PEDOT:PSS material-based sensor at a humidity of 83% are shown. The response / recovery times refer to the time taken for the response value to rise from the stable response value to 90% and the time taken for the stable response value to drop to 10%, respectively. As can be seen from the figure, the response time of the Ag / PEDOT:PSS sensor is 2.3 s and the recovery time is 16.2 s. As Figure 23 shown, when the humidity level continuously rises from 0% to 97%, the response of the Ag / PEDOT:PSS sensor rises from 0% to 218.35%. The repeatability measurement of the Ag / PEDOT:PSS thin-film sensor is as Figure 24 shown. Three repeated measurements are carried out at two humidity levels of 10% and 50%, and the resistance values are basically the same in the three measurements. Therefore, the Ag / PEDOT:PSS thin-film sensor exhibits excellent repeatability.

[0101] Finally, the long-term stability of the Ag / PEDOT:PSS material-based sensor is tested, as Figure 25 shown. At humidities of 23%, 43%, and 83%, the response of the sensor is measured every 10 days. It can be seen that the response deviation of the Ag / PEDOT:PSS material-based sensor at different humidities is less than 5% as time increases, indicating its excellent long-term stability.

[0102] The high humidity sensing performance of the sensor based on Ag / PEDOT:PSS material stems from the inherent synergistic effect of PEDOT:PSS and Ag on water adsorption. H2O molecules can react with the available sites of PSS in PEDOT:PSS. Under high humidity conditions, the sulfonic acid groups in the PSS region are completely deprotonated, resulting in film swelling. Due to this swelling, the distance between adjacent PEDOTs increases. The increased spacing hinders the inter-chain and hopping conduction of electrons between PEDOT structures, thus leading to an increase in resistance. At the same time, the hydroxyl functional groups in PEDOT:PSS can increase hydrogen bonding and interaction with water molecules, thereby achieving a high response of the sensor. At high humidity, hydrogen bonds bind to water molecules, resulting in a higher level of swelling. Therefore, higher humidity results in greater spacing and higher resistance. Ag is a good oxygen adsorption catalyst and can chemisorb and dissociate O2 under atmospheric conditions, thus promoting the interaction between oxygen functional groups and water molecules. The formation of a complex among Ag, PEDOT, and PSS forces a conformal change in PEDOT, resulting in more delocalized charges. The Ag nanoparticle clusters may cause the PEDOT:PSS molecules to form a morphological structure conducive to charge transport, thus forming a better conductive channel in Ag / PEDOT:PSS. Therefore, compared with PEDOT:PSS, PEDOT:PSS interacting with Ag nanoparticles provides a larger surface area, enabling a faster electron transfer rate between the Ag / PEDOT:PSS film and the surrounding electrolyte. At the same time, the enhanced electron transfer in the Ag / PEDOT:PSS material is also attributed to the charge hopping of the metal conductor Ag nanoparticles, and the Ag nanoparticles mediate the migration of effective charges in PEDOT:PSS. With the formation of Ag nanoparticles, the structural disorder and π-conjugation of PEDOT:PSS increase.

[0103] Example Two

[0104] The flexible humidity sensor provided by the present invention can also be applied to wearable devices.

[0105] The humidity near the mouth and nose changes periodically during exhalation and inhalation. By monitoring this humidity change, the respiratory rate of the object under test can be monitored in real time to reflect his working, learning, health and other states. Based on the designed Ag / PEDOT:PSS humidity sensor, the present invention designs a wearable respiratory monitoring device. This device integrates high sensitivity and real-time monitoring functions and is applicable to a wide range of health and environmental applications. A data acquisition and wireless transmission system is designed using the STM32F107VCT6 single-chip microcomputer and the Bluetooth wireless transmission module, which can wirelessly transmit the humidity change data triggered by breathing to mobile phones and computers. At the same time, thanks to the low-power consumption characteristics of the Ag / PEDOT:PSS sensor (i.e., the flexible humidity sensor provided by the present invention), the battery life of the device is significantly improved. It has a small structural size, which is convenient for later wearable integration. By integrating the Ag / PEDOT:PSS humidity sensor into a mask, the acquisition and wireless transmission of respiratory data to a computer and a mobile phone can be realized. Figure 26 The response curves of the Ag / PEDOT:PSS humidity sensor during rapid breathing, normal breathing, and rapid breathing are shown. The respiratory rates in the three cases are approximately 70 breaths per minute, 24 breaths per minute, and 6 breaths per minute, respectively. When exhaling, the humidity increases, so the response value of the Ag / PEDOT:PSS humidity sensor increases. When inhaling, the humidity decreases, and the response value of the sensor also decreases. At the same time, for problem populations such as asthma patients, sudden deep breathing and gradual recovery will occur. Therefore, we also tested the response value change curve of the Ag / PEDOT:PSS humidity sensor when breathing gradually becomes shallower after deep breathing first, as Figure 27 shown. The design of the monitoring device takes into account comfort, stability, and the accuracy of data acquisition, and can meet the requirements of medical care, sports monitoring, and other humidity-sensitive application scenarios.

[0106] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions, or substitutions made by those skilled in the art within the scope of the essence of the present invention should also fall within the protection scope of the present invention.

Claims

1. A programmable robot control system, characterized in that: include: Flexible humidity sensor array, energy storage module, resistance collection device, Bluetooth and robot control terminal; the energy storage module supplies power to the resistance collection device and Bluetooth, the flexible humidity sensor array is connected to the resistance collection device, the resistance collection device uploads the collected data to the robot control system via Bluetooth, the robot control system processes the data and converts the data into corresponding control signals to control the movement of the programmable robot; The method for preparing the flexible humidity sensor comprises the following steps: S1, preparation of Ag / PEDOT:PSS material; S2, preparing an interdigitated electrode substrate; S3, using screen printing to print Ag / PEDOT:PSS material onto the interdigital electrodes to complete the preparation of the flexible humidity sensor; Step S1 specifically includes the following steps: S1.1, prepare 3,4-ethylenedioxythiophene EDOT as a monomer, polystyrene sulfonate PSS as a dopant, and sodium persulfate Na2S2O8 as an oxidant; S1.2, dissolve 2g PSS in 100ml water, and then add 1g Na2S2O8 oxidant to form a uniform solution; S1.3, dissolving 0.5 mM silver nitrate AgNO3 in deionized water to prepare an AgNO3 solution, and adding the AgNO3 solution to the solution obtained in step S2; Step S1 also includes the following steps: S1.4, prepare a reducing agent solution with 10 mM sodium borohydride NaBH4, and slowly drop the NaBH4 solution and 5 g EDOT monomer into the solution under stirring; S1.5, magnetic stirring at 0°C for 24 h, adding 10 mM citric acid C6H8O7 as a stabilizer and stirring during the reaction to finally obtain a PEDOT / PSS solution doped with Ag nanoparticles; S1.6, after the reaction is completed, the mixture is washed with deionized water to remove residual oxidants and unreacted monomers, and then centrifuged and purified for 10 h in a centrifuge to obtain pure Ag / PEDOT:PSS material.

2. A programmable robot control system according to claim 1, characterized in that: The resistance acquisition module has multiple channels, and the multiple channels simultaneously acquire the resistance values ​​of multiple flexible humidity sensors on the flexible humidity sensor array.

3. A programmable robot control system according to claim 2, characterized in that: The energy storage module includes: a DC power supply, or a triboelectric nanogenerator, or an electromagnetic generator.

4. A programmable robot control system according to claim 1, characterized in that: Step S2 specifically includes the following steps: S2.1, select a flat flexible PCB circuit board with polyimide as the substrate; S2.2, uniformly sputtering a layer of Cu / Ni metal film on the surface of the PCB circuit board to form an interdigitated meander-shaped electrode; S2.3, coating a uniform, highly adherent and defect-free photoresist film on the surface of the PCB circuit board by spin coating; S2.4, using a photolithography machine to irradiate the PCB circuit board covered with the mask plate with ultraviolet light, so that the solubility of the photoresist in the illuminated area changes; S2.5, immersing the PCB circuit board covered with the mask plate in a developer to remove the photoresist of the unexposed portion to form a three-dimensional mask pattern; S2.6, using a wet etching technique to remove the Cu / Ni film not protected by the photoresist in the mask pattern, thereby forming a forked-finger metal electrode on the surface of the PCB circuit board; S2.7, removing the remaining photoresist through a stripping process, leaving only the Cu / Ni electrode pattern formed on the surface of the PCB circuit board, thereby forming an interdigitated electrode substrate.

5. A programmable robot control system according to claim 1, characterized in that: Step S3 specifically includes the following steps: S3.1, fix the pre-processed screen printing plate on the interdigital electrode substrate, use a scraper to apply pressure on the interdigital electrode substrate, and move from one end of the screen printing plate to the other end, so that the Ag / PEDOT:PSS material passes through the pattern area of ​​the screen and is evenly squeezed onto the interdigital electrode substrate to form a film with a specific pattern; S3.2, annealing the obtained thin film and the interdigital electrode substrate at 230° C. for 30 minutes in a glove box filled with nitrogen to complete the preparation of the flexible humidity sensor.

6. A programmable robot control system according to claim 4, characterized in that: The planar flexible PCB circuit board has a size of 1×1.2 cm and a base thickness of 1 mm.

7. A programmable robot control system according to claim 5, characterized in that: The effective area of ​​the Cu / Ni electrode of the interdigitated electrode substrate is 8×6 mm, the electrode line width and line gap are both 200 μm, and the thickness is 20 μm.

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