Mechanical arm sensing system and robot

Abstract

The invention provides a mechanical arm sensing system and a robot. The mechanical arm sensing system comprises a mechanical arm; the detection module is at least provided with a plurality of pressure sensor sets and a plurality of temperature sensors, the pressure sensors are arranged on the outer surface of the mechanical arm, the temperature sensors are arranged on the outer surface of the mechanical arm or the outer surface close to the mechanical arm, and the pressure sensors are used for obtaining touch position information and touch force information; the control module is used for executing the following operations that the current state of the mechanical arm is determined according to the output signal of the detection module, the current state is one of multiple states of the mechanical arm, and the multiple states correspond to multiple control modes; and according to the current state of the mechanical arm and the mapping relation between the state and the control mode, a target control mode is determined, and movement of the mechanical arm is controlled based on the target control mode. The accuracy of action execution judgment can be improved, and the applicability of the mechanical arm is improved.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a robotic arm sensing system and a robot. Background Art

[0002] With the update and iteration of robots, the application scenarios of robots are becoming increasingly rich. Robots are not only used in automated production lines or logistics transportation in traditional industries, but also gradually penetrate into people's daily lives. Common robotic devices are equipped with acceleration sensors on the main body to detect various movements of the robots through the acceleration sensors. However, with the increase in the application scenarios of robots, detecting the movements of robots only through acceleration sensors far from meets the application requirements. Summary of the Invention

[0003] This application provides a robotic arm sensing system and a robot, which helps to improve the accuracy of action execution judgment and the applicability of the robotic arm. The following introduces each aspect involved in this application.

[0004] In a first aspect, this application provides a robotic arm sensing system, including: a robotic arm; a detection module having at least a plurality of pressure sensor groups and a plurality of temperature sensors, the plurality of pressure sensors are disposed on the outer surface of the robotic arm, the plurality of temperature sensors are disposed on the outer surface of the robotic arm or adjacent to the outer surface of the robotic arm, and the pressure sensors are used to obtain the position information and the touch force information of the touch; a control module for performing the following operations: determining the current state of the robotic arm according to the output signal of the detection module, the current state being one of the multiple states of the robotic arm, and the multiple states corresponding to multiple control modes; determining a target control mode according to the current state of the robotic arm and the mapping relationship between the state and the control mode, and controlling the movement of the robotic arm based on the target control mode.

[0005] In a second aspect, this application provides a robot, characterized in that it includes the robotic arm sensing system as described in the first aspect.

[0006] In the embodiments of this application, by providing a plurality of pressure sensors and a plurality of temperature sensors on the robotic arm, and setting the relative positions of the pressure sensors and the temperature sensors, the current state of the robotic arm can be determined, and tactile perception and temperature perception of the robotic arm can be realized. According to the preset mapping relationship recognition scheme between the state and the control mode, the movement of the robotic arm can be controlled. In the embodiments of this application, multi-dimensional sensing sensors are provided on the robotic arm, which can improve the accuracy of action execution judgment, improve the subsequent functional accuracy, help to improve the applicability of the robotic arm, and expand the application scenarios. Brief Description of the Drawings

[0007] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description in the embodiments of the present application.

[0008] Figure 1 It is a schematic diagram of the robotic arm perception system provided by the embodiments of the present application.

[0009] Figure 2 It is a schematic diagram of the constituent unit / partial constituent unit of the robot provided by the embodiments of the present application. Detailed implementation manners

[0010] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The same or similar reference numerals are used to represent the same or similar modules in the accompanying drawings. It should be understood that the accompanying drawings are only schematic, and the protection scope of the present application is not limited thereto.

[0011] First, the application scenarios involved in the embodiments of the present application will be introduced.

[0012] With the update and iteration of robots, the application scenarios of robots are becoming more and more diverse. Currently, robots are not only used in automated production lines or logistics transportation in traditional industries, but also gradually penetrate into people's daily lives.

[0013] Common robotic devices will install acceleration sensors and inertial sensors on the main body to detect various movements of the robot through the acceleration sensors. However, with the increase in the application scenarios of robots, detecting the movement of robots only through acceleration sensors far from meets the application requirements.

[0014] Therefore, it is necessary to design a technical solution for a robot that can achieve more sensing functions.

[0015] Based on this, the embodiments of the present application propose a robotic arm perception system. The following will combine Figure 1 to introduce the robotic arm perception system of the embodiments of the present application in detail. As Figure 1 shown, the robotic arm perception system 100 of the embodiments of the present application may include: a robotic arm 110, a detection module 120, and a control module 130.

[0016] The robotic arm 110, also known as a robot arm or robotic manipulator, is an automated mechanical device widely used in the field of robotics, which can accept instructions and accurately locate to a certain point in three-dimensional (or two-dimensional) space for operation. The robotic arm 110 can be, for example, a bionic arm.

[0017] The detection module 120 has at least multiple pressure sensor groups and multiple temperature sensors. The multiple pressure sensors are disposed on the outer surface of the robotic arm 110, and the multiple temperature sensors are disposed on the outer surface of the robotic arm 110 or adjacent to the outer surface of the robotic arm. The pressure sensors are used to obtain the position information and touch force information of the touch, and the temperature sensors are used to obtain the temperature information.

[0018] The multiple pressure sensors are disposed on the outer surface of the robotic arm 110. The robotic arm 110 can be divided into different multiple regions, and multiple arrays of pressure sensors are respectively disposed in the different multiple regions. The pressure sensors in each region are respectively used to generate a touch signal when the robotic arm 110 touches. Among them, the touch signal can include the position of the touch and the magnitude of the force of the touch.

[0019] The control module 130 is communicatively connected to the detection module 120. The control module 130 can obtain these touch signals and generate the overall touch information of the robotic arm. The overall touch information includes the touch information of the pressure sensors at all positions on the robotic arm.

[0020] In some embodiments, the temperature sensors can be disposed on the outer surface of the robotic arm 110. In other embodiments, the temperature sensors can also be disposed at a position close to the outer surface. Multiple arrays of temperature sensors are respectively disposed in different multiple regions of the robotic arm 110.

[0021] In some implementation manners, the temperature sensors and the pressure sensors are alternately disposed on the robotic arm 110. The temperature sensors and the pressure sensors are used in pairs one by one, which helps to determine the position numbers of the temperature sensors and the pressure sensors and reduces errors. The temperature sensors in each region are respectively used to sense the temperature of the corresponding region of the robotic arm 110 and generate a temperature signal. Among them, the temperature signal includes the temperature magnitude and the corresponding position. The control module 130 can obtain these temperature signals and generate the overall temperature information of the robotic arm 110. The overall temperature information includes the temperature information of the temperature sensors at all positions on the robotic arm 110.

[0022] The control module 130 is used to perform the following operations:

[0023] According to the output signal of the detection module 120, determine the current state of the robotic arm 110. The current state is one of the multiple states of the robotic arm 110, and the multiple states correspond to multiple control modes. According to the current state of the robotic arm 110 and the pre-stored mapping relationship between the state and the control mode, determine the target control mode, and control the movement of the robotic arm 110 based on the target control mode.

[0024] The control module 130 can obtain the temperature information and pressure information detected by the detection module 120. The control module 130 stores control strategies related to the pressure information and temperature information, and can control the movement of the robotic arm according to the obtained temperature information, pressure information, and the pre-stored control strategies.

[0025] It can be understood that the detection information of multiple pressure sensors and temperature sensors can form multiple information groups. The distribution positions of the multiple pressure sensors and temperature sensors correspond to multiple regions of the robotic arm 110. The multiple information groups correspond to multiple states of multiple regions of the robotic arm 110, and the multiple states correspond to multiple control modes (control strategies) of the robotic arm 110.

[0026] In the embodiment of the present application, by arranging multiple pressure sensors and temperature sensors in an array on the robotic arm, and setting the relative positions of the pressure sensors and temperature sensors, the current state of the robotic arm can be determined, and tactile perception and temperature perception of the robotic arm can be realized. According to the mapping relationship recognition scheme between the preset state and the control mode, the movement of the robotic arm can be controlled. In the embodiment of the present application, multi-dimensional sensing sensors are arranged on the robotic arm, which can improve the accuracy of action execution judgment, improve the subsequent function accuracy, help improve the applicability of the robotic arm, and expand the application scenarios.

[0027] In some implementation manners, the robotic arm 110 can be divided into multiple regions, and the multiple regions respectively correspond to multiple positions (parts) of the robotic arm 110. Multiple pressure sensor groups and multiple temperature sensors are arranged in an interleaved manner to form multiple sensor groups, and the multiple regions correspond to the multiple sensor groups. Or rather, any region corresponds to at least 1 pressure sensor group and 1 temperature sensor. In this way, through the multiple sensor groups corresponding to the multiple regions, the touch signal and temperature information when any region of the robotic arm 110 is touched can be detected. Among them, the touch signal can include the touch position and the magnitude of the touch force. The pressure information and temperature information of the entire robotic arm are detected.

[0028] In some implementation manners, the robotic arm 110 can include multiple movable components, and the multiple movable components correspond to the multiple regions described above. Any movable component can be individually driven and / or participate in linkage. Exemplarily, the robotic arm 110 can be a bionic arm, and multiple separate fingers are arranged on the bionic arm, and each finger is provided with multiple linked movable joints. Items can be picked up by controlling these fingers on the bionic arm, or corresponding actions can be performed by controlling the changes of the movable joints of a single finger. Ordinary pressure sensors and temperature sensors are difficult to adapt to the flexible application requirements of movable joints.

[0029] In order to better adapt to the movement of the movable joint, in some implementation manners, the pressure sensor may adopt a thin-film flexible pressure sensor (sensing sheet), and the temperature sensor may be a thin-film flexible temperature sensor (sensing sheet).

[0030] As an implementation manner, the thin-film flexible pressure sensor may include a flexible substrate and a sensing material layer disposed on the flexible substrate. An electrode layer is disposed on the flexible substrate. When the sensing material layer is pressed, the contact area between the sensing material layer and the electrode layer changes, and thus the electrical signal changes. By calculating the electrical signal, the corresponding pressure magnitude can be obtained. When the robotic arm 110 is collided with or actively touches an object, the thin-film flexible pressure sensor disposed on the outer surface of the robotic arm 110 will be squeezed. In this way, the thin-film flexible pressure sensor can obtain the magnitude of the squeezing force, and thus can provide more accurate data for the analysis of the control module 130. Since the thin-film flexible pressure sensor has the characteristics of flexibility and thinness, the integration difficulty between the pressure sensor and the robotic arm can be reduced. The thin-film flexible pressure sensor can adapt to various movements of the movable parts on the robotic arm, and further improve the reliability of the detection result of the thin-film flexible pressure sensor.

[0031] As a specific implementation manner, the thin-film flexible pressure sensor may be directly attached to the outer surface of the robotic arm 110. As another specific implementation manner, the thin-film flexible pressure sensor may be attached to the outer surface of the robotic arm 110, or an elastic film may be disposed on the outer surface of the thin-film flexible pressure sensor. The elastic film can well transmit the touch force while protecting the thin-film flexible pressure sensor. The elastic film may be, for example, elastic silica gel.

[0032] As an implementation manner, the thin-film flexible temperature sensor may include a flexible substrate and a temperature sensing portion disposed on the flexible substrate. The temperature sensing portion changes the electrical signal due to the change in temperature. By calculating the electrical signal, the corresponding temperature magnitude can be obtained. In the embodiment of the present application, the thin-film flexible temperature sensor is disposed on the side of the robotic arm 110 close to the outside. In this way, the thin-film flexible temperature sensor can directly obtain the surface temperature of the robotic arm 110 or the ambient temperature of the corresponding area, and can provide more accurate and effective temperature data. Due to the flexibility and thinness of the thin-film flexible temperature sensor, the integration difficulty between the temperature sensor and the robotic arm can be reduced. While obtaining the surface temperature, the thin-film flexible temperature sensor can be well integrated into the robotic arm, adapt to various movements of the movable parts on the robotic arm, and further improve the reliability of the detection result of the thin-film flexible temperature sensor.

[0033] In some specific implementation manners, the thin-film flexible temperature sensor is disposed at a position close to the outer side of the robotic arm 110, which can avoid the adverse effects of the extrusion force or friction force during the operation of the robotic arm 110 on the thin-film flexible temperature sensor, improve the durability of the thin-film flexible temperature sensor and the accuracy of the detection result, and can provide accurate and deeper-level data for the analysis of the control module 130.

[0034] In some implementation manners, the detection module 120 may further include other types of sensors. For example, the detection module 120 may further include a plurality of acceleration sensors. The robotic arm 110 may include a plurality of movable components, and the plurality of movable components correspond to the foregoing plurality of regions, and a plurality of acceleration sensors arranged in an array are respectively disposed in different ones of the plurality of regions. The acceleration sensors in each region are respectively configured to sense the motion information of the corresponding region of the robotic arm 110. Among them, the motion information may include the acceleration magnitude and the attitude information.

[0035] The robotic arm 110 is divided into a plurality of regions, and the plurality of regions respectively correspond to a plurality of positions of the robotic arm 110. A plurality of pressure sensor groups and a plurality of temperature sensors are arranged in an interleaved manner to form a plurality of sensor groups, and any one region corresponds to at least one pressure sensor group and one temperature sensor. The independently arranged pressure sensor groups and temperature sensors are not convenient to be integrated at the corresponding positions of the robotic arm 110.

[0036] In some implementation manners, the pressure sensor and the temperature sensor are devices with an integrated structure. The device with an integrated structure includes: a flexible substrate, a temperature sensing portion, an electrode layer, and a sensing material layer are disposed on the flexible substrate. The sensing material layer and the electrode layer covered thereby form a pressure sensing portion, the temperature sensing portion corresponds to the temperature sensor, and the pressure sensing portion corresponds to the pressure sensor.

[0037] Specifically, the pressure sensor and the temperature sensor can be integrated into one body to form a thin-film flexible temperature and pressure integrated sensing chip. That is, a temperature sensing portion, an electrode layer, and a sensing material layer are disposed on the flexible substrate, and the sensing material layer covers the electrode layer to form a pressure sensing portion. Among them, the temperature sensing portion is configured to generate a change in the electrical signal due to the change in temperature, and the corresponding temperature magnitude can be obtained by calculating the electrical signal. The pressure sensing portion is configured to generate a change in the electrical signal based on the change in the contact area between the sensing material layer and the electrode layer, and the corresponding pressure magnitude can be obtained by calculating the electrical signal. The integrated structure of the pressure sensor group and the temperature sensor helps to be integrated at the corresponding position of the robotic arm and simplifies the installation difficulty.

[0038] In some embodiments, different positions of the robotic arm can be divided, and corresponding detection areas can be set at different positions. Any one detection area corresponds to a thin-film flexible temperature and pressure integrated sensing chip. In this way, the control module 130 can confirm the specific pressure information position and temperature information position on the robotic arm according to the pre-calibrated corresponding information between each detection area and the position of the robotic arm, combined with the relative position information of the pressure sensor and the temperature sensor in the detection area.

[0039] It can be understood that by dividing the robotic arm into multiple areas and setting a separate detection area at each position. In this way, the thin-film flexible temperature and pressure integrated sensing chips between the detection areas on the robotic arm will not cause a linkage effect due to the movement of the robotic arm, reducing the interference between each other, and making the mapping relationship between the detected pressure information and temperature information and the actual corresponding positions on the robotic arm more accurate. In addition, when the thin-film flexible temperature and pressure integrated sensing chip in any one detection area is damaged, the sensor in this area can be replaced separately, without replacing the thin-film flexible temperature and pressure integrated sensing chips on the entire robotic arm, which helps to improve the convenience of using the robotic arm and the convenience of maintenance.

[0040] In some specific implementation manners, any one separate detection area is provided with a thin-film flexible temperature and pressure integrated sensing chip, and the temperature sensors provided on the thin-film flexible temperature and pressure integrated sensing chip are at least arranged between two pressure sensors. As a better choice, the thin-film flexible temperature and pressure integrated sensing chip is provided with at least four pressure sensors, and at least four pressure sensors define an enclosed area, and at least one temperature sensor is arranged at the middle position of the enclosed area. It can be understood that the temperature sensor is arranged close to the pressure sensor, and by setting only one temperature sensor, the temperature changes near at least two pressure sensors can be obtained, and then the temperature changes and pressure changes at the corresponding positions can be more clearly combined to obtain the temperature changes and pressure changes at the same position. It can be understood that by adopting such a setting method, fewer temperature sensors can be used to cooperate with the pressure sensors to obtain the temperature distribution and pressure distribution information of the detection area. In this way, the control module 130 can perform regional pressure and temperature analysis on the robotic arm, and can also perform overall area pressure and temperature analysis on the robotic arm by combining each detection area, which has high practicality. And any one separate detection area is provided with a thin-film flexible temperature and pressure integrated sensing chip, so that the thin-film flexible temperature and pressure integrated sensing chips between the detection areas on the robotic arm will not cause a linkage effect due to the movement of the robotic arm, reducing the interference between each other, and making the mapping relationship between the detected pressure information and temperature information and the actual corresponding positions on the robotic arm more accurate; at the same time, it is more convenient to set the one-to-one correspondence between the thin-film flexible temperature and pressure integrated sensing chip and the detection area on the robotic arm, which has high convenience.

[0041] Furthermore, changes in higher temperatures will have a certain impact on the pressure detection accuracy of the pressure sensor. That is to say, the pressure sensor is prone to temperature drift in a high-temperature environment. When the robotic arm 110 is applied to some high-precision scenarios, it is required that the robotic arm 110 can provide more accurate pressure detection data. In this application, the temperature sensors provided on the thin-film flexible temperature and pressure integrated sensing chip are at least arranged between two pressure sensors. As a better choice, the thin-film flexible temperature and pressure integrated sensing chip is provided with at least four pressure sensors. The at least four pressure sensors define an enclosed area, and at least one temperature sensor is arranged at the middle position of the enclosed area. That is to say, any pressure sensor is provided with a corresponding temperature sensor. The control module 130 can also correct the temperature drift of the pressure information detected by the pressure sensor according to the temperature data detected by the adjacent temperature sensors, further ensuring the accuracy of the pressure data detection. For example, the control module 130 stores a correction model for correcting pressure data according to temperature. When the control module 130 obtains the temperature data and pressure data detected by the temperature and pressure integrated sensing chip, the control module 130 corrects the pressure data according to the correction model, the pressure data and the temperature data at the corresponding position to obtain more accurate pressure data, further improving the accuracy of the pressure data, especially when the robotic arm 110 is applied to a high-temperature scenario. Of course, the correction model for correcting pressure data can also be stored in the detection module 120. The detection module 120 corrects the pressure data and then transmits the corrected pressure data to the control module 130.

[0042] In some specific implementation manners, taking the robotic arm 110 as a bionic arm as an example, a single finger is defined as a separate detection area. The single finger is provided with a plurality of linked movable joints, and each movable joint is at least provided with a pressure sensor and a temperature sensor. It can be understood that since a single finger is provided with a corresponding detection area, and the pressure sensors and temperature sensors in the detection area are integrated. Therefore, adopting a thin-film flexible pressure sensing chip and a thin-film temperature sensing chip can better adapt to the movement of the movable joints. If the thin-film flexible temperature and pressure integrated sensing chip of the detection area (or the movable joint) corresponding to any finger is damaged, the sensors in this area can be replaced separately, which helps to improve the convenience of using the robotic arm and the convenience of maintenance.

[0043] Typically, a pressure sensor (or temperature sensor) has an input signal line and an output signal line. Multiple pressure sensor groups and multiple temperature sensors have multiple input signal lines and multiple output signal lines, which undoubtedly increases the difficulty of integrating them into multiple areas of the robotic arm. It can be understood that the input signal line is used to transmit an electrical signal to the pressure sensing point / temperature sensing point, and the output signal line is used to transmit the electrical signal after passing through the pressure sensing point / temperature sensing point to other devices.

[0044] In some implementation manners, some or all of the multiple pressure sensors share an input signal line and / or an output signal line.

[0045] In some other implementation manners, some or all of the different types of sensors among the multiple pressure sensors and multiple temperature sensors share an input signal line and / or an output signal line.

[0046] In some specific implementation manners, the thin-film flexible pressure sensing sheet includes multiple pressure sensing points, and the thin-film flexible temperature sensing sheet includes multiple temperature sensing points. Each pressure sensing point and temperature sensing point are arranged in an array, and these pressure sensing points / temperature sensing points share the same signal input or signal output. Each pressure sensing point and temperature sensing point in multiple detection areas are arranged in an array, or there is a corresponding mapping relationship between multiple pressure sensing points and temperature sensing points and multiple areas. When these pressure sensing points / temperature sensing points share the same signal input or signal output, the pressure / temperature information of the corresponding position can still be generated through the control module 130 and its specific position on the robotic arm 110. For example, the input electrical signals of each pressure sensing point are input sequentially in a time-division manner. Adopting this setting method can reduce the number of input signal lines and / or output signal lines, making the integration between the pressure sensor / temperature sensor and the robotic arm simpler and more compact.

[0047] In some implementations, the control module 130 is configured to determine the direction and magnitude of the pressure in each area, as well as the temperature value of each area, based on the output signal of the detection module 120; determine the pressure distribution information and temperature distribution information of the robotic arm 110, and determine the current state of the robotic arm. It can be understood that multiple thin-film flexible pressure sensors correspond to multiple pressure sensing points, and the pressure distribution information of the corresponding area can be more accurately identified through the pressure changes detected by the multiple pressure sensing points. The distribution information such as the angle and direction of the pressure can be further determined according to the arrangement position of the pressure sensors on the robotic arm. Multiple thin-film flexible temperature sensing chips correspond to multiple temperature sensing points, and the temperature distribution information of the corresponding area can be more accurately identified through the temperature changes detected by the multiple temperature sensing points. At the same time, due to the arrangement method between the temperature sensing points and the pressure sensing points, the control module 130 can obtain the temperature information and pressure information at the same position, so that the control module 130 can more accurately control the corresponding functions of the robotic arm 110.

[0048] In some implementations, the control module 130 can be directly electrically connected to the pressure sensors to obtain the electrical signal changes of the pressure sensors; the control module 130 can be directly electrically connected to the temperature sensors to obtain the electrical signal changes of the temperature sensors. As another implementation manner, the detection module 120 may further include a collector, the collector is electrically connected to the pressure sensors and the temperature sensors, the control module 130 is communicatively connected to the collector, and the collector collects the electrical signal changes of the pressure sensors and the temperature sensors and transmits the relevant data to the control module 130.

[0049] In the embodiments of the present application, by providing multiple pressure sensors and temperature sensors on the robotic arm and setting the relative positions of the pressure sensors and the temperature sensors, the current state of the robotic arm can be determined, and tactile perception and temperature perception of the robotic arm can be realized. According to the mapping relationship recognition scheme between the preset state and the control mode, the movement of the robotic arm can be controlled. In the embodiments of the present application, multi-dimensional sensing sensors are provided on the robotic arm, which can improve the accuracy of action execution judgment, improve the subsequent function accuracy, help improve the applicability of the robotic arm, and expand the application scenarios.

[0050] The embodiments of the present application provide a robot, Figure 2 which is a schematic diagram of the constituent unit / partial constituent unit of the robot provided by the embodiments of the present application. As Figure 2 shown, the robot 200 includes the robotic arm sensing system 100 as described in any of the foregoing. The robotic arm 110 may be, for example, a bionic robotic arm.

[0051] When the robot 200 performs corresponding actions through the robotic arm 110, it can collect the pressure information and temperature information on the robotic arm 110, so as to understand whether the relevant actions are executed in place or whether corresponding adjustments are needed.

[0052] Those skilled in the art can understand that Figure 2 These are only examples of the robot 200 and do not constitute a limitation on the robot. It may include more or fewer components than shown in the figures, or combine certain components, or different components.

[0053] In the above embodiments, the descriptions of the various embodiments have their own emphases. For parts not detailed or recorded in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0054] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of the present application, a computer program can be used to instruct the relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the photographing device / electronic device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), magnetic tape, floppy disk and optical data storage device, etc. The computer-readable storage medium mentioned in the present application can be a non-volatile storage medium, in other words, it can be a non-transitory storage medium.

[0055] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0056] In the embodiments provided in the present application, it should be understood that the disclosed device / equipment and method can be implemented in other ways. For example, the device / equipment embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0057] It should be understood that when used in the specification and the appended claims of the present application, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0058] It should also be understood that the term "and / or" used in the specification and the appended claims of the present application refers to any combination and all possible combinations of one or more of the related listed items, and includes these combinations.

[0059] As used in the specification and the appended claims of the present application, the term "if" can be interpreted as "when", "once", "in response to determining" or "in response to detecting" according to the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected" or "in response to detecting [the described condition or event]" according to the context.

[0060] In addition, in the description of the specification and the appended claims of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A robotic arm perception system, characterized in that: include: Robotic arm; a detection module, comprising at least a plurality of pressure sensor groups and a plurality of temperature sensors, wherein the plurality of pressure sensors are arranged on the outer surface of the mechanical arm, the plurality of temperature sensors are arranged on the outer surface of the mechanical arm or adjacent to the outer surface of the mechanical arm, and the pressure sensors are used to obtain touch position information and touch force information; The control module is connected to the detection module and is used to perform the following operations: Determine a current state of the robotic arm according to an output signal of the detection module, wherein the current state is one of multiple states of the robotic arm, and the multiple states correspond to multiple control modes; According to the current state of the robot arm and the mapping relationship between the state and the control mode, a target control mode is determined, and the movement of the robot arm is controlled based on the target control mode.

2. The robotic arm sensing system according to claim 1, characterized in that: The robot arm is divided into a plurality of regions, the plurality of pressure sensor groups and the plurality of temperature sensors are arranged in a staggered manner to form a plurality of sensor groups, and the plurality of regions correspond to the plurality of sensor groups.

3. The robotic arm sensing system according to claim 2, characterized in that: The robotic arm includes a plurality of movable parts, and the plurality of movable parts correspond to the plurality of regions. Any of the movable parts can be driven individually and / or participate in linkage.

4. The robotic arm sensing system according to claim 1, characterized in that: The pressure sensor is a thin film flexible pressure sensor, and the temperature sensor is a thin film flexible temperature sensor.

5. The robotic arm sensing system according to claim 4, characterized in that: The pressure sensor and the temperature sensor are integrated components, and the integrated component includes: A flexible substrate is provided with a temperature sensing part, an electrode layer and a sensing material layer, the sensing material layer and the electrode layer covered by the sensing material layer form a pressure sensing part, the temperature sensing part corresponds to the temperature sensor, and the pressure sensing part corresponds to the pressure sensor.

6. The robotic arm sensing system according to claim 4, characterized in that: Some or all of the multiple pressure sensors share an input signal line and / or an output signal line, and / or some or all of the multiple temperature sensors share an input signal line and / or an output signal line.

7. The robotic arm sensing system according to claim 4, characterized in that: Some or all of the different types of sensors among the plurality of pressure sensors and the plurality of temperature sensors share an input signal line and / or an output signal line.

8. The robotic arm sensing system according to claim 4, characterized in that: The thin film flexible pressure sensor is attached to the outer surface of the mechanical arm, and an elastic film is arranged on the outer surface of the thin film flexible pressure sensor.

9. The robotic arm sensing system according to any one of claims 1 to 8, characterized in that: The control module is used to determine the direction and magnitude of the pressure in each of the areas, and the temperature value of each of the areas according to the output signal of the detection module; Determine the pressure distribution information and temperature distribution information of the robotic arm, and determine the current state of the robotic arm.

10. A robot, characterized in that: Comprising a robotic arm perception system as described in any one of claims 1-9.

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