Non-contact translation detection method, sensing element, sensor, system and device

Abstract

The invention relates to a non-contact translation detection method, a sensing piece, a sensor, a system and a device, the non-contact translation detection device comprises a long-strip-shaped support serving as a displacement reference fixing point, a surface, fixed with a magnetic induction element, on the support serves as a detection surface, a sliding block capable of sliding along the length direction of the long-strip-shaped support is arranged above the detection surface, and the sliding block is arranged on the long-strip-shaped support. The sliding block is provided with at least one magnet serving as a moving difference mark in the moving direction of the sliding block, and the N-pole and S-pole arrangement direction of the magnet is consistent with the moving direction of the sliding block. The characteristic that the normal direction of a detection surface is perpendicular to the displacement direction of a detected target is utilized, the displacement movement is recognized through alternate change of magnetic poles, the non-contact detection function is formed, the designed sensing part, the sensor and the sensor kit can be small in size, the detection precision can reach the resolution of subsquare millimeters, and the detection precision can reach the resolution of subsquare millimeters. And a composite multi-stage feedback sensing system of pressure, tension and temperature is formed, the direction of the detected force is more flexible, and the sensing of human fingers can be simulated.

Description

Technical Field

[0001] The present invention relates to a non-contact translation detection method, a sensing element, a sensor, a system and a device, belonging to the technical field of industrial automation equipment and intelligent robots. It is a non-contact sensing method for a manipulator to detect displacement, a non-contact translation detection sensor, a tension-compression composite multi-stage force-thermal feedback system formed by the non-contact translation detection and a temperature sensor, and a tension-compression composite force feedback device applying the non-contact translation detector. Background Art

[0002] With the development of industrial automation and intelligent robot technologies, manipulators are increasingly widely used in fields such as industrial production, medical surgery, hazardous operations, deep-sea exploration, aerospace, life services, virtual reality, etc. Traditional manipulator systems mostly adopt contact sensor solutions, non-contact sensor solutions where the displacement direction of the detected target is parallel to the normal direction of the sensor detection surface, and torque measurement solutions. There are the following technical bottlenecks in terms of tactile perception accuracy, simulation of human soft tissue deformation, and influence on the external environment: 1. Low resolution and accuracy: When using a contact sensor to detect the magnitude of the force, the smaller the size of the sensor, the smaller the deformation caused by the force, the weaker the corresponding physical quantity change, and the easier the signal is to be submerged by thermal noise and electromagnetic interference. At the same time, limited by the adhesive layer, uneven pasting or residual stress will significantly affect the measurement accuracy. When using a non-contact sensor solution where the displacement direction of the detected target is parallel to the normal direction of the sensor detection surface, the smaller the detection area, the weaker the signal obtained. When using a torque measurement solution, it can only measure the rotation of rotating components (such as the current of a motor) to calculate the magnitude and direction of the force, and cannot measure the force on non-rotating components. Therefore, it can only measure the force on the whole manipulator and cannot measure the force on local parts of the manipulator.

[0003] 2. Direction limitation of the detected force: When using a non-contact sensor solution where the displacement direction of the detected target is parallel to the normal direction of the sensor detection surface, a certain direction of force or displacement can be accurately detected (such as the displacement in the direction of the proximity sensor), but the force or displacement in the opposite direction cannot be detected or the detection error increases (such as the displacement away from the sensor). When using a torque measurement solution, it can only detect the rotation direction of the moving arm.

[0004] 3. Unable to simulate finger deformation: Manipulators using contact sensor solutions and torque measurement solutions cannot simultaneously meet the following two requirements, so they cannot improve the friction force when grasping an object: 1) For a relatively small force, deform in the direction of the force like a human finger, for example, the common about 4 mm stroke of the finger skin that is indented inward after being pressed and protruded outward after being pulled; 2) For a relatively large force, like a human finger, detect the applied force with little further deformation occurring.

[0005] 4. Interference between sensors: When adopting a non-contact sensor solution where the displacement direction of the detected target is parallel to the normal direction of the sensor detection surface, when the distance between the sensor and the detected target is greater than the distance between this sensor and the adjacent sensor, the adjacent sensor will be interfered by the electric field or magnetic field generated by this sensor or the detected object.

[0006] 5. Interference to the external environment: If the sensor or the detected object is composed of permanent magnetic materials, it will cause magnetic leakage. If the sensor detects through an electric field formed by an alternating current, it will cause electromagnetic leakage.

[0007] 6. Prone to wear and short lifespan: In the actual working environment, contact sensors are prone to metal fatigue, contact oxidation, etc. due to frequent deformation, so their lifespan is usually short, which is not conducive to long-term, efficient and continuous operation.

[0008] The above technical bottlenecks prevent the manipulator from detecting the magnitude and direction of the applied force with high resolution, simulating the force deformation, reducing the interference between sensors, avoiding interfering with the external environment, and working stably for a long time like a human hand. Summary of the Invention

[0009] In order to overcome the problems of the prior art, the present invention proposes a non-contact translation detection method, a sensing element, a sensor, a system and a device, which is a non-contact sensing method for detecting displacement, and a sensing element designed according to this detection method, and a sensor and a sensor assembly designed with this sensing element, and a composite multi-stage force and thermal feedback sensing system for a manipulator and a tactile and temperature reproduction device using a non-contact translation detection sensor designed with this sensor assembly.

[0010] The object of the present invention is achieved as follows: A non-contact translation detection method, the displacement direction of the detected target is perpendicular to the normal direction of the detection surface, and there is one and only one detected target matching the detection surface; between the detection surface and the detected target, N-pole and S-pole magnets arranged alternately are used as moving difference identifiers, and are identified by a magnetic induction element to form relative displacement detection.

[0011] A non-contact translation detection sensing element, including: a detection surface as a displacement reference fixed point and a detected target capable of moving linearly on the detection surface, the displacement direction of the detected target is perpendicular to the normal direction of the detection surface, a magnetic induction element is provided on the detection surface, and a magnet with N-poles and S-poles arranged alternately as moving difference identifiers is provided on the detected target, and the arrangement direction of the N-poles and S-poles of the magnet is consistent with the displacement direction of the detected target.

[0012] A non-contact translation detection sensor, comprising: a long strip-shaped bracket as a displacement reference fixed point, a surface of the bracket where a magnetic induction element is fixed as a detection surface, a slider capable of sliding along the length direction of the long strip-shaped bracket is arranged above the detection surface, at least one magnet with the arrangement direction of N poles and S poles consistent with the moving direction of the slider as a moving difference identifier is arranged on the slider along the moving direction of the slider, and a displacement guiding and constraining facility and a reset facility are further arranged on the slider and the long strip-shaped bracket.

[0013] Further, the displacement guiding and constraining facility is a sleeve sleeved on the long strip-shaped bracket and the slider, a chute arranged on the long strip-shaped bracket, and a sliding hook arranged at one end of the slider and matched with the chute; the reset facility is an elastic covering filler or a spring.

[0014] A manipulator non-contact translation detection sensor kit using the above non-contact translation detection sensor, comprising: a sensor structure arranged in a tree shape composed of a non-contact translation detection sensor component or a contact sensor constrained by a manipulator covering filler between a manipulator skeleton and a manipulator skin; the tree-shaped arranged sensor structure has less than 5 levels, and the non-contact translation detection sensor component includes at least two non-contact translation detection sensors with long strip-shaped brackets fixed side by side and detection surfaces perpendicular to each other.

[0015] Further, the ratio of the deformation of the manipulator skin caused by external force to the structural deformation of the manipulator non-contact translation detection sensor kit is: 1:1 - 10:1.

[0016] Further, a plurality of temperature sensors are arranged under the outer skin of the manipulator covering filler.

[0017] A manipulator sensing system using the above manipulator non-contact sensor kit, comprising: a sensing detection device, the sensing detection device is connected to a detection information processing device, the detection information processing device is connected to a sensing reproduction processing device through a wired or wireless network, the sensing reproduction processing device is connected to a sensing reproduction device, and the detection information processing device and the sensing information reproduction processing device are connected to a virtual data construction device, an embodied intelligence processing device, and a brain-computer interface processing device through a wired or wireless network; The sensing detection device includes: non-contact sensors, contact sensors, and temperature sensors of the manipulator non-contact sensor kit; The described detection information processing device includes: a tactile data collection unit connected to the non-contact sensor and the contact sensor; a temperature data collection unit connected to the temperature sensor, and the tactile data collection unit and the temperature data collection unit are sequentially connected to a detection data calculation and arrangement unit and a detection data sending unit, and the detection data sending unit is connected to a wired or wireless network; The described feeling reproduction processing unit includes: a reproduction data receiving unit connected to a wired or wireless network, the reproduction data receiving unit is connected to a reproduction data distribution unit, and the reproduction data distribution unit is connected to a tactile reproduction control unit and a temperature reproduction control unit; the tactile reproduction control unit is connected to an actuator, a reproduction end non-contact sensor, and a reproduction end contact sensor, and the temperature reproduction control unit is connected to a temperature regulator and a reproduction end temperature sensor.

[0018] Furthermore, the described feeling reproduction processing device is provided with a friction compensation module, a temperature compensation module, an interference compensation module, and an inter-stage compensation module.

[0019] A tactile and temperature reproduction device using the above non-contact translation detection sensor includes: a thermal probe, the thermal probe is connected to a probe with a sleeve, the probe is connected to a detected target of the displacement sensing member, a detection surface of the displacement sensing member is connected to a fixed nut, the nut is threadedly connected to a lead screw, and the lead screw is connected to a moving motor; the thermal probe includes insulating and heat-conducting materials at both ends, one end of the insulating and heat-conducting material is in contact with the skin of a real person, the other end of the insulating and heat-conducting material is connected to the probe, and a temperature sensor and a temperature regulator are provided between the insulating and heat-conducting materials.

[0020] The advantages and beneficial effects of the present invention are: The present invention utilizes the non-contact translation feature that the normal direction of the detection surface is perpendicular to the displacement direction of the detected target, and uses the alternating change of magnetic poles to identify the movement of the displacement to form a non-contact detection function. The designed sensing member, sensor, and sensor kit can be very small in volume, and the detected accuracy can reach a resolution of sub-square millimeters (the highest resolution can reach 0.88 square millimeters), and a composite multi-stage feedback sensing system of pressure, tension, and temperature is formed, and the detection force direction is more flexible and can simulate the perception of a human finger. Due to the small volume, when the sensors are densely arranged, the angle difference between the detection surfaces of each sensor can be used to avoid mutual interference and resist external interference. Due to the simple structure and few parts, the sensor cost is very low and the work is very stable and reliable. Due to the small volume and high accuracy, the present invention can be applied to a composite multi-stage force and heat feedback manipulator with a resolution of sub-square millimeters, and is used in various application scenarios that require collecting, simulating, and emulating human hand touch, temperature sense, and force deformation: 1. Telemedicine: Surgery is performed through a remote bionic manipulator. During the surgery, a local device used in conjunction with the remote manipulator feeds back the operating force of the scalpel, the softness, hardness, and temperature of the touched tissues and organs felt by the remote bionic manipulator to the hands of the local doctor, enabling the doctor to perform surgical operations as if they were in the remote operating room. Even before performing a remote surgery, the local doctor can be exempted from disinfection work.

[0021] 2. Remote bomb disposal: Bomb disposal work is carried out through a remote manipulator. During the bomb disposal process, bomb disposal experts can obtain a similar feeling to the bomb disposal site through a local device used in conjunction with the remote manipulator. This allows bomb disposal experts not to wear heavy protective clothing, not to worry about personal safety, and to be able to operate their fingers flexibly, fully concentrating on the bomb disposal work.

[0022] 3. Embodied intelligent robot: It can perceive more details of human - machine interaction, such as the strength of a handshake, patting, picking up, etc. It adjusts the grasping posture in real - time according to the pressure distribution map for objects with different shapes to avoid slipping or deformation.

[0023] 4. Space station experiment: For precision experiments in the space station, if astronauts are not competent, they can be remotely operated by professional ground experimenters. During the operation process, the same forces and temperatures as in the weightless environment can be felt.

[0024] 5. Medical care: When turning over bedridden patients, the force provided by each part of the hand can be adjusted more comprehensively and evenly, avoiding rough actions that may cause harm to the patients.

[0025] 6. Brain - machine interface: Through the brain - machine interface, the tactile and temperature sensations of the bionic manipulator are input to help amputee patients regain the hand's sensory ability, and other technical fields. Brief Description of the Drawings

[0026] The present invention will be further described below in conjunction with the drawings and embodiments.

[0027] Figure 1 is a schematic diagram of the strain sensing method of a traditional manipulator; Figure 2 is a schematic diagram of the piezoresistive sensing method of a traditional manipulator; Figure 3 is a schematic diagram of the capacitive sensing method of a traditional manipulator; Figure 4 is a schematic diagram of the electromagnetic vertical sensing method of a traditional manipulator; Figure 5 is a schematic diagram of the torsional force sensing method of a traditional manipulator; Figure 6 is a schematic diagram of the magnet arrangement mode 1 of the non - contact translation detection method and the sensing element described in Embodiments 1 and 2 of the present invention; Figure 7 It is a schematic diagram of the second magnet arrangement mode of the non-contact translation detection method and the sensing element described in the first and second embodiments of the present invention; Figure 8 It is a side view schematic diagram of the non-contact translation sensor structure described in the third embodiment of the present invention; Figure 9 It is a top view schematic diagram of the non-contact translation sensor structure described in the third embodiment of the present invention; Figure 10 It is a block diagram of the sensor tree-like distribution of the non-contact translation sensor kit of the manipulator described in the fifth embodiment of the present invention. The blank small boxes in the figure represent non-contact translation sensors or other types of traditional contact sensors, and the small boxes with diagonal lines represent temperature sensors; Figure 11 It is a schematic diagram of the structure of the non-contact translation sensor assembly described in the fifth embodiment of the present invention; Figure 12 It is a block diagram of the structural principle of the manipulator sensing system described in the eighth embodiment of the present invention; Figure 13 It is a schematic diagram of the structure of the tactile and temperature reproduction device described in the eighth and tenth embodiments of the present invention. Specific implementation manners Embodiment 1:

[0028] This embodiment is a non-contact translation detection method, which is a method for converting the perception of an external object on the surface of a manipulator into an electrical signal.

[0029] Traditional contact sensors of manipulators have various detection methods: Manipulator strain sensing method: Strain resistors are attached to the surface of the material, and the surface deflection of the material generates a changing electrical signal (as shown in Figure 1 ), forming detection. Manipulator piezoresistive sensing method: The pressure perpendicular to the detection surface causes a change in the electrical signal of the semiconductor material (see Figure 2 ), forming detection. Manipulator capacitive sensing method: Two capacitive electrodes are set, one electrode is a fixed detection surface, and the other electrode is the detected target moving along the normal direction of the detection surface and approaching the detection surface. When a certain proximity degree is reached, a sufficient amount of electric field intensity is formed between the two electrodes (see Figure 3 ), forming detection. Manipulator electromagnetic vertical sensing method: A magnet approaches the detection element in the normal direction of the detection surface (see Figure 4 ), and the magnetic field of the magnet affects the sensing element to form detection. There is also a commonly used torque sensing method for manipulators: detecting the torsional force of the hinge (see Figure 5),(so as to form detection. In practical applications, a dielectric layer (equivalent to the insulating medium of a capacitor) is usually provided on the detection surface of the robotic arm capacitance sensing method. The target to be detected needs to press on the dielectric layer to form a sufficient amount of electric field strength. Therefore, the robotic arm capacitance sensing method is also a contact sensing method. Similarly, an isolation layer is usually provided on the detection surface of the robotic arm electromagnetic vertical sensing method. The purpose of setting the isolation layer is to separate the magnet and the electromagnetic components on the detection surface, because the magnet being too close to the electromagnetic induction components may interfere with the electromagnetic induction components. Therefore, the robotic arm electromagnetic vertical sensing method is also a contact sensing method. Although the robotic arm electromagnetic vertical sensing method can form sensing through electromagnetic induction, it is relatively difficult to accurately detect the position change between two objects. Of course, the distance between the magnet and the detected surface can be determined by using the change in the magnetic field strength due to the distance between the magnet and the detection surface. However, this method requires relatively precise magnetic field strength detection equipment, and the detected distance must be within the magnetic field range of a magnet. Therefore, this robotic arm electromagnetic vertical detection method is not suitable for detecting the positional relationship between two parallel moving objects. For this reason, in this embodiment, all traditional robotic arm detection methods are classified as contact detection methods or contact sensing methods. In order to use the electromagnetic method to solve the position change of two relatively parallel moving objects, this embodiment adopts a detection method in which the displacement direction of the detected target is perpendicular to the normal direction of the sensor detection surface, and is classified as a non-contact detection method.

[0030] The basic characteristics of the non-contact detection method described in this embodiment can be expressed as follows: The displacement direction 101 of the detected target 1 is perpendicular to the normal direction 201 of the detection surface 2, that is, the normal direction of the detection surface is perpendicular to the displacement direction of the detected target, and there is one and only one detected target that matches the detection surface; An N-pole and S-pole magnet array arranged alternately is used as the movement difference identifier 102 between the detection surface and the detected target, and is recognized by the magnetic induction element 202 to form relative displacement detection, as Figure 6 , 7 shown.

[0031] Since displacement is the change in the relative positions of two objects, the detection surface can be used as a relatively fixed displacement reference point (or surface), while the detected target is relatively mobile. The displacement change detected in this embodiment is the relative parallel movement between two objects moving relative to each other in two parallel planes. The displacement changes generated by such parallel displacement include: either one object is stationary (detection surface) and the other object moves (detected target), resulting in a linear or curvilinear relative displacement; or the relative displacement of a linear or curvilinear nature formed by the difference in the moving speeds of two objects moving in the same direction at different speeds; or the relative displacement of a linear or curvilinear nature generated by two objects moving towards each other. Regardless of which type of displacement change, the detection effect produced by the method in this embodiment is that the moving direction of the detected surface is perpendicular to the normal of the detection surface, as shown in Figure 6 or 7. To display the relative displacement of two objects, it is usually necessary to set up identification markers to distinguish the position changes that occur. These identification markers are referred to as movement difference markers in this embodiment.

[0032] Since the movements of the detection surface and the detected target are relative, the positions of the movement difference markers and the magnetic induction elements can be interchanged, that is: the movement difference markers are installed on the detection surface and the magnetic induction elements are installed on the detected target; or vice versa, the detected target is provided with movement difference markers and the detection surface is provided with magnetic induction elements.

[0033] In this embodiment, there is only one detected target that matches the detection surface. To generate a position change that can be sensed by the magnetic induction element, the movement difference markers can be one or two, or an array of two or more magnets arranged side by side vertically and horizontally. With the alternating arrangement of the N and S poles of the magnets, the relative movement of the object is displayed as a change. For this purpose, there are two ways of arranging the magnetic poles: Arrangement 1: The N and S poles of one or several magnets are arranged in a head-to-tail sequence to form an array movement difference marker with an alternating arrangement of N and S poles. It can be the head-to-tail connection of like magnetic poles or the head-to-tail connection of opposite magnetic poles. Figure 6 Shown is a special case where the detection surface and the detected target move in a straight line and in the same direction. The movement difference markers display the position change with the alternating difference in the N and S poles of the linearly arranged magnets, and the electrical signals are output by the magnetic induction element that also moves in a straight line; Arrangement 2: The N or S poles of multiple magnets are arranged side by side and alternately in a plane or arranged in a Halbach array to form a planar array of N and S poles. Similarly, the displacement change is displayed with the alternating difference in the N and S poles, and the electrical signals are output by the magnetic induction element. Figure 7It is a special case where the N and S poles of the magnet alternate within a straight line, forming a moving difference identifier for linear motion. The magnet can be a permanent magnet or an electromagnetic coil, and similar effects of the N and S poles of a permanent magnet are produced by different winding directions of the winding. The magnetic induction element is an electromagnetic element that can form an electrical signal from the magnetic field change, such as a Hall element, an inductor (electromagnetic induction coil), etc. Embodiment 2:

[0034] This embodiment is a non-contact translation detection sensor, which is an entity sensing device applying the non-contact translation detection method described in Embodiment 1, and is a special case where two objects move linearly relative to each other along two parallel lines. Of course, in practice, one of the two relatively moving objects is fixed as the detection surface, and the other object is the detected target, so as to realize the moving mode in which the displacement direction of the detected target is perpendicular to the normal direction of the detection surface. Since it is linear motion, only one row of magnets is needed for the moving difference representation, and there is no need to use a magnet array arranged vertically and horizontally.

[0035] The non-contact detection displacement sensor described includes: a detection surface as a displacement reference fixed point and a detected target that can move linearly on the detection surface. The displacement direction of the detected target is perpendicular to the normal direction of the detection surface. A magnetic induction element is provided on the detection surface, and a magnet with N and S poles arranged alternately as a moving difference identifier is provided on the detected target. The arrangement direction of the N and S poles of the magnet is consistent with the displacement direction of the detected target, as Figure 6 、 7 shown.

[0036] This embodiment is an entity detection piece formed by simplifying the method described in Embodiment 1. Only one row of N and S poles arranged on the detected target is used as the moving difference identifier, and the magnetic induction element is also arranged on the linear motion trajectory of the N and S pole queue of the magnet, forming a state where the displacement direction of the detected target is perpendicular to the normal direction of the detection surface. To form a relative linear motion between the detection surface and the detected target, some constraint facilities are usually adopted, including guide rails, return springs, etc.

[0037] For the convenience of wiring of the magnetic induction element, the detection surface is usually set as fixed, and the detected target using a passive permanent magnet is set as moving. The fixed detection surface receives the magnetic field change of the N and S poles of the magnet when the detected target moves, thereby sensing the movement of the detected target and outputting an electrical signal formed by the magnetic field change generated by sensing the movement of the detected target. Embodiment 3:

[0038] This embodiment is a non-contact translational detection sensor, which is a sensor device that applies the sensing element described in Embodiment 2 to practical applications. It can be sold as a commodity or form a sensor system through the combination of several sensor devices. This embodiment applies the non-contact translational detection method described in Embodiment 1: the displacement direction 101 of the detected target is perpendicular to the normal direction 201 of the detection surface, and magnets with alternately arranged N poles and S poles are used as the movement difference identifiers, and magnetic induction elements are used to identify the movement differences to form the detection of displacement.

[0039] The non-contact detection translational sensor described in this embodiment is as Figure 8 , 9 shown. This embodiment includes: a long strip-shaped bracket 3 as a displacement reference fixed point. One surface of the long strip-shaped bracket is fixed with the surface of the magnetic induction element 202a as the detection surface. Above the detection surface, there is a slider 4 that can slide along the long direction of the long strip-shaped bracket. Along the movement direction of the slider, there is at least one magnet 102a with the arrangement direction of N poles and S poles consistent with the movement direction of the slider as the movement difference identifier. The slider and the long strip bracket are also provided with a displacement guiding and constraining facility 5 and a reset facility 6.

[0040] The long strip-shaped bracket as a displacement reference fixed point is usually fixed on the skeleton of a device that needs to detect displacement, such as the skeleton of a manipulator, or connected to other sensors in the sensor system to form a relatively fixed reference point. The magnetic induction element is embedded in the long strip-shaped bracket as the detection surface, which is also fixed relative to the slider. The slider as the detected target can only move along the long direction of the long strip-shaped bracket under the constraint of the constraining facility. There is a certain clearance fit between the detection surface and the slider to form non-contact. Or a medium is set between the detection surface and the slider, and the thickness of the medium is used to ensure the distance between the detection surface and the slider.

[0041] The slider is a long strip that can move along the long direction of the long strip bracket. One end of the long strip is the displacement movement trigger end. To increase the triggering area, a hook can be set at the trigger end, as Figure 8 shown. Displacement movement triggering refers to the process of generating an electric signal triggered by the displacement movement generated by an external force, such as pressing or pulling with a finger, as Figure 8 , 9 , pressing or pulling the right end of the slider in the figure to make the slider move left or right, so that the N poles and S poles of the magnet alternately pass through the magnetic induction element, causing the magnetic induction element to emit an alternating current or generate a voltage matching the magnetic pole and magnetic induction intensity to form a detection electric signal.

[0042] The magnet described above can be a single magnet with its N and S poles arranged along the direction of motion, or two magnets with their N and S poles arranged along the direction of motion respectively. Multiple magnets can also be used, with their N and S poles arranged such that the alternating change of N and S poles indicates the motion of the detected target. The shape of the magnet can be circular, rectangular, triangular, fan-shaped, etc.

[0043] If the magnet is in the form of an electromagnetic coil, when the magnetic field generated by passing a continuous small current cannot produce sufficient magnetic induction intensity on the Hall effect component, a pulsed large current method can be adopted, such as the PWM modulation method. This allows for detection when sufficient magnetic induction intensity is generated, and the time interval when the current is disconnected is used for cooling the coil to avoid overheating of the coil.

[0044] When the magnet is in the form of an electromagnetic coil and is in a magnetic field-sensitive operating environment, the current can be temporarily turned off so that the coil does not generate a magnetic field, and thus no magnetic field will leak into the external environment, thereby avoiding affecting the outside.

[0045] In a very narrow environment, when multiple non-contact sensors need to be set (this is very common in robotic arms), the normal directions of the detection surfaces of adjacent non-contact sensors form a certain angle, such as perpendicular. The advantage of this is to reduce the influence of the permanent magnets of adjacent sensors on this sensor.

[0046] The displacement guiding and restraining facilities described above have various forms. For example, a cylinder or a square tube is set outside the long strip-shaped bracket and the slider, so that the slider is restricted in all directions (up, down, left, and right) and can only displace in the longitudinal direction of the tube. Guide rails can also be set on both sides of the long strip-shaped bracket to form a drawer-like push-pull facility for restraint. The reset facility can use elastic restoring elements such as springs.

[0047] In a robotic arm, it is even more convenient. Since the entire device is covered by the covering filler of the robotic arm, the sliding of the slider is actually surrounded by the elastic covering filler, which can automatically perform displacement direction restraint and reset. Embodiment 4:

[0048] This embodiment is an improvement of Embodiment 3 and is a refinement of Embodiment 3 regarding the displacement guiding and limiting facilities and the reset facility. The displacement guiding and limiting facilities described in this embodiment are a sleeve 501 sleeved on the long strip-shaped bracket and the slider, and a chute 301 set on the long strip-shaped bracket and a sliding hook 401 set at one end of the slider and cooperating with the chute, as Figure 8 、 9 shown.

[0049] The sliding hook slides in the sliding groove and is restricted by the sliding groove, which confines the sliding hook to move only within the sliding groove (make a linear displacement along the sliding groove), and is limited by the length of the sliding groove to restrict the displacement length of the slider connected to the sliding hook. In some cases, the sleeve can be not provided. For example, in a manipulator, the surroundings of the sensor are the filling and covering materials of the manipulator, and these covering materials cooperate with the sliding hook and the sliding groove, and can also play a good role in restricting the slider.

[0050] The reset facility mentioned above is an elastic covering filler or a spring. The reset facility is used to return the slider to its original position after the external force disappears after displacement occurs. Usually, a spring is used, but in a manipulator, the materials covering the outside of the manipulator can be utilized. The covering filler covering the outside of the manipulator is usually silica gel, or plastic with good elasticity and other materials, which can play the role equivalent to a reset spring. Embodiment 5:

[0051] This embodiment is a non-contact translation detection sensor kit for a manipulator using the non-contact translation detection sensor described in Embodiment 4, including: a sensor structure arranged in a tree shape composed of a non-contact translation detection sensor assembly or a contact sensor 10 constrained by a manipulator covering filler 9 constructed between a manipulator skeleton 7 and a manipulator skin 8, as Figure 10 shown. Figure 10 As shown in the figure, it is a 4-level tree structure. The tree-shaped arranged sensor structure has less than 5 levels. The non-contact translation detection sensor assembly includes at least two strip-shaped brackets fixed together side by side and with detection surfaces perpendicular to each other, as Figure 11 shown.

[0052] This embodiment is a sensor kit applied to the surface contact of a manipulator. The non-contact translation detection sensor assembly described in this embodiment is composed of two non-contact translation detection sensors with detection surfaces perpendicular to each other. In the entire tree structure, at least half of the detection nodes should use the non-contact translation detection sensor described in Embodiment 3. The contact sensor described in this embodiment is a general term for various existing types of traditional sensors used by the manipulator.

[0053] The sensor kit described in this embodiment is usually fixed on the skeleton of the manipulator, at a position near the outer covering (skin), and is covered by the manipulator covering filler. The skeleton is composed of hard materials, including but not limited to metals, plastics, woods, ceramics, carbon fibers, etc., and its function is to fix the sensor kit. The outer covering is composed of flexible materials, including but not limited to silica gel, rubber, plastics, etc. It is used to maintain the shape of the manipulator and transfer displacement and force to the sensor kit. At least 1 sensor kit is installed on the skeleton (there can be many sensor kits on one manipulator, and the number of sensors included in each sensor kit is not fixed).

[0054] The described sensor suite includes a tree - shaped structure with 1 - 5 levels, and the sensors at each level are connected in a tree - shaped cascade manner. Among them, the first - level sensor is defined as the sensor that remains relatively fixed with respect to the skeleton. The terminal - level sensor (the sensor closest to the manipulator skin is called the terminal - level sensor) is defined as the sensor closest to the externally applied force. When the sensor suite has only one - level sensor, the first - level sensor and the terminal - level sensor refer to the same - level sensor.

[0055] The described outer covering can be connected to the detected target by means such as bonding and filling and curing. Each level of the tree - shaped structure includes at least one sensor or sensor component. In the sensor suite of this embodiment, the normal direction of the detection surface of at least one non - contact sensor at the terminal level is perpendicular to the displacement direction of the detected target. For the non - contact sensor with the normal direction of the detection surface perpendicular to the displacement direction of the detected target, there is one and only one detected target that matches it. The displacement of the detected target is positively correlated with the displacement of the outer covering caused by the external force, but not necessarily strictly proportional.

[0056] The non - contact translational detection sensor assembly described in this embodiment generally includes two non - contact translational detection sensors with detection surfaces perpendicular or nearly perpendicular to each other (see Figure 11 ), and the two sleeves can be fused together or separated, see Figure 11 . If in the covering of the manipulator filler, the sleeves of the two sensors can be removed, and only the sliding hooks and sliding grooves, in cooperation with the surrounding covering, can achieve restraint. The trigger ends of the two sensors ( Figure 11 the position of the right - most slider hook in 2 ) have a thickness of 0.8 mm and a width of 1.1 mm, and the combined area, that is, the detection area of each sensor, is 0.88 mm Example Six:

[0057] This embodiment is an improvement of Example Five and a refinement of Example Five regarding the deformation of the manipulator. The ratio of the deformation of the manipulator skin caused by the external force to the structural deformation of the non - contact translational detection sensor suite of the manipulator in this embodiment is: 1:1 - 10:1.

[0058] The displacement zero point of the non-contact translation detection sensor kit of the manipulator is set at the position close to the sensor in the wrapping filler of the manipulator, so that the deformation ratio of the deformation of the skin and the wrapping filler caused by the external force to the structural deformation of the non-contact translation detection sensor kit is about 1:1 - 10:1, and a relatively appropriate ratio is 4:1. Therefore, assuming that pressure is applied to the non-contact translation detection sensor kit of the manipulator on the skin of the manipulator, when the skin and the wrapping filler of the manipulator form a displacement of 4 mm, then the structure of the non-contact translation detection sensor kit of the manipulator will form a movement of about 1 mm in the direction of the sensor.

[0059] When calculating the displacement of the non-contact translation detection sensor kit of the manipulator as a whole in this embodiment, various compensations are usually required in the calculation: 1. Friction compensation: For high-requirement application scenarios, the influence of the friction between the sensor and the detected target can be measured in advance and compensated.

[0060] 2. Interference compensation: For high-requirement application scenarios, the non-contact sensor compensates according to the displacement data detected by the sensors around the sensor to obtain the force data after interference compensation.

[0061] 3. Inter-stage compensation: Judge the difference between the force of the previous-stage sensor and the sum of the forces of all secondary sensors. If none of the secondary sensors reach the upper limit of the range, compensate according to the weighted ratio of the forces of the secondary sensors.

[0062] For example: Suppose the force data of the first-stage sensor is 5.1 N, and there are three second-stage sensors with a range of 2 N, and the force data are 1.9 N, 1.5 N, and 1.6 N respectively. Then the sum of the forces of the second-stage sensors is 5 N, and the difference of 0.1 N is compensated according to the weighted ratio as 1.9 / (1.9 + 1.5 + 1.6)*0.1 = 0.038 N, 1.5 / (1.9 + 1.5 + 1.6)*0.1 = 0.030 N, 1.6 / (1.9 + 1.5 + 1.6)*0.1 = 0.032 N respectively. The recorded values of the forces at the positions of the second-stage sensors after compensation are 1.938 N, 1.530 N, and 1.632 N respectively). If there are secondary sensors that reach the upper limit of the range, compensate according to the average of all secondary sensors that reach the upper limit of the range.

[0063] For example: Suppose the force data of the first-stage sensor is 8.3 N, and there are three second-stage sensors with a range of 2 N, and the force data are 1.5 N, 2 N, and 2 N respectively. Compensate according to the average of the sensors that have reached the upper limit of the range, that is, compensate 0 N, (8.3 - (1.5 + 2 + 2)) / 2 = 1.4 N, (8.3 - (1.5 + 2 + 2)) / 2 = 1.4 N respectively. The recorded values of the forces at the positions of the second-stage sensors after compensation are 1.5 N, 3.4 N, and 3.4 N respectively). Embodiment Seven:

[0064] This embodiment is an improvement of Embodiment Six and a refinement of Embodiment Six regarding adding temperature sensors to the manipulator. In this embodiment, a plurality of temperature sensor kits 11 are provided under the skin of the manipulator, as Figure 10 shown.

[0065] The number of temperature sensor kits does not need to have a one-to-one correspondence with the end-contact and non-contact sensors. It can be one-to-one, one-to-many, or there can be no components related to temperature detection.

[0066] The described sensor kit may include a temperature sensing element and a chip for digitizing the temperature. The temperature sensing element can be a thermocouple, a thermistor, etc.

[0067] When calculating the temperature, temperature compensation calculation is usually required: for high-requirement application scenarios, the contact sensor and the non-contact sensor are compensated according to the temperature near the sensor to obtain the force data after temperature compensation. Embodiment Eight:

[0068] This embodiment is a manipulator sensing system using the non-contact translation detection sensor kit of the manipulator described in Embodiment Seven. The described system is as Figure 12 shown and includes: a sensing detection device composed of at least one set of non-contact translation detection sensor kits for the manipulator, the sensing detection device is connected to a detection information processing device, the detection information processing device is connected to a sensing reproduction processing device through a wired or wireless network, the sensing reproduction processing device is connected to a sensing reproduction device, and the detection information processing device and the sensing reproduction processing device are connected to a virtual data construction device, an embodied intelligence processing device, and a brain-computer interface processing device through a wired or wireless network; The described sensing detection device includes: at least one set of non-contact translation detection sensor kits for the manipulator including non-contact translation detection sensor components for the manipulator, contact sensors, and temperature sensors; The described detection information processing device includes: a tactile data collection unit connected to the non-contact sensor and the contact sensor; a temperature data collection unit connected to the temperature sensor, the tactile data collection unit and the temperature data collection unit are sequentially connected to a detection data calculation and collation unit and a detection data sending unit, and the detection data sending unit is connected to a wired or wireless network; The described feeling reproduction processing device includes: a reproduction data receiving unit connected to a wired or wireless network, the reproduction data receiving unit being connected to a reproduction data distribution unit, and the reproduction data distribution unit being connected to a tactile reproduction control unit and a temperature reproduction control unit; the tactile reproduction control unit is connected to an actuator, a non-contact translation detection sensor assembly of the reproduction end manipulator, and a contact sensor of the reproduction end, and the temperature reproduction control unit is connected to a temperature regulator and a temperature sensor of the reproduction end.

[0069] The manipulator sensing system described in this embodiment is divided into four parts: The first part: is the feeling detection device part, which is responsible for detecting the force magnitude, direction, and temperature at different feeling points on the manipulator. There are multiple non-contact translation detection sensor kits for the manipulator on the same set of manipulators.

[0070] The second part: is the detection information processing part, which is responsible for collecting the data of each sensor in the first part, sorting the data, and then sending it to the corresponding receiving end through different links.

[0071] The hardware of the detection information processing device includes a microcontroller, a CPU, a memory, a storage, and a database. The microcontroller can be integrated with the CPU, memory, storage, and database into the same device. The microcontroller previously enters information such as the data collection unit numbers of the non-contact translation detection sensor kits for the manipulator, the numbers, types, levels, positions, etc. of each sensor, and the corresponding relationships into the database. The main components of the tactile data collection unit and the temperature data collection unit are the microcontroller, and the two units can share one microcontroller. The microcontroller receives detection data from one or more sensors and sends the data to the CPU. Examples of the data sent are as follows: sensor number, sensor type, sensor level, layout of each layer of the sensor, raw data of the sensor, etc. The microcontroller can be separated from the sensor kit and deployed centrally on the circuit board. In this way, the data interface of the sensor kit is the interface of the sensor, usually an analog interface. The microcontroller can also be deployed dispersedly into each sensor kit. In this way, the data interface of the sensor kit is the interface of the microcontroller, usually a digital interface. The CPU saves the basic data of each sensor obtained into the memory or storage, and the CPU converts the displacement data into force data.

[0072] The third part: is the feeling reproduction processing part, which is responsible for collecting the raw sensor data and the compensated data transmitted from the second part, and sending the data to the control units of the feeling reproduction device sensors corresponding to the positions of the feeling detection devices. The control units of the feeling reproduction device sensors control the outputs of the actuator and the temperature regulator according to the data fed back by each sensor.

[0073] The sensory reproduction processing device includes a microcontroller, a CPU, a memory, a storage, and a database. The microcontroller can be integrated with the CPU, the memory, the storage, and the database into the same device. The microcontroller enters information such as the reproduction control unit number, the numbers, types, levels, positions, etc. of each sensor, actuator, and temperature regulator, as well as the corresponding relationships, into the database. The main components of the tactile reproduction control unit and the temperature reproduction control unit are microcontrollers, and the two units can share one microcontroller. One microcontroller can collect detection data from one or more sensors. It can control one or more actuators and temperature regulators. When the microcontroller starts up, the CPU submits registration information to the specified sending end. Examples of registration information include the receiving end IP address, the types of sensor data required (raw data and / or finally compensated data), etc.

[0074] For high - requirement application scenarios, the sensory reproduction processing device can compensate in advance for the effects of actuator and sensor friction, temperature, external or internal interference, and inter - stage changes.

[0075] The sensory reproduction processing device stores information such as the sensor number, sensor type, sensor level, layout of each layer of the sensor, and sensor position in the sensory detection data into the memory or storage, finds the corresponding control unit from the database according to this information, and distributes the raw sensor data and / or finally compensated data to this control unit.

[0076] The control unit of the sensory reproduction processing device collects the corresponding sensor data from the sensory reproduction device, compares it with the data distributed to this control unit, and controls the output of the actuator and temperature regulator according to the difference, so that the sensor detection data of the sensory reproduction device is as consistent as possible with the sensor detection data of the sensory detection device, realizing force feedback and thermal feedback.

[0077] The tactile reproduction control unit of the sensory reproduction processing device can use algorithms such as PID control or fuzzy control to adjust the actuator and temperature regulator, thereby realizing closed - loop control. The tactile reproduction control unit can limit the action amplitude of the actuator and temperature regulator according to needs to avoid harm to the human body.

[0078] The fourth part: It is the sensory reproduction device part, which is responsible for the reproduction of force and temperature and collects the sensor data after reproduction. Figure 13 Only the working position of one sensory reproduction component is shown. In the actual working environment, there will be multiple sensory reproduction components on the same set of robotic arms.

[0079] The detection information processing device and the sensory reproduction processing device described in this embodiment are connected to the virtual data construction device, the embodied intelligent processing device, and the brain - machine interface processing device through wired or wireless networks.

[0080] The described virtual data construction device converts the tactile and temperature distribution data in a virtual scene (such as a VR game) into data formats such as level, position, force, displacement, and temperature that can be processed by the sensory reproduction processing device in real time, so as to achieve the precise coupling of virtual touch and physical perception.

[0081] The described embodied intelligence processing device receives the data stream containing data such as level, position, force, displacement, and temperature from the detection information processing device, and converts it into the tactile and temperature distribution data required by the embodied intelligence robot, so as to achieve the dynamic interaction between the embodied intelligence robot and the physical environment, and further enhance the perception of the embodied intelligence robot to touch.

[0082] The described brain-computer interface processing device receives the data stream containing data such as level, position, force, displacement, and temperature from the detection information processing device, and converts it into the tactile and temperature data required by the brain-computer interface, so as to achieve the biological adaptation of physical stimuli and nerve perception signals. Example Nine:

[0083] This embodiment is an improvement of Example Eight. The sensory reproduction processing device described in Example Eight is provided with a friction compensation module, a temperature compensation module, an interference compensation module, and an inter-stage compensation module.

[0084] The described friction compensation module is used for high-requirement application scenarios, and can measure the influence of the friction between the sensor and the detected target in advance for compensation.

[0085] The described temperature compensation module is used for high-requirement application scenarios. The contact sensor and the non-contact sensor are compensated according to the temperature near the sensor to obtain the force data after temperature compensation.

[0086] The described interference compensation module is used for high-requirement application scenarios. The non-contact sensor is compensated according to the displacement data detected by the sensors around it to obtain the force data after interference compensation.

[0087] The described inter-stage compensation module is used to judge the difference between the force of the previous-stage sensor and the sum of the forces of all secondary sensors. If none of the secondary sensors reach the upper limit of the range, compensation is made according to the weighted ratio of the forces of the secondary sensors; if there are secondary sensors that reach the upper limit of the range, average compensation is made for all secondary sensors that reach the upper limit of the range.

[0088] The manipulator sensing system described in this embodiment can be installed in the manipulator for remote diagnosis and treatment: remote consultation, remote manual reduction, remote surgery, etc.; remote care: remote patient turning over, remote scrubbing care, etc.; remote operation: remote bomb disposal, high-risk chemical experiments, etc. Example Ten:

[0089] This embodiment is a tactile and temperature reproduction device using the non-contact translation detection sensor described in Embodiment 2, as Figure 13 shown, comprising: a thermal probe, the thermal probe is connected to a probe with a sleeve, the probe is connected to the detected target of the displacement sensor, the detection surface of the displacement sensor is connected to a fixed nut, the nut is threadedly connected to a lead screw, and the lead screw is connected to a moving motor; the thermal probe includes insulating and heat-conducting materials at both ends, one end of the insulating and heat-conducting material is in contact with the skin of a real person, the other end of the insulating and heat-conducting material is connected to the probe, and a temperature sensor and a temperature regulator are provided between the insulating and heat-conducting materials.

[0090] The sensory reproduction device described in this embodiment includes an actuator and a sensor kit. The actuator is a linear actuator. The linear actuator includes a motor, a screw, a nut, a sleeve and a probe. The nut and the screw constitute a push rod, which first pushes (or pulls) the sensor kit, and then the sensor kit pushes (or pulls) the probe in a linked manner, and the probe moves in both directions in the sleeve. If it is necessary to produce a pulling effect on the skin, the probe can be bonded to the skin of a real person's hand through an adhesive, so as to achieve the effect of pulling the real person's skin and generating displacement and force on the real person's hand. When the sensor kit pushes (or pulls) the probe in a linked manner, the probe squeezes (or pulls) the real person's skin. Since the force is mutual, when the influence of friction is ignored, the force of the probe squeezing (or pulling) the real person's skin is equal to the force of the probe squeezing (or pulling) the sensor kit, so the sensor can detect the force applied by the probe on the real person's skin. The surface where the probe contacts the real person's hand is a plane or a spherical surface to avoid causing harm to the human body. The sleeve is made of a hard material, such as stainless steel, plastic, etc., and can form a curved pipe for guiding the probe. The probe is made of elastic material, such as stainless steel, and can slide in both directions in the sleeve. In order to reduce the friction of the sleeve on the probe and the push rod, the sleeve can be filled with lubricant. The sensor is the non-contact translation detection sensor described in Example 3, that is, there is only a primary sensor system, and no temperature sensor is included. That is, there are only non-contact sensors, monitored targets, guide devices and limit devices. The closed-loop coordination of the actuator and the sensor ultimately makes the real person's hand produce a tactile sensation consistent with the sensor detection device. The sensor reproduction device may also include a temperature regulator and a temperature sensor. The temperature sensor may be a thermocouple, a thermistor, etc. The temperature regulator may be a thermocouple pair using the Peltier effect. The thermocouple pair may be between the probe and the real person's hand. When the thermocouple pair is passed through an electric current, the end connected to the real person's hand may produce a heating or cooling effect of different temperatures according to the direction and magnitude of the current. Conversely, the end connected to the probe may maintain the temperature regulator within the normal operating temperature range through the probe, and the temperature regulator may be an electric heating wire. There is no one-to-one correspondence between the number of components related to temperature reproduction and the number of components related to tactile reproduction. It can be one-to-one, one-to-many, or there can be no temperature reproduction related components. The connection between the temperature reproduction related components and the probe and the real hand is isolated by insulating thermal conductive materials to avoid short circuits. For example, thermal conductive epoxy resin glue, silicone, plastic, etc. The temperature regulator and the sensor kit work in a closed loop, and finally the real hand produces a temperature sensation consistent with the sensor detection device.

[0091] The working process of the tactile and temperature reproduction device: The thermal probe is installed at one end of the probe and is connected to the human finger. When the thermal probe is pressed or pulled by the human finger, on the one hand, the thermal probe senses the temperature of the human finger, and on the other hand, the pressing or pulling action is transmitted to the sensor through the probe. The type of sensor described here is the non-contact translation detection sensor described in Embodiment 3. This non-contact translation detection sensor displays the planar displacement through magnetic induction with an electrical signal and sends the electrical signal of the displacement to the tactile reproduction control unit. The tactile reproduction control unit compares the electrical signal of the displacement sent by the sensor with the data to be reproduced, and adjusts the forward or reverse rotation of the motor according to the difference, thereby driving the screw to rotate. The rotation of the screw drives the nut to move. The nut is connected to the sensor, thereby adjusting the displacement of the sensor. The sensor is connected to the probe, thereby adjusting the displacement of the probe. The probe is connected to the thermal probe, thereby adjusting the displacement of the thermal probe, and thus adjusting the force applied to the human finger to be closer to the force detected by the sensory detection device. The thermal probe sends the electrical signal representing the temperature to the temperature reproduction control unit. The temperature reproduction control unit compares the electrical signal sent by the thermal probe with the data to be reproduced, and adjusts the magnitude and direction of the current of the temperature regulator in the thermal probe according to the difference, thereby adjusting the temperature applied to the human finger to be closer to the temperature detected by the sensory detection device.

[0092] Finally, it should be noted that the above is only used to illustrate the technical solution of the present invention and not to limit it. Although the present invention has been described in detail with reference to the preferred arrangement, those of ordinary skill in the art should understand that the technical solution of the present invention (such as the structural form of the non-contact sensor, the method of displaying the difference in planar movement, the method of processing the displacement electrical signal, etc.) can be modified or equivalently replaced without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A non-contact translation detection method, characterized in that, The displacement direction of the detected target is perpendicular to the normal direction of the detection surface, and there is exactly one detected target that matches the detection surface; between the detection surface and the detected target, N-pole and S-pole magnets arranged alternately are used as moving difference identifiers and are recognized by magnetic induction elements to form relative displacement detection.

2. A non-contact translation detection sensing element, characterized in that, Including: A detection surface as a displacement reference fixed point and a detected target capable of moving linearly on the detection surface. The displacement direction of the detected target is perpendicular to the normal direction of the detection surface. A magnetic induction element is provided on the detection surface, and a magnet with N-poles and S-poles arranged alternately as a moving difference identifier is provided on the detected target. The arrangement direction of the N-poles and S-poles of the magnet is consistent with the displacement direction of the detected target.

3. A non-contact translation detection sensor, characterized in that, Including: A strip-shaped bracket as a displacement reference fixed point. A surface on the bracket where a magnetic induction element is fixed is used as the detection surface. Above the detection surface, there is a slider capable of sliding along the length direction of the strip-shaped bracket. Along the movement direction of the slider, at least one magnet with the arrangement direction of N-poles and S-poles consistent with the movement direction of the slider is provided as a moving difference identifier. Displacement guiding and constraining facilities and a reset facility are also provided on the slider and the strip-shaped bracket.

4. The non-contact translation detection sensor according to claim 3, wherein The displacement guiding and constraining facilities are sleeves sleeved on the strip-shaped bracket and the slider, and a chute provided on the strip-shaped bracket and a sliding hook provided at one end of the slider that cooperates with the chute; the reset facility is an elastic covering filler or a spring.

5. A non-contact translational detection sensor kit for a manipulator using the non-contact translational detection sensor described in claim 3, comprising: A sensor structure arranged in a tree shape composed of a non-contact translation detection sensor assembly or a contact sensor constrained by a manipulator covering filler between the manipulator skeleton and the manipulator skin; the tree-shaped sensor structure has less than 5 levels, and the non-contact translation detection sensor assembly includes at least two non-contact translation detection sensors fixed together side by side with mutually perpendicular detection surfaces.

6. The non-contact translation detection sensor kit for a manipulator according to claim 5, wherein The ratio of the deformation of the manipulator skin caused by external force to the structural deformation of the manipulator non-contact translation detection sensor kit is: 1:1 - 10:

1.

7. The non-contact translation detection sensor kit for a manipulator according to claim 6, wherein, A plurality of temperature sensors are provided under the outer skin of the manipulator covering filler.

8. A robotic sensing system using the non-contact sensor kit of the robotic arm described in claim 7, characterized in that, Including: A sensing detection device, the sensing detection device is connected to a detection information processing device, the detection information processing device is connected to a sensing reproduction processing device through a wired or wireless network, the sensing reproduction processing device is connected to a sensing reproduction device, and the detection information processing device and the sensing information reproduction processing device are connected to a virtual data construction device, an embodied intelligence processing device, and a brain-computer interface processing device through a wired or wireless network; The sensing detection device includes: non-contact sensors, contact sensors, and temperature sensors of the manipulator non-contact sensor kit; The detection information processing device includes: a tactile data collection unit connected to the non-contact sensor and the contact sensor; a temperature data collection unit connected to the temperature sensor. The tactile data collection unit and the temperature data collection unit are sequentially connected to a detection data calculation and sorting unit and a detection data sending unit, and the detection data sending unit is connected to a wired or wireless network; The described feeling reproduction processing unit includes: a reproduction data receiving unit connected to a wired or wireless network, the reproduction data receiving unit being connected to a reproduction data distribution unit, and the reproduction data distribution unit being connected to a tactile reproduction control unit and a temperature reproduction control unit; the tactile reproduction control unit is connected to an actuator, a reproduction end non-contact sensor, and a reproduction end contact sensor, and the temperature reproduction control unit is connected to a temperature regulator and a reproduction end temperature sensor.

9. The manipulator sensing system according to claim 8, characterized in that, The described feeling reproduction processing device is provided with a friction compensation module, a temperature compensation module, an interference compensation module, and an inter-stage compensation module.

10. A tactile and temperature reproduction device using the non-contact detection displacement sensor described in claim 2, characterized in that Including: A thermal probe, the thermal probe is connected to a probe with a sleeve, the probe is connected to a detected target of the displacement sensing member, a detection surface of the displacement sensing member is connected to a fixed nut, the nut is threadedly connected to a lead screw, and the lead screw is connected to a moving motor; the thermal probe includes insulating and heat-conducting materials at both ends, one end of the insulating and heat-conducting materials is in contact with the skin of a real person, the other end of the insulating and heat-conducting materials is connected to the probe, and a temperature sensor and a temperature regulator are provided between the insulating and heat-conducting materials.

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