Robot touch sensor data acquisition module and acquisition method

Abstract

The invention discloses a robot touch sensor data acquisition module and an acquisition method. The robot touch sensor data acquisition module comprises an MCU, a single-channel analog multiplexer, a communication unit, a power supply unit and a precision reference resistor, a plurality of rows of leads of the tactile sensor are electrically connected with the MCU, and a plurality of columns of leads of the tactile sensor are electrically connected with the single-channel analog multiplexer; the general output / input of the single-channel analog multiplexer is divided into two paths to be electrically connected with the MCU, wherein one path is connected in series with a precise reference resistor; the MCU and the single-channel analog multiplexer control and switch a plurality of rows and columns of wires to provide detection reference voltage for the tactile sensor, voltage-applied scanning detection of tactile sensing units arranged on the tactile sensor array is realized, and in a scanning detection period, only one time of voltage-applied scanning is needed, so that the data acquisition time can be greatly shortened; the output of the tactile sensing unit is subjected to voltage division through a precision reference resistor and input into the MCU for analog-to-digital conversion, analog voltage signals are converted into digital voltage signals, and data acquisition of the robot tactile sensor is achieved.

Claims

1. A robot tactile sensor data acquisition module, used for collecting pressure data of a tactile sensor (9); the tactile sensor (9) array is provided with a plurality of tactile sensing units (9.1), and the plurality of tactile sensing units (9.1) are respectively connected to row conductors and column conductors; the characteristics are: The device comprises an MCU (1), a single-channel analog multiplexer (2), a communication unit (3), a power supply unit (4), and a precision reference resistor (5); the power supply unit (4) is electrically connected to the MCU (1), the single-channel analog multiplexer (2), and the communication unit (3) respectively; a plurality of rows of conductive wires of the tactile sensor (9) are electrically connected to the MCU (1), and a switch tube is provided between the plurality of rows of conductive wires and the MCU (1); A plurality of column conductors of the tactile sensor (9) are electrically connected to a single-channel analog multiplexer (2); a universal output / input port of the single-channel analog multiplexer (2) is electrically connected to an MCU (1) in two ways, one of which is connected in series with a precision reference resistor (5); a communication unit (3) is electrically connected to the MCU (1); the MCU (1) controls the switching of a plurality of row and column conductors to provide a detection reference voltage for the tactile sensor (9), and the single-channel analog multiplexer (2) controls the switching of the column conductors to the universal output / input to achieve voltage scanning detection of the tactile sensing units (9.1) arranged in an array in the tactile sensor (9); the output of the tactile sensing unit (9.1) is input to the MCU (1) for analog-to-digital conversion after being divided by the precision reference resistor (5), so as to convert the analog voltage signal into a digital voltage signal.

2. A robot tactile sensor data acquisition module according to claim 1, characterized in that: A number of channel selection lines and enable control lines are also connected between the MCU (1) and the single-channel analog multiplexer (2).

3. A robot tactile sensor data acquisition module according to claim 2, characterized in that: The tactile sensor (9) is connected to the MCU (1) and the single-channel analog multiplexer (2) via a tactile sensor interface (7).

4. A robot tactile sensor data acquisition module according to claim 3, characterized in that: The communication unit (3) uses an RS485 interface chip and is connected to the robot controller (10) via a communication interface (6).

5. A robot tactile sensor data acquisition module according to claim 4, characterized in that: Two communication interfaces (5) are arranged in parallel.

6. The robot tactile sensor data acquisition module according to claim 5, characterized in that: The MCU (1) is also electrically connected to a SWD download interface (8).

7. A data acquisition method based on the robot tactile sensor data acquisition module of claim 6, characterized in that: The working state of a single-channel analog multiplexer (2) and the setting levels of a plurality of row conductors and column conductors of a tactile sensor (9) are controlled by an MCU (1), and the equivalent resistance value of each tactile sensing unit (9.1) of the tactile sensor (9) is detected once in one scanning cycle; the equivalent resistance value of each tactile sensing unit (9.1) is used to replace its actual resistance value, and feedback control is performed on the robot.

8. The data acquisition method of the robot tactile sensor data acquisition module according to claim 7 is characterized by: The equivalent resistance value of each tactile sensing unit (9.1) of the tactile sensor (9) is calculated through several iterative operations to obtain an approximate real resistance value of each tactile sensing unit (9.1), thereby performing feedback control on the robot.

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