Textile-level flexible high-sensitivity coordinate sensing platform

Abstract

The invention provides a textile-grade flexible high-sensitivity coordinate sensing platform which comprises a platform body, a high-sensitivity sensing platform is arranged at the upper end of the platform body, and the high-sensitivity sensing platform comprises a fiber pressure sensor. The upper end of the platform body is fixedly connected with the fixing plate, the upper end of the fixing plate is fixedly connected with the fiber pressure sensor, the sensor platform is produced according to the customer demand size of 1: 1 by taking centimeter as the unit, and production design is carried out at the interval of 1cm by taking 32 * 32 dot matrix as an example. Whether an object is placed on a sensor platform or not is identified and judged through 1024 distributed pressure points of 32 * 32 = on the sensor platform, three-point positioning is conducted on a plane-coordinate system before grabbing of the robot, whether numerical values of the 1024 distributed pressure points of the sensor platform change or not is sensed, the rough pressure area and weight of the weight are judged, coordinate positions are deduced through the pressure points, and then the object is grabbed. The size of the weight is estimated through the pressure area, and the pull-up force of grabbing is adjusted through the approximate weight.

Description

Technical Field

[0001] The present invention relates to the technical field of assisting a robot to quickly establish a plane coordinate system and realize the recognition of the position, pressure area and size of a heavy object within the coordinate system, and specifically relates to a textile-grade flexible high-sensitivity coordinate sensing platform. Background Art

[0002] A flexible high-sensitivity coordinate sensing platform is equipped with a robotic arm that can adjust the movement of the robotic arm so that it can grab and move objects. The sensor device uses a number of innovative technologies such as fiber pressure sensors, fiber electrodes, and tension sensing fibers, combined with relevant algorithms, to complete the perception, conduction, calculation, and transmission of pressure, tension, and other signals of objects of different shapes. In actual applications, objects of different shapes, weights, and densities are placed in the textile flexible sensor area. Through data collection and simulation, the pressure area and approximate weight of heavy objects can be captured and collected, so a textile-level flexible high-sensitivity coordinate sensing platform is set up.

[0003] Most of the existing robot arm manufacturers achieve fast grasping based on position information and visual grasping (identifying the position and posture of the target object through the visual system, and then calculating the best grasping point. Common methods include using deep learning for object detection and grasping point prediction). The textile-grade flexible and high-sensitivity coordinate sensing platform can supplement the deficiencies of lidar positioning and visual positioning in the existing market. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the deficiencies of the prior art, the present invention provides a textile-grade flexible and highly sensitive coordinate sensing platform, which solves the deficiencies of laser radar positioning and visual positioning in the existing market.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a textile-grade flexible high-sensitivity coordinate sensing platform, including a platform body, a high-sensitivity sensing platform is arranged on the upper end of the platform body, the high-sensitivity sensing platform includes a fiber pressure sensor, and a mechanical arm is installed on the upper end of the platform body, and the mechanical arm is arranged on one side of the high-sensitivity sensing platform.

[0008] Preferably, two support plates are symmetrically fixedly connected to the lower end of the platform body, and a connecting cable is fixedly connected to one side of the platform body.

[0009] Preferably, the fiber pressure sensor comprises a sensing array, distributed pressure points, and a circuit board module, and the circuit board module is arranged at the lower end of the sensing array and the distributed pressure points.

[0010] Preferably, a fixing plate is fixedly connected to the lower end of the high-sensitivity sensing platform, and the lower end of the fixing plate is fixedly connected to the upper end of the platform body.

[0011] (III) Beneficial effects

[0012] The present invention provides a textile-grade flexible high-sensitivity coordinate sensing platform, which has the following beneficial effects:

[0013] The upper end of the platform body is fixedly connected with a fixed plate, and the upper end of the fixed plate is fixedly connected with a fiber pressure sensor. The fiber pressure sensor includes a sensing dot matrix, a distributed pressure point, and a circuit board module. The circuit board module mainly collects the piezoelectric signal of each matrix intersection of the fiber pressure sensor, converts the analog signal acquisition into a digital signal and transmits it to the computer or control unit. The sensor platform is produced in centimeters according to the 1:1 customer demand size. Taking a 32x32 dot matrix as an example, the production design is carried out at an interval of 1cm. The 32x32=1024 distributed pressure points on the sensor platform are used to identify and determine whether there is an object placed on the sensor platform. Before the robot grabs, the plane coordinate system is positioned at three points to sense whether the 1024 distributed pressure points of the sensor platform have numerical changes, determine the approximate pressure area and weight of the heavy object, deduce the coordinate position through the pressure point, estimate the volume of the heavy object through the pressure area, and adjust the pull-up force of the grab through the approximate weight. The use of multiple sensor platforms can quickly realize the required position grabbing and placement of different sensor platforms. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A perspective view of the present invention;

[0015] Figure 2 It is a structural schematic diagram of the high-sensitivity sensing platform of the present invention;

[0016] Figure 3 For the present invention Figure 1 The enlarged view of point A in the middle;

[0017] Figure 4 For the present invention Figure 2 Enlarged view of point B in the middle.

[0018] Among them, 1. Platform body; 2. Support plate; 3. Connecting cables; 4. High-sensitivity sensing platform; 401. Fixing plate; 5. Fiber pressure sensor; 501. Sensing dot matrix; 502. Distributed pressure points; 503. Circuit board module; 6. Robotic arm. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Example:

[0021] like Figure 1-4 As shown, an embodiment of the present invention provides a textile-grade flexible high-sensitivity coordinate sensing platform, including a platform body 1, a high-sensitivity sensing platform 4 is arranged on the upper end of the platform body 1, the high-sensitivity sensing platform 4 includes a fiber pressure sensor 5, and a mechanical arm 6 is installed on the upper end of the platform body 1, and the mechanical arm 6 is arranged on one side of the high-sensitivity sensing platform 4.

[0022] Two support plates 2 are symmetrically fixedly connected to the lower end of the platform body 1 , and the support plates 2 are used to support the platform body 1 . A connection cable 3 is fixedly connected to one side of the platform body 1 .

[0023] The fiber pressure sensor 5 includes a sensing dot matrix 501, a distributed pressure point 502, and a circuit board module 503. The circuit board module 503 is arranged at the lower end of the sensing dot matrix 501 and the distributed pressure point 502. The sensing dot matrix 501, the distributed pressure point 502, and the circuit board module 503 assist the robot in adjusting, and can collect the position, pressure-bearing area, and pressure values ​​of the object placed on the platform. Through the sensing dot matrix 501, the distributed pressure point 502, and the circuit board module 503, it is possible to produce the sensor platform in centimeters according to the 1:1 customer demand size. Take a 32x32 dot matrix as an example, and the production design is performed at intervals of 1cm. The 32x32=1024 distributed pressure points 502 on the sensor platform are used to identify and determine whether there is an object placed on the sensor platform.

[0024] A fixing plate 401 is fixedly connected to the lower end of the high-sensitivity sensing platform 4 . The fixing plate 401 is used to fix the high-sensitivity sensing platform 4 . The lower end of the fixing plate 401 is fixedly connected to the upper end of the platform body 1 .

[0025] Working principle: The sensor platform is produced in centimeters according to the 1:1 customer required size. For example, a 32x32 dot matrix is ​​used for production design with an interval of 1cm. The 32x32=1024 distributed pressure points 502 on the sensor platform are used to identify whether there is an object placed on the sensor platform. Before the robot grasps, the plane coordinate system is positioned at three points to sense whether the 1024 distributed pressure points 502 of the sensor platform have value changes, and the approximate pressure area and weight of the heavy object are determined. The coordinate position is deduced through the pressure points, and the volume of the heavy object is estimated through the pressure area. The pulling force of the grasping is adjusted according to the approximate weight, which assists robot arm manufacturers or experimental institutions to quickly establish a plane coordinate system; helps robot arm R&D personnel optimize the grasping algorithm and improve the grasping efficiency; and quickly realizes centimeter-level precision positioning, grasping, and placement on multiple platforms.

[0026] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A textile-grade flexible high-sensitivity coordinate sensing platform, comprising a platform body (1), characterized in that: A high-sensitivity sensing platform (4) is arranged at the upper end of the platform body (1), and the high-sensitivity sensing platform (4) comprises a fiber pressure sensor (5). A mechanical arm (6) is installed at the upper end of the platform body (1), and the mechanical arm (6) is arranged on one side of the high-sensitivity sensing platform (4).

2. A textile-grade flexible high-sensitivity coordinate sensing platform according to claim 1, characterized in that: Two support plates (2) are symmetrically and fixedly connected to the lower end of the platform body (1), and a connecting cable (3) is fixedly connected to one side of the platform body (1).

3. The textile-grade flexible high-sensitivity coordinate sensing platform according to claim 1, characterized in that: The fiber pressure sensor (5) comprises a sensing dot matrix (501), distributed pressure points (502), and a circuit board module (503); the circuit board module (503) is arranged at the lower end of the sensing dot matrix (501) and the distributed pressure points (502).

4. The textile-grade flexible high-sensitivity coordinate sensing platform according to claim 1, characterized in that: The lower end of the high-sensitivity sensing platform (4) is fixedly connected to a fixing plate (401), and the lower end of the fixing plate (401) is fixedly connected to the upper end of the platform body (1).

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