Sensing device

Abstract

The sensing equipment comprises a wearing main body, a detection unit and an execution mechanism, and the wearing main body is arranged in a surrounding manner along a first direction X and is used for being worn on a target wearing part; the detection unit is used for detecting the stress condition of the wearing main body and judging the slippage condition of the wearing main body relative to the target wearing part according to the stress condition; the execution mechanism is respectively connected with the detection unit and the wearing main body, and is used for controlling the wearing main body to contract to inhibit the slippage trend of the wearing main body relative to the target wearing part when the detection unit detects that the wearing main body has the slippage trend relative to the target wearing part in the second direction Y; wherein the second direction Y is different from the normal direction Z of the first direction X. The sensing equipment can judge whether the wearing main body has the slippage tendency relative to the target wearing part or not based on stress detection, so that the wearing main body can be automatically controlled to contract to inhibit the relative slippage of the wearing main body and the target wearing part when the wearing main body and the target wearing part have the relative slippage tendency, and the wearing main body is enabled to adapt to the target wearing part.

Description

Technical Field

[0001] The present invention relates to the field of sensing detection, and in particular to a sensing device. Background Art

[0002] Machine haptics is designed to enable machines to simulate human tactile perception. Such technology allows machines to not only "see" and "hear", but also "feel" objects, surface textures, pressure, temperature, etc. in the external environment. To achieve tactile perception, special sensor designs and materials are required. These sensors need to be able to respond to pressure, tension, distortion, vibration, etc. Existing pressure sensors are mainly based on the piezoresistive effect, which uses the property that the resistance value of the piezoresistive element is inversely proportional to the change in the pressure. When subjected to pressure, the resistance value of the piezoresistive element changes, thereby generating an electrical signal.

[0003] Existing pressure sensors are mainly used to detect force. Accordingly, devices using pressure sensors also mainly detect and automatically adjust based on the pressure. For example, the automatic adjustment of the tightness of a helmet is mainly based on the pressure between the helmet and the head to adjust the tightness of the helmet strap. If the pressure value is greater than the preset value, the helmet strap is loosened. For this type of sensing device that automatically adjusts based on the pressure value, the pressure it detects is mainly the normal Z acting on the contact surface. It detects a static force and cannot automatically adjust the tightness when the monitored object slips to avoid the monitored object from slipping, thereby playing an adaptive adjustment role. Therefore, existing sensing devices still need to be improved. Summary of the invention

[0004] The present invention aims to solve the above-mentioned problem and provides a sensing device which can perform adaptive adjustment when relative slip occurs between a wearing body and a target wearing part.

[0005] In order to solve the above problems, the present invention provides a sensing device, characterized in that it comprises:

[0006] A wearing body, arranged in a circumferential manner along a first direction X, and used for being worn on a target wearing part;

[0007] A detection unit, used to detect the force condition of the wearing body, and determine the slip condition of the wearing body relative to the target wearing part according to the force condition;

[0008] an actuator, connected to the detection unit and the wearing body, respectively, for controlling the wearing body to contract so as to suppress the sliding tendency of the wearing body relative to the target wearing part when the detection unit detects that the wearing body has a sliding tendency relative to the target wearing part in the second direction Y;

[0009] The second direction Y is different from the normal direction Z of the first direction X.

[0010] Furthermore, the wearing body is arranged along the first direction X to form a closed ring.

[0011] Furthermore, the wearing body is surrounded along the first direction X to form a ring with an opening.

[0012] Further, the second direction Y is a tangential direction, an axial direction, or a composite direction of the tangential direction and the axial direction of the first direction X.

[0013] Furthermore, the detection unit comprises:

[0014] A sensor module, provided on the wearable body, for detecting the force applied to the wearable body;

[0015] The processing module is used to determine whether the force detected by the sensing module satisfies a first condition; when the force satisfies the first condition, it is determined that the wearing body has a sliding tendency relative to the target wearing part in the second direction Y, and the processing module controls the actuator to operate to link the wearing body to contract.

[0016] Furthermore, the first condition includes a force magnitude condition and a force direction condition. When the force detected by the sensing module satisfies both the force magnitude condition and the force direction condition, the processing module determines that the wearing body has a slip tendency relative to the target wearing part in the second direction Y.

[0017] Furthermore, the processing module includes:

[0018] A force magnitude determination module, used to determine whether the force detected by the sensor module satisfies the force magnitude condition;

[0019] The force direction determination module is used to determine whether the force detected by the sensor module meets the force direction condition.

[0020] Further, when the magnitude of the force detected by the sensing module is greater than a preset value, the force satisfies the force magnitude condition; when the direction of the force detected by the sensing module conforms to the second direction Y or the detected force has a vector component in the second direction Y, the force satisfies the force direction condition.

[0021] Furthermore, the sensor module is disposed on the wearable body and is at least partially exposed on the surface of the wearable body and can contact the target wearable part to sense external forces.

[0022] Furthermore, the execution mechanism comprises:

[0023] A driving motor connected to the detection unit and fixedly mounted on the wearing body;

[0024] A traction member connected to the driving motor and the wearing body;

[0025] When the detection unit detects that the wearing body has a sliding tendency relative to the target wearing portion in the second direction Y, the detection unit controls the driving motor to operate to drive the traction member to move, thereby linking the wearing body to contract.

[0026] Furthermore, the circumferential length of the wearing body in the first direction X can be adjusted, and the adjustment of the circumferential length of the wearing body in the first direction X is provided by the freedom of movement of the wearing body in the first direction X or in the normal direction Z of the first direction X.

[0027] The beneficial contribution of the present invention is that it effectively solves the above-mentioned problems. The sensing device of the present invention can determine whether the wearable body has a tendency to slip relative to the target wearable part based on force detection and is about to slip relatively, so that when the two have a tendency to slip relatively, the wearable body can be automatically controlled to contract to suppress the relative slip between the two, thereby making the wearable body adapt to the target wearable part. The sensing device of the present invention is practical and has a wide range of applications. It has strong practicality and should be vigorously promoted. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the principle structure of the present invention;

[0029] Figure 2 It is another principle structure schematic diagram of the present invention;

[0030] Figure 3 is a schematic diagram of a wearing body configured into a form of a manipulator;

[0031] Figure 4 It is a schematic diagram of the wearing subject being constructed into an armor form;

[0032] Figure 5 It is a schematic diagram showing that the wearing body is constructed into a helmet shape.

[0033] Figure 6 It is a structural principle block diagram of the present invention;

[0034] Figure 7 It is a structural diagram of the sensor module.

[0035] Figure 8 It is a schematic diagram of the structural decomposition of the sensor module;

[0036] Fig. 9 is a half-section schematic diagram of the sensor module;

[0037] Fig.10 is an exploded schematic diagram of the flexible support structure;

[0038] Fig.11 is another structural schematic diagram of the sensor module;

[0039] Fig.12 It is a schematic diagram of the structural decomposition of the sensor module;

[0040] Fig.13 It is a schematic diagram of the structural decomposition of the sensor module;

[0041] Fig.14 It is a half-section schematic diagram of the sensor module.

[0042] Figure symbol:

[0043] Wearing body 10: opening 11, helmet body 12, helmet strap 13, adjustment part 14,

[0044] Detection unit 20:

[0045] Sensing module 21: magnet 211, flexible supporting structure 212, force receiving body 2121, force receiving surface 21211, positioning groove 21212, second positioning portion 21213, supporting seat 2122, accommodating groove 21221, main body 21222, supporting portion 21223, substrate portion 21224, hollow hole 21225, hard supporting structure 213, engaging groove 2131, first positioning portion 2132, mounting groove 2133, third positioning portion 2134, magnetic induction sensor 214, PCBA board 215, fourth positioning portion 2151, processing module 22: force magnitude judgment module 221, force direction judgment module 222,

[0046] Actuator 30: drive motor 31, traction member 32,

[0047] Target wearing portion 40 . DETAILED DESCRIPTION

[0048] The following examples are provided to further explain and supplement the present invention and do not constitute any limitation to the present invention.

[0049] like Figure 1 to Figure 14 As shown, the sensing device of the present invention can be designed and constructed according to different application scenarios to construct different product forms. The sensing device of the present invention has no restrictions on the external form of the product. On the basis of the technical solution of the present invention, those skilled in the art can make adaptive adjustments according to the content of the present invention to form different product forms.

[0050] like Figure 1 , Figure 2As shown, the minimum structure of the sensor device of the present invention includes a wearable body 10, a detection unit 20 and an actuator 30. On this basis, those skilled in the art can add other functional structures.

[0051] like Figure 1 , Figure 2 As shown, the wearing body 10 is arranged in a ring along the first direction X, and is used to be worn on the target wearing part 40. The first direction X should be understood as not a straight direction, but a curved direction. When the wearing body 10 is arranged along the first direction X, it can be arranged in a ring shape, so that it can be sleeved on the target wearing part 40. For example, the circumferential direction of a circle, the circumferential direction of an ellipse, etc., all belong to the first direction X described in the present application. When the wearing body 10 is in a ring shape, it can be set on the target wearing part 40.

[0052] The target wearing part 40 generally refers to any object or human body part that can receive the annular wearing body 10, and is usually in a rod or column shape so as to fit the wearing body 10. For example, the arms, legs, waist, etc. of the human body can all become the target wearing part 40. Even the head of the human body can also become the target wearing part 40.

[0053] When the wearing body 10 is arranged in a circular manner along the first direction X, it can be arranged in a closed ring (such as Figure 1 , Figure 2 , Figure 5 As shown), it can also be surrounded by a ring with an opening 11 (as shown Figure 3 , Figure 4 shown).

[0054] Among them, Figure 1 , Figure 2 , Figure 5 As shown, a closed ring shape refers to a ring shape that is connected end to end, or is integrally formed, and does not have an opening 11. When the wearing body 10 is in a closed ring shape, it can be a connected closed ring shape, or it can be an integral ring shape. When the wearing body 10 is connected in a closed ring shape, it may be able to be opened or may not be opened. For example, the head and tail of the wearing body 10 are fixedly connected and cannot be detached, and the connection is in a closed ring shape, but it cannot be opened. For another example, the head and tail of the wearing body 10 are connected by a detachable structure, and the connection is in a closed ring shape, which can be opened when needed to facilitate flattening or wearing.

[0055] like Figure 3 , Figure 4 As shown, the ring with the opening 11 means that the ends are not connected, and the opening 11 is formed at least at one position.

[0056] When the wearing body 10 is ring-shaped, its shape is not limited and is specifically designed according to the application scenario.

[0057] For example, the wearing body 10 can be configured in the form of a belt, which can be worn around the waist of a human body. It can be connected via a belt buckle to form a closed loop, and the waist of a human body is equivalent to the target wearing portion 40 .

[0058] For example, Figure 3 As shown, the wearable body 10 can be constructed in the form of a robot gripper, which can grasp objects. When grasping objects, it is in the shape of a ring with an opening 11, and the grasped object is equivalent to the target wearable part 40.

[0059] For example, Figure 5 As shown, the wearing body 10 can be constructed in the shape of a helmet, which can be worn on a human head. A closed loop is formed between the helmet body 12 and the helmet strap 13, which can be opened by a helmet buckle; at this time, the human head is equivalent to the target wearing part 40.

[0060] For another example, the wearing body 10 can be configured as an armor form, which can be worn on the arms, legs and other parts of the body. The armor part worn on the arms can be designed to be cylindrical and in a closed ring shape, and the armor part worn on the legs can be designed to be semi-cylindrical and in a ring shape with an opening 11 (such as Figure 4 As shown), at this time, each body part is equivalent to the target wearing part 40.

[0061] In summary, the specific form of the wearing body 10 is designed according to the application scenario, and the present invention is not limited thereto.

[0062] Furthermore, the circumferential length of the wearing body 10 in the first direction X can be adjusted so that it can shrink in a ring shape and hug the target wearing portion 40 , thereby preventing the wearing body 10 and the target wearing portion 40 from sliding relative to each other.

[0063] Further, the circumferential length adjustment of the wearing body 10 in the first direction X should be provided by the freedom of movement of the wearing body 10 in the first direction X or in the normal direction Z of the first direction X, rather than by the elastic deformation of the wearing body 10 in the first direction X. In other words, the circumferential length of the wearing body 10 can be adjusted by movement in the first direction X or in the normal direction Z thereof, but the length cannot be adjusted by elastic deformation in the first direction X. Therefore, the wearing body 10 cannot be elastically deformed at least in the first direction X.

[0064] The wearing body 10 may be a single structure or a composite structure, and may be specifically configured according to needs.

[0065] like Figure 6As shown, the detection unit 20 is used to detect the force condition of the wearing body 10, and judge the slip condition of the wearing body 10 relative to the target wearing part 40 according to the force condition. The actuator 30 is connected to the detection unit 20 and the wearing body 10 respectively, and is used to control the contraction of the wearing body 10 when the detection unit 20 detects that the wearing body 10 has a relative slip tendency relative to the target wearing part 40 in the second direction Y, thereby suppressing the slip tendency of the wearing body 10 relative to the target wearing part 40, so that the wearing body 10 adapts to the target wearing part 40.

[0066] The second direction Y is a tangential direction, an axial direction, or a composite direction of the tangential direction and the axial direction of the first direction X.

[0067] In some application scenarios, such as Figure 2 As shown, the second direction Y is a tangent to the first direction X. When the wearing body 10 is annular, the sliding of the wearing body 10 relative to the target wearing portion 40 along the tangent of the first direction X means that the wearing body 10 rotates relative to the target wearing portion 40. For example, for the wearing body 10 configured in the form of a helmet, when it is worn on the human head, the helmet slides back and forth, shakes left and right, etc., which are all sliding relative to the tangent of a certain position on the head surface. Therefore, for the wearing body 10 in the form of a helmet, the relative sliding between it and the target wearing portion 40 may occur in the tangent of the first direction X.

[0068] In some application scenarios, such as Figure 1 , Figure 4 As shown, the second direction Y is the axial direction of the first direction X. When the wearing body 10 is ring-shaped, the sliding of the wearing body 10 relative to the target wearing part 40 along the axial direction of the first direction X means that the wearing body 10 slides linearly along its interface relative to the target wearing part 40. For example, for the wearing body 10 configured in the form of a belt, when it is worn on the waist of a human body, when the belt falls down, it slides relative to the axial direction of the first direction X. Therefore, for the wearing body 10 in the form of a belt, the relative sliding between it and the target wearing part 40 may occur in the axial direction of the first direction X.

[0069] In some application scenarios, the second direction Y is a composite direction of the axial direction and the tangential direction of the first direction X. At this time, the movement of the wearing body 10 relative to the target wearing part 40 can be decomposed into the axial movement of the first direction X and the tangential movement of the first direction X.

[0070] It should be particularly noted that the second direction Y does not include the normal direction Z of the first direction X.

[0071] The detection unit 20 is disposed on the wearing body 10 , and is used to detect the force applied to the wearing body 10 and determine the slippage of the wearing body 10 relative to the target wearing portion 40 .

[0072] Furthermore, if Figure 5 As shown, the detection unit 20 includes a sensing module 21 and a processing module 22 .

[0073] The sensor module 21 is provided on the wearable body 10, and is used to detect the force applied to the wearable body 10. Furthermore, when the sensor module 21 detects the force applied to the wearable body 10, it detects the comprehensive force applied to the wearable body 10, including the comprehensive force applied to the wearable body 10 including the weight of the wearable body 10 itself.

[0074] Since the detection unit 20 needs to judge the direction, the sensor module 21 needs to detect not only the magnitude of the force applied to the wearable body 10, but also the direction of the force applied. The sensor module 21 can use a multi-dimensional force sensor that can simultaneously measure forces in at least two directions, which can be a known multi-dimensional force sensor, a specially made multi-dimensional force sensor, or a new multi-dimensional force sensor produced by future technological advances.

[0075] In this embodiment, the sensor module 21 uses a sensor independently developed by the applicant, and its structure and principle are introduced in detail below with specific embodiments.

[0076] Furthermore, in order to better monitor the force applied to the wearable body 10, the sensor module 21 is disposed on the wearable body 10 and is at least partially exposed on the surface of the wearable body 10 and can contact the target wearable part 40 to sense the external force. In this embodiment, the sensor module 21 is a flexible sensor, and the force sensing part thereof is a flexible deformable structure, which is exposed on the surface of the wearable body 10, and can sense the external force more clearly and accurately, so as to improve the detection accuracy.

[0077] The processing module 22 is connected to the sensor module 21 , and is used to receive the force data output by the sensor module 21 , and to determine whether the force detected by the sensor module 21 meets a first condition according to the force data.

[0078] If the force satisfies the first condition, it is determined that the wearing body 10 has a tendency to slide relative to the target wearing part 40 in the second direction Y. At this time, the actuator 30 is linked to work, and the wearing body 10 is driven by the actuator 30 to move along the first direction X to contract and tighten, thereby suppressing the sliding tendency of the wearing body 10 relative to the target wearing part 40 and avoiding the relative sliding tendency between the two.

[0079] If the force does not meet the first condition, it means that there is no slip tendency between the wearing body 10 and the target wearing part 40, and the position relationship or tightness between the two does not need to be adjusted. At this time, the actuator 30 does not work and the wearing body 10 remains in its original state.

[0080] The first condition includes a force magnitude condition and a force direction condition. Only when the force satisfies both the force magnitude condition and the force direction condition, the force satisfies the first condition, and the processing module 22 determines that the wearing body 10 has a sliding tendency relative to the target wearing portion 40 in the second direction Y, and the actuator 30 drives the wearing body 10 to contract.

[0081] Furthermore, in order to determine the magnitude and direction of the force, the processing module 22 includes a force magnitude determination module 221 and a force direction determination module 222 .

[0082] The force magnitude determination module 221 is used to determine whether the force detected by the sensor module 21 satisfies the force magnitude condition. When the detected force magnitude value is greater than a preset value, the force magnitude determination module 221 determines that the force satisfies the force magnitude condition.

[0083] The force direction determination module 222 is used to determine whether the force detected by the sensor module 21 satisfies the force direction condition. When the direction of the detected force meets the second direction Y or has a vector component in the second direction Y, the force direction determination module 222 determines that the force meets the force direction condition. The vector component in the second direction Y does not include the case where the component value is zero.

[0084] The preset value for judging the force magnitude condition can be set according to the actual application scenario, which can be quantitative or variable. In this embodiment, the preset value is zero. When the detected force direction meets the second direction Y or has a vector component in the second direction Y, it meets both the force magnitude condition and the force direction condition. At this time, it meets the first condition, and it can be determined that there is a slip trend between the wearing body 10 and the target wearing part 40 in the second direction Y.

[0085] Since the second direction Y is the tangential, axial, or tangential and axial composite direction of the first direction X, and does not include the normal direction Z of the first direction X, the second direction Y is perpendicular to the normal direction Z, and the projection of the force on the normal direction Z on the second direction Y is zero. Therefore, the force on the normal Z has no vector component in the second direction Y. For this application, if the force direction does not meet the conditions, only the force magnitude meets the conditions, and does not meet the first condition, it cannot be determined that there is a slip tendency between the wearing body 10 and the target wearing portion 40 in the second direction Y.

[0086] For example, when the force is along the normal direction Z of the first direction X, and it has no vector component in the second direction Y, at this time, there is no slip tendency between the wearing body 10 and the target wearing part 40 in the second direction Y. Even if there is a slip tendency between the wearing body 10 and the target wearing part 40 in the normal direction Z of the first direction X, the detection unit 20 will not cause the linkage actuator 30 to work.

[0087] The actuator 30 is used to drive the wearing body 10 to contract when the force condition of the wearing body 10 meets the first condition. Furthermore, when the actuator 30 drives the wearing body 10 to contract, the wearing body 10 contracts along the first direction X. The contraction of the wearing body 10 along the first direction X can make the wearing body 10 and the target wearing part 40 closer, hindering the relative sliding tendency between the two. Among them, the contraction of the wearing body 10 along the first direction X does not strictly require that the movement direction of the wearing body 10 is exactly the same as the first direction X. For example, the wearing body 10 can contract the annular structure by deflecting toward the normal Z of the first direction X. At this time, its movement direction is different from the first direction X, but it still belongs to the contraction of the wearing body 10 along the first direction X.

[0088] Furthermore, the actuator 30 includes a driving motor 31 and a traction member 32 .

[0089] The driving motor 31 is connected to the detection unit 20 and fixedly mounted on the wearing body 10. When the detection unit 20 detects that the wearing body 10 has a tendency to slide relative to the target wearing portion 40 in the second direction Y, the detection unit 20 outputs a control signal to control the driving motor 31 to work, for example, to drive the driving motor 31 to rotate forward or reverse, so as to drive the traction member 32 to move.

[0090] The traction member 32 is connected to the driving motor 31 and the wearing body 10 , and is used to pull the wearing body 10 to move so that the wearing body 10 contracts.

[0091] In some embodiments, the traction body is used to pull the wearing body 10 to move in the first direction X so that the overall length of the wearing body 10 is shortened.

[0092] In some embodiments, the traction body is used to pull the wearing body 10 to deflect into the annular structure in the first direction X so that the wearing body 10 contracts.

[0093] The specific structure of the traction body can be various, and it only needs to drive the wearing body 10 to produce a contraction action under the drive of the driving motor 31. For example, the traction body is a retractable rope body, one end of which is connected to the output end of the driving motor 31, and the other end is connected to the wearing body 10. When the driving motor 31 rotates, it can be retracted, thereby pulling the wearing body 10 to move along the side of the driving motor 31, so that the length of the wearing body 10 in the first direction X becomes shorter and contracts.

[0094] Thus, the sensing device of the present invention is formed, and the wearing body 10 is arranged in a ring shape along the first direction X and can be worn on the target wearing part 40; the detection unit 20 is arranged on the wearing body 10, and can detect the force condition of the wearing body 10, and can output a control signal when the wearing body 10 has a sliding tendency relative to the target wearing part 40 in the second direction Y, so as to link the actuator 30 to work, and then drive the wearing body 10 to contract, thereby suppressing the sliding tendency of the wearing body 10 relative to the target wearing part 40, so as to automatically adjust the wearing body 10 to a state suitable for wearing with the target wearing part 40.

[0095] When the wearing body 10 contracts, the detection unit 20 can continuously detect the current force; when the wearing body 10 detected does not have a sliding tendency relative to the target wearing part 40 in the second direction Y, that is, when the force does not meet the first condition, the actuator 30 stops working, the wearing body 10 stops contracting, and maintains the current state. At this time, the friction between the wearing body 10 and the target wearing part 40 is moderate, and the two are relatively still.

[0096] For the sensing device of the present invention, the detection unit 20 can detect the force condition of the wearing body 10 in real time, and can control the actuator 30 to work in real time according to the force condition of the wearing body 10 to drive the wearing body 10 to move, so that the wearing body 10 automatically adjusts to a state where there is no relative slippage with the target wearing part 40. In this way, no matter what kind of movement state the target wearing part 40 is in, the wearing body 10 can automatically adjust to an appropriate tightness so that there is no relative slippage between the wearing body 10 and the target wearing part 40.

[0097] In order to more clearly introduce the solution of the present invention, the following is described with specific embodiments:

[0098] Example 1

[0099] like Figure 5 As shown, the sensing device of this embodiment is configured into an automatically adjustable helmet shape, which includes a wearing body 10 , a detection unit 20 and an actuator 30 .

[0100] The wearing body 10 is configured in the physical form of a helmet, and includes a helmet body 12 worn on the head of a user and a helmet strap 13 .

[0101] The detection unit 20 includes a sensor module 21 and a processing module 22. A plurality of sensor modules 21 are provided, distributed in the helmet body 12, and the sensor modules 21 are provided close to the inner surface of the helmet body 12 so as to be partially exposed to the inner surface of the helmet body 12. The processing module 22 is fixedly provided inside the helmet body 12 and is hidden.

[0102] The actuator 30 includes a drive motor 31 and a reel, which are integrated on one or both sides of the helmet body 12. The drive motor 31 is electrically connected to the processing module 22 through internal wiring; the reel is connected to the helmet strap 13, so that the helmet strap 13 can be electrically controlled to be reeled. Among them, the structural principle of the helmet strap 13 automatically reeling under the action of the actuator 30 to adjust the use length can be referred to the prior art, which is widely used in the prior art and will not be introduced in detail in the present invention.

[0103] When the helmet body 12 has a tendency to slide relative to the user's head along the tangential direction of the head, it means that the helmet body 12 is subjected to force in the tangential direction. At this time, the sensor module 21 of the detection unit 20 can detect the force in the tangential direction. Therefore, the second direction Y is tangential to the first direction X. When the detection unit 20 detects that the force on the helmet body 12 meets the first condition: the detected force direction is tangential to the first direction X or the detected force has a vector component in the tangential direction of the first direction X, it can be determined that the wearing body 10 (i.e., the helmet body 12) has a tendency to slide relative to the target wearing part 40 (i.e., the head) in the second direction Y. At this time, the actuator 30 can be controlled to work to drive the helmet strap 13 to shrink, so that the helmet body 12 fits the head more closely, until the helmet body 12 does not slide relative to the head along the tangential direction of the head.

[0104] In this embodiment, through the detection and control of the detection unit 20, the tightness of the helmet strap 13 can be automatically adjusted when the helmet body 12 slides relative to the head, so that the helmet body 12 does not slide with the head. In this way, the helmet body 12 can be prevented from sliding forward and blocking the user's eyes during riding, or the helmet can be prevented from tilting to the left and right sides or other directions during riding, which affects wearing and safety. In the prior art, the pressure sensor can only detect the force of the helmet relative to the head in the normal direction Z to determine whether the helmet is too tight and whether it will compress the head. It solves the problem of wearing comfort, but cannot determine whether the helmet will slide relative to the head in the tangential direction of the head. In practice, when the helmet is loose and slides relative to the head in the tangential direction, it will cause the helmet body 12 to shift and affect safety. Therefore, compared with the helmet with automatic adjustment of tightness in the prior art, the helmet of this embodiment solves the problem of safety in use, and at the same time, because it has the function of automatic adjustment, it can also improve wearing comfort. Therefore, the sensor device in the form of a helmet in this embodiment is more practical and safer to use.

[0105] Example 2

[0106] like Figure 4 As shown, the sensing device of this embodiment is constructed in the form of armor, which is worn on the legs and includes a wearing body 10, a detection unit 20 and an actuator 30.

[0107] The wearing body 10 is configured in the physical form of a cylindrical armor, which is a ring-shaped structure with an opening 11. The wearing body 10 is provided with at least one rotatable adjusting portion 14.

[0108] The detection unit 20 includes a sensor module 21 and a processing module 22. A plurality of sensor modules 21 are provided and distributed on the inner surface of the wearable body 10. The processing module 22 is fixedly provided inside the armor and is hidden.

[0109] The actuator 30 is disposed on the wearable body 10 to drive the adjustment part 14 to rotate, thereby adjusting the cylindrical size. The specific structure of the actuator 30 and the structure of driving the adjustment part 14 to rotate can refer to the prior art, which is widely used in the prior art. The present invention will introduce it in detail, for example, the structural principle of the electric door can be referred to.

[0110] When the armor has a tendency to slide relative to the leg along the axial direction of the armor, that is, when the armor is about to slide down along the leg, it means that the armor as a whole is subjected to axial force. At this time, the sensor module 21 of the detection unit 20 can detect the axial force. Therefore, when the detection unit 20 detects that the force on the armor meets the first condition: the direction of the detected force is axial to the first direction X, or the detected force has a vector component in the axial direction of the first direction X, it can be determined that the wearing body 10 (i.e., the armor) has a tendency to slide relative to the target wearing part 40 (i.e., the leg) in the second direction Y. At this time, the actuator 30 can be controlled to drive the adjustment part 14 to rotate inward, so that the armor shrinks and fits more closely to the leg, until the armor does not slide relative to the leg along the axial direction of the leg.

[0111] In this embodiment, through the detection and control of the detection unit 20, the tightness of the armor can be automatically adjusted when the armor has a tendency to slide relative to the legs, so that the armor adapts to the legs without sliding with the legs, thus preventing the armor from falling off during wearing and use.

[0112] Example 3

[0113] like Figure 3 As shown, the sensor device of this embodiment is constructed in the form of a manipulator, which is used to grab objects, and the grabbed objects are equivalent to the target wearing part 40. The sensor device of this embodiment includes a wearing body 10, a detection unit 20 and an actuator 30.

[0114] The wearing body 10 is constructed in the physical form of a robot hand, the fingers of which can be opened and grasped, and the robot hand is in the shape of a ring with an opening 11 when grasping.

[0115] The detection unit 20 includes a sensor module 21 and a processing module 22. A plurality of sensor modules 21 are provided, and can be provided on the fingers or palm of the manipulator. The processing module 22 is fixedly provided inside the manipulator and is hidden.

[0116] The actuator 30 is arranged in the manipulator, and is used to drive the fingers of the manipulator to rotate around their joints, so as to adjust the grip of the fingers to adjust the size of the grasp. The specific structure of the actuator 30 and the structure for driving the fingers of the manipulator to rotate can refer to the prior art, which is widely used in robots, and the present invention will not introduce it in detail.

[0117] When the manipulator slides axially along the grasping direction relative to the grasped object (such as falling down), it means that the grasped object is subjected to force in the axial direction. At this time, the sensor module 21 of the detection unit 20 can detect the axial force. Therefore, when the detection unit 20 detects that the force on the grasped object meets the first condition: the detected force direction is axial in the first direction X, or the detected force has a vector component in the axial direction of the first direction X, it can be determined that the wearing body 10 (manipulator) is now relatively displaced in the second direction Y with respect to the target wearing part 40 (i.e., the grasped object). At this time, the actuator 30 can be controlled to work to drive the manipulator to contract and grip until the grasped object part slides in the axial direction relative to the manipulator, that is, the grasped object no longer falls.

[0118] In this embodiment, through the detection and control of the detection unit 20, the gripping degree of the manipulator can be automatically adjusted when the grasped object slips relative to the manipulator, so that the grasped object no longer slips relative to the manipulator, thereby preventing the manipulator from loosely grasping and improving the grasping performance of the manipulator.

[0119] Example 4

[0120] like Figure 1 As shown, the sensor device of this embodiment is configured in the form of an automatically adjustable waistband, which is used to be worn on the user's waist, and the user's waist is the target wearing part 40. The sensor device includes a wearing body 10, a detection unit 20 and an actuator 30.

[0121] The wearing body 10 is configured in the physical form of a closed loop belt.

[0122] The detection unit 20 includes a sensor module 21 and a processing module 22. One or more sensor modules 21 are provided and distributed on the inner surface of the waistband. The processing module 22 is provided inside or on the waistband.

[0123] The actuator 30 is used to drive the belt to automatically adjust its length. Its structural principle can refer to the existing technology. For example, it can drive one end of the belt to automatically reel in to adjust the length in use.

[0124] When the belt slides down relative to the waist, it means that the belt is subjected to axial force. At this time, the sensor module 21 of the detection unit 20 can detect the axial force. Therefore, when the detection unit 20 detects that the force on the wearing body 10 meets the first condition: the detected force direction is axial in the first direction X, or the detected force has a vector component in the axial direction of the first direction X, it can be determined that the wearing body 10 (i.e., the belt) has a tendency to slide relative to the target wearing part 40 (i.e., the waist) in the second direction Y. At this time, the actuator 30 can be controlled to work to drive the belt to contract, so that the belt is worn tighter and will not continue to slide down.

[0125] In this embodiment, through the detection and control of the detection unit 20, the tightness of the belt can be automatically adjusted when the belt slides relative to the waist, so that the belt adapts to the waist without slipping, thereby preventing the belt from loosening or falling off, and improving the convenience of using the belt.

[0126] Example 5

[0127] The sensing device of this embodiment is configured in the form of a shoe, and includes a wearing body 10 , a detection unit 20 and an actuator 30 .

[0128] The wearing body 10 is configured into the physical form of a shoe, which includes a shoe body and shoelaces for adjusting tightness.

[0129] The detection unit 20 includes a sensor module 21 and a processing module 22. A plurality of sensor modules 21 are provided and distributed on the inner side of the shoe body, and the processing module 22 is fixedly provided inside the shoe body, such as inside the insole, and is hidden.

[0130] The actuator 30 is arranged on the shoe body and connected to the shoelaces, and is used to drive the shoelaces to automatically reel up and adjust the tightness of the shoelaces.

[0131] When exercising, such as walking or running, the shoe body slides in the tangential direction relative to the foot, such as the heel falling off, which indicates that the shoe body is subjected to force in the axial, tangential or combined direction of the axial and tangential directions of the foot. Depending on the location and number of the sensor modules 21, the relative sliding movement detected is different. Therefore, when the detection unit 20 detects that the force on the shoe body meets the first condition: the detected force direction meets the second direction Y or the detected force has a vector component in the second direction Y, it can be determined that the wearing body 10 (shoe) has a tendency to slide relative to the target wearing part 40 (i.e., the foot) in the second direction Y. At this time, the shoelaces can be controlled to be automatically tightened so that the shoe adapts to the foot and does not fall off.

[0132] In this embodiment, through the detection and control of the detection unit 20, the tightness of the shoelaces can be automatically adjusted when the shoe body slides relative to the foot, so that the shoes can be prevented from falling off or slipping due to being too loose.

[0133] Example 6

[0134] like Figure 7-Figure 14 As shown, this embodiment provides a specific structure of a sensor module 21.

[0135] The sensor module 21 includes a magnet 211 , a flexible support structure 212 , a hard support structure 213 , and a magnetic induction sensor 214 .

[0136] The magnet 211 is used to interact with the magnetic induction sensor 214. When the relative positions of the two change, the magnetic induction sensor 214 can detect the change in magnetic induction intensity, thereby causing the induced voltage in the magnetic induction sensor 214 to change.

[0137] The flexible support structure 212 is used to support the magnet 211. The flexible support structure 212 is made of a flexible deformable material and can be deformed when subjected to force. The flexible support structure 212 can be deformed by external force to cause the magnet 211 to change in displacement. Since the magnet 211 is supported on the flexible support structure 212, when the flexible support structure 212 is deformed by force, the deformation of the flexible support structure 212 will be transmitted to the magnet 211, causing the position of the magnet 211 to change, thereby causing a displacement change relative to the magnetic induction sensor 214.

[0138] The hard support structure 213 is used to carry the flexible support structure 212 , which is used to provide support on the one hand, and to adjust the force limit of the entire sensor module 21 on the other hand, so that the sensor module 21 is suitable for different detection conditions.

[0139] The magnetic induction sensor 214 is fixed relative to the hard support structure 213. The position of the magnetic induction sensor 214 is fixed relative to the hard support structure 213, while the magnet 211 is arranged on the flexible support structure 212 and can change its displacement with the deformation of the flexible support structure 212. Therefore, when the flexible support structure 212 is deformed by force, the relative position between the magnet 211 and the magnetic induction sensor 214 will change. In this way, the magnetic induction sensor 214 can generate corresponding detection signals according to the change of the relative position between the magnet 211 and the magnetic induction sensor 214 when the flexible support structure 212 is deformed by force, so as to realize the measurement of multi-dimensional force.

[0140] Further, in order to better support the magnet 211, the flexible support structure 212 includes a force receiving body 2121 and a support seat 2122 that are arranged in a matched manner. The force receiving body 2121 and the support seat 2122 are both made of flexible and deformable materials, and both can be deformed by force. The materials used to make the force receiving body 2121 and the support seat 2122 include but are not limited to various soft glues, such as silicone rubber, TPR soft glue, TPE soft glue, etc. The material used to make the force receiving body 2121 can be the same as or different from the material used to make the support seat 2122, and can be specifically set as needed. The softness of the force receiving body 2121 and the support seat 2122 can be set according to the conditions of the detection environment, and detections of different ranges and sensitivities can be achieved by setting force receiving bodies 2121 and support seats 2122 of different softness. The force receiving body 2121 is used to receive external force. A receiving cavity is formed between the force receiving body 2121 and the support seat 2122. The magnet 211 is disposed in the accommodating cavity. In this way, the magnet 211 can be disposed in the flexible support structure 212, so that when the flexible support structure 212 is deformed by force, the position of the magnet 211 can follow the displacement change of the flexible support structure 212.

[0141] Furthermore, in order to make the magnet 211 more sensitive to the deformation of the flexible support mechanism, the magnet 211 is enclosed in the flexible support structure 212 and fixed relative to the flexible support structure 212. When the magnet 211 is enclosed in the flexible support structure 212, there will be no relative displacement between the magnet 211 and the flexible support structure 212, and the position of the magnet 211 will only change with the deformation of the flexible support structure 212. In this way, the magnet 211 is more sensitive to the external force, thereby improving the sensitivity of the sensor module 21.

[0142] In addition, when the magnet 211 is sealed in the flexible support mechanism, the flexible support mechanism can provide good protection for the magnet 211, thereby preventing the magnet 211 from being exposed and accidentally damaged, and especially preventing the magnet 211 from falling off or accidentally shifting during long-term use, thereby ensuring the reliability of the sensor module 21 and extending the service life of the sensor module 21.

[0143] Furthermore, in order to allow the magnet 211 to be well wrapped in the flexible support mechanism, a receiving groove 21221 is provided at one end of the support seat 2122 facing the force receiving body 2121. The shape and size of the receiving groove 21221 match the magnet 211. The magnet 211 is fixedly embedded in the receiving groove 21221 and covered by the force receiving body 2121.

[0144] When the magnet 211 is fixedly embedded in the receiving groove 21221, it can be fixed in the receiving groove 21221 by a tight fit, or it can be fixed in the receiving groove 21221 by an adhesive such as glue. Preferably, the magnet 211 is embedded in the receiving groove 21221 by a tight fit. Since the support seat 2122 is made of a flexible deformable material, when the size of the receiving groove 21221 is slightly smaller than the size of the magnet 211, the magnet 211 can be fixed in the receiving groove 21221 by a tight fit without shaking. Arranging the magnet 211 in this way is not only convenient for processing and assembly, but also does not affect the deformation ability of the flexible support structure 212.

[0145] The shapes of the magnet 211 and the receiving groove 21221 can be set as required. In this embodiment, preferably, the magnet 211 is a round block magnet 211, and its magnetic poles are arranged at both ends along its axial direction. Correspondingly, the receiving groove 21221 is a circular groove.

[0146] Furthermore, in order to improve the sensitivity of the sensor module 21, the force receiving body 2121 is provided with a spherical force receiving surface 21211. The force receiving surface 21211 is provided at the end of the force receiving body 2121 opposite to the hard support structure 213, and is arched toward the side away from the magnet 211. The force receiving surface 21211 is used to sense the external force so that the flexible support structure 212 is deformed. The central axis of the force receiving surface 21211 coincides with the central axis of the magnet 211. In this way, the force receiving surface 21211 can receive external forces from all directions, and can ensure that the flexible support structure 212 is uniformly stressed, thereby ensuring the detection sensitivity and accuracy of the sensor module 21.

[0147] Furthermore, the projection area of ​​the force receiving surface 21211 on the plane where the magnet 211 is located should be larger than the area of ​​the magnet 211. In this way, it can be ensured that the force receiving surface 21211 receives external force over a large range, causing the position of the magnet 211 to change, thereby improving the detection sensitivity.

[0148] Furthermore, in order to make the force receiving body 2121 and the support seat 2122 more reliably matched, a positioning groove 21212 is provided on the side of the force receiving body 2121 facing the support seat 2122, and the shape of the positioning groove 21212 matches the shape of the end of the support seat 2122. The end of the support seat 2122 can be matched with the positioning groove 21212 in a shape-matching manner, which can limit the relative rotation between the two, thereby making the combination between them more reliable, ensuring that the external force received by the force receiving body 2121 can be effectively transmitted to the support seat 2122, thereby ensuring the effective deformation of the flexible support structure 212.

[0149] like Figure 7 to Figure 10 As shown, the support seat 2122 may include a central main body 21222 and symmetrically arranged support parts 21223. The number of the support parts 21223 may be set as required, and preferably, it is set to 4. The main body 21222 is connected between the ends of one end of the support part 21223 and is flush with the end of the support part 21223. The other ends of the support parts 21223 are spaced apart from each other. The receiving groove 21221 is provided on the end surface of the main body 21222. The magnet 211 is provided in the receiving groove 21221 of the main body 21222. The positioning groove 21212 on the force receiving body 2121 matches the shape of the ends of the main body 21222 and the support part 21223, so that the main body 21222 and the support part 21223 of a certain depth are shaped and engaged in the positioning groove 21212.

[0150] Or, if Figure 11 to Figure 14 As shown, the support seat 2122 may include a central main body 21222, a symmetrically arranged support part 21223 and a substrate part 21224. The main body 21222 is columnar and connected between one end of the support part 21223, and the substrate part 21224 is flat and connected to the other end of the support part 21223 opposite to the main body 21222. The substrate part 21224 is spaced from the support part 21223, and a hollow hole 21225 is formed between the substrate part 21224, the support part 21223 and the main body 21222. Further, the main body 21222 is cylindrical and the substrate part 21224 is square. The receiving groove 21221 is provided on the end surface of the main body 21222, and the magnet 211 is provided in the receiving groove 21221 of the main body 21222. The positioning groove 21212 on the force receiving body 2121 matches the shape of the ends of the main body 21222 and the support portion 21223 , so that the main body 21222 and the support portion 21223 of a certain depth are shaped and engaged in the positioning groove 21212 .

[0151] The force receiving body 2121 and the support seat 2122 can be connected only by shape matching, or can be further fixed by gluing or other methods. Since the support seat 2122 is located between the force receiving body 2121 and the hard supporting structure 213, even if the force receiving body 2121 and the support seat 2122 are connected only by shape matching, the connection reliability between the force receiving body 2121 and the support seat 2122 can be guaranteed, and both can be deformed by force at the same time. Of course, in order to further ensure the connection reliability, the force receiving body 2121 and the support seat 2122 can be further bonded together.

[0152] Furthermore, in order to make the structure more reliable and reduce the volume of the structure as much as possible, the rigid support structure 213 is provided with a coupling groove 2131. The flexible support structure 212 is at least partially coupled to and fixed to the rigid support structure 213 in a form-fitting manner.

[0153] like Fig.12 , Fig.13 As shown, the shape of the engagement groove 2131 can match the shape of the base plate portion 21224 of the support seat 2122. For example, the base plate portion 21224 is in the shape of a square plate, and the engagement groove 2131 is a rectangular groove. The base plate portion 21224 of the support seat 2122 is embedded in the engagement groove 2131 to perform shape matching. Further, when the support seat 2122 is engaged in the engagement groove 2131 of the hard support structure 213 by shape, the support seat 2122 and the engagement groove 2131 can also be fixed by gluing to further enhance the stability of the structure.

[0154] Or, if Figure 8 , Fig. 9 , Fig.10 As shown, the shape of the engagement groove 2131 can match the shape of the end of the support portion 21223 of the support seat 2122. For example, when the ends of the support portion 21223 are spaced apart from each other, the engagement groove 2131 can receive the end of the support portion 21223 to perform shape matching. Further, the end of the support portion 21223 can be provided with a concave-convex structure, and correspondingly, the engagement groove 2131 can be provided with an opposite concave-convex structure, so that the end of the support portion 21223 and the engagement groove 2131 are shape-engaged through the concave-convex structure. In specific implementation, the support seat 2122 and the hard support structure 213 can be directly molded in-mold, which can improve production efficiency and connection stability.

[0155] The hard support structure 213 and the flexible support structure 212 are matched in shape through the joint groove 2131. On the one hand, it can avoid the flexible support structure 212 from directly displacing relative to the hard support structure 213 to improve the connection stability. On the other hand, the flexible support structure 212 can be accommodated in the hard support structure 213 to reduce the structural height and reduce the overall size of the sensor module 21.

[0156] The engagement groove 2131 may be in the form of a through hole or a non-through hole.

[0157] Furthermore, if Figure 11 to Figure 14As shown, a first positioning portion 2132 is provided on the hard support structure 213, and the first positioning portion 2132 is arranged on the periphery of the engagement groove 2131. Correspondingly, a second positioning portion 21213 whose position and shape match the first positioning portion 2132 is provided on the force receiving body 2121. The first positioning portion 2132 and the second positioning portion 21213 match each other, and both are one of a protrusion and a groove structure. For example, the first positioning portion 2132 can be a protrusion structure, and the second positioning portion 21213 can be a groove structure. For another example, the first positioning portion 2132 can be a groove structure, and the second positioning portion 21213 can be a protrusion structure. When one end of the support seat 2122 is shaped to fit in the engagement groove 2131, and the other end of the support seat 2122 protrudes from the rigid support structure 213, the force receiving body 2121 covers the support seat 2122, and is coupled to the rigid support structure 213 through the cooperation of the first positioning portion 2132 and the second positioning portion 21213. Further, when the force receiving body 2121 is coupled to the rigid support structure 213, the coupling parts thereof can be fixed by gluing to further improve the connection stability.

[0158] By arranging the first positioning portion 2132 and the second positioning portion 21213 on the hard supporting structure 213 and the force receiving body 2121 for cooperation, it is not only convenient for positioning and installation, but also can enhance the force degree and avoid relative misalignment / displacement between the flexible supporting structure 212 and the hard supporting structure 213 when force is applied.

[0159] like Figure 7 to Figure 10As shown, when one end of the support seat 2122 is shaped to fit in the engagement groove 2131, the other end of the support seat 2122 protrudes from the rigid support structure 213. The force receiving body 2121 covers the support seat 2122 and surrounds the support seat 2122 and the rigid support structure 213 therein. Further, as shown in the figure, when the rigid support structure 213 is enclosed in the force receiving body 2121, the outer wall of the rigid support structure 213 fits the interior of the force receiving body 2121. Since the force receiving body 2121 is flexible and deformable, the force receiving body 2121 can enclose the rigid support structure 213 therein by a tight fit. Of course, the force receiving body 2121 can also be fixedly connected to the rigid support structure 213 by gluing to prevent the structure from detaching. In this embodiment, the force receiving body 2121 covers the hard support structure 213 and the support seat 2122 as a whole, and can fully surround the bottom structure, so that the structure can fit more firmly. In actual tests, this structure can withstand at least 10,000 presses, thus greatly improving the structural stability and extending the service life of the sensor module 21. In addition, this structural design can reduce the overall thickness of the sensor module 21, and the overall thickness of the structure of this embodiment can be reduced to 5.9 mm.

[0160] Furthermore, the magnetic induction sensor 214 is arranged on the PCBA board 215 and is electrically connected to the PCBA board 215. The PCBA board 215 is fixedly arranged on the side of the hard support structure 213 opposite to the flexible support structure 212. In other words, the PCBA board 215 and the flexible support structure 212 are respectively arranged on both sides of the hard support structure 213. The hard support structure 213 is not only used to support and set the flexible support structure 212, but also used to support and set the PCBA board 215. The hard support structure 213 is arranged between the PCBA board 215 and the flexible support structure 212, and can be used to adjust the overall force limit of the sensor module 21 by selecting different materials, such as plastic, metal, etc., so that the sensor module 21 is suitable for different pressure environments, and the PCBA board 215 can be protected.

[0161] Furthermore, a storage unit may be provided on the PCBA board 215 , and data such as calibration fitting parameters may be directly stored therein to improve the adaptability of the sensor module 21 .

[0162] In order to facilitate the fixing of the PCBA board 215 on the hard support structure 213, a mounting groove 2133 is provided on the side of the hard support structure 213 opposite to the engagement groove 2131. The shape and size of the mounting groove 2133 can be set as required. Preferably, the mounting groove 2133 can be set as a rectangular groove. The mounting groove 2133 can be connected with the engagement groove 2131, or isolated from the engagement groove 2131. The PCBA board 215 is fixedly arranged at the open end of the mounting groove 2133, and the magnetic induction sensor 214 is located in the mounting groove 2133.

[0163] Further, in order to facilitate the positioning and installation of the PCBA board 215 and the hard support structure 213, a third positioning portion 2134 is provided on the hard support structure 213, and a fourth positioning portion 2151 is provided on the PCBA board 215. The third positioning portion 2134 cooperates with the fourth positioning portion 2151. The third positioning portion 2134 and the fourth positioning portion 2151 are one of a protrusion and a groove structure. For example, the third positioning portion 2134 can be a protrusion structure, and the fourth positioning groove 21212 can be a groove structure. For another example, the third positioning portion 2134 can be a groove structure, and the fourth positioning portion 2151 can be a protrusion structure. The third positioning portion 2134 and the fourth positioning portion 2151 can be arranged in a direction parallel to the connection direction of the magnet 211 and the magnetic induction sensor 214, or can be arranged in a direction perpendicular to the connection direction of the magnet 211 and the magnetic induction sensor 214.

[0164] When the PCBA board 215 is fixedly connected to the hard support structure 213, the whole can be surrounded by the force receiving body 2121 (such as Figure 7 ), or may be exposed outside the force receiving body 2121 (as shown in Fig.11 shown).

[0165] The principle of the sensor module 21 of this embodiment to detect the force direction and force magnitude is as follows:

[0166] Apply several forces of different directions and magnitudes to the sensor module 21, and collect the voltage data corresponding to the force output by the magnetic induction sensor 214; when applying the force to the sensor module 21, the force can be applied to the force receiving body 2121, especially to the force receiving surface 21211. The force data applied to the sensor module 21 are recorded one by one, including the magnitude value and direction data. When the force is applied to the sensor module 21, the flexible support structure 212 in the sensor module 21 is deformed by the force, which is transmitted to the magnet 211, causing the position of the magnet 211 to change. In this way, the relative position of the magnet 211 and the magnetic induction sensor 214 changes, so that the magnetic induction sensor 214 outputs the voltage data corresponding to the force. For each force, the voltage data output by the magnetic induction sensor 214 is collected respectively, so that a large amount of data corresponding to the force magnitude, force direction, and voltage value can be obtained.

[0167] After collecting enough force and voltage data, the force and voltage data can be calibrated in the coordinate system. In the coordinate system, each data point (voltage data, force data) is plotted. These data points represent the response of the sensor module 21 under different forces. Through these data points, the linear or nonlinear characteristics of the sensor module 21 can be observed, so as to facilitate subsequent data fitting.

[0168] According to the distribution of the calibrated data points, select a suitable fitting model for curve fitting. If the data points are approximately distributed on a straight line, select linear fitting. If the data point distribution is complex, select nonlinear fitting, such as polynomial fitting, exponential fitting, etc. During specific implementation, a curve fitting tool in a mathematical software (such as MATLAB) or a programming language (such as Python) can be used to input the aforementioned data points for curve fitting. The curve fitting tool calculates the best fitting parameters based on the input data points and the selected model, thereby determining a mathematical expression describing the relationship between the force magnitude, force direction and voltage value, which can be used to predict the force applied to the sensor module 21 at a given voltage value, including the force magnitude and force direction.

[0169] After determining the mathematical expression of the relationship between the output data and the voltage data, the applied force can be calculated based on the voltage data. When there is a slip tendency between the wearable body 10 and the target power distribution unit 40, the flexible support structure 212 of the sensor module 21 will deform in the corresponding direction, so that the position of the magnet 211 changes, and the magnetic induction sensor 214 can output a voltage value according to the change in magnetic induction intensity. According to the voltage value and the mathematical expression, the force magnitude and force direction can be calculated, thereby realizing the detection of the force magnitude and force direction, thereby realizing the real-time detection of multi-dimensional force (force magnitude and force direction). In this way, the processing module 22 can determine in real time whether the force detected by the sensor module 21 meets the first condition, and determine whether the wearable body 10 has a slip tendency relative to the target wearable unit 40 in the second direction Y, thereby adjusting the wearable body 10 in real time so that the wearable body 10 adapts to the target wearable unit 40.

[0170] In a specific implementation, the mathematical expression and the calculation program can be stored in the PCBA board 215. When the magnetic induction sensor 214 detects the output voltage data in real time, the sensor module 21 can determine the applied force in real time.

[0171] The sensor module 21 of this embodiment is arranged on the wearable body 10 to detect the force condition of the wearable body 10 , and is used to detect the comprehensive force condition of the wearable body 10 , including the comprehensive force condition of the wearable body 10 itself.

[0172] When the sensor module 21 is set on the wearable body 10, the flexible support structure 212 of the sensor module 21 can be partially exposed on the wearable body 10 so as to sense the external force and deform. Furthermore, the force receiving surface 21211 can be exposed on the wearable body 10, and the central axis of the force receiving surface 21211 is set along the normal Z of the first direction X, so as to facilitate the establishment of a direction reference to determine the direction of the force detected by the sensor module 21.

[0173] Although the present invention is disclosed through the above embodiments, the scope of the present invention is not limited thereto, and the above components may be replaced with similar or equivalent elements known to those skilled in the art without departing from the concept of the present invention.

Claims

1. A sensing device, characterized in that: It includes: A wearing body (10) is disposed circumferentially along a first direction X and is used to be worn on a target wearing portion (40); A detection unit (20) is used to detect a force condition of the wearing body (10), and to determine a slip condition of the wearing body (10) relative to the target wearing portion (40) based on the force condition; an actuator (30) connected to the detection unit (20) and the wearing body (10), respectively, and used for controlling the wearing body (10) to contract so as to suppress the sliding tendency of the wearing body (10) relative to the target wearing part (40) when the detection unit (20) detects that the wearing body (10) has a sliding tendency relative to the target wearing part (40) in the second direction Y; The second direction Y is different from the normal direction Z of the first direction X.

2. The sensing device according to claim 1, characterized in that The wearing body (10) is arranged along the first direction X to form a closed ring.

3. The sensing device according to claim 1, characterized in that The wearing body (10) is arranged along the first direction X to form a ring shape having an opening (11).

4. The sensing device according to claim 2 or 3, characterized in that: The second direction Y is a tangential direction, an axial direction, or a composite direction of the tangential direction and the axial direction of the first direction X.

5. The sensing device according to claim 1, characterized in that The detection unit (20) comprises: A sensor module (21), arranged on the wearable body (10), and used to detect the force applied to the wearable body (10); The processing module (22) is used to determine whether the force detected by the sensing module (21) satisfies a first condition; when the force satisfies the first condition, it is determined that the wearing body (10) has a sliding tendency relative to the target wearing part (40) in the second direction Y, and the processing module (22) controls the actuator (30) to operate so as to link the wearing body (10) to contract.

6. The sensing device according to claim 5, characterized in that The first condition includes a force magnitude condition and a force direction condition. When the force detected by the sensing module (21) satisfies both the force magnitude condition and the force direction condition, the processing module (22) determines that the wearing body (10) has a tendency to slip relative to the target wearing part (40) in the second direction Y.

7. The sensing device according to claim 6, characterized in that The processing module (22) comprises: A force magnitude determination module (221), used for determining whether the force detected by the sensing module (21) satisfies the force magnitude condition; The force direction determination module (222) is used to determine whether the force detected by the sensor module (21) satisfies the force direction condition.

8. The sensing device according to claim 7, characterized in that When the magnitude of the force detected by the sensing module (21) is greater than a preset value, the force satisfies the force magnitude condition; When the direction of the force detected by the sensing module (21) conforms to the second direction Y or the detected force has a vector component in the second direction Y, the force satisfies the force direction condition.

9. The sensing device according to claim 5, characterized in that The sensor module (21) is arranged on the wearable body (10) and is at least partially exposed on the surface of the wearable body (10) so as to be in contact with the target wearable part (40) to sense external forces.

10. The sensing device according to claim 1, characterized in that The actuator (30) comprises: A driving motor (31) connected to the detection unit (20) and fixedly mounted on the wearing body (10); A traction member (32) connected to the driving motor (31) and the wearing body (10); When the detection unit (20) detects that the wearing body (10) has a tendency to slide relative to the target wearing part (40) in the second direction Y, the detection unit (20) controls the driving motor (31) to work so as to drive the traction member (32) to move, thereby linking the wearing body (10) to contract.

11. The sensing device according to any one of claims 1 to 10, characterized in that: The circumferential length of the wearing body (10) in the first direction X can be adjusted, and the adjustment of the circumferential length of the wearing body (10) in the first direction X is provided by the freedom of movement of the wearing body (10) in the first direction X or in the normal direction Z of the first direction X.

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