Textile-based non-contact sensing assembly and applications thereof

Abstract

The application belongs to the technical field of intelligent textile and flexible electronics, and discloses a textile-based non-contact sensing assembly and application thereof. The textile-based non-contact sensing assembly comprises a textile-based carrier. The textile-based carrier is a dielectric isolation layer with a non-compressive dense structure. The dielectric isolation layer is provided with a signal receiving electrode layer and a signal transmitting electrode layer. The textile-based carrier is the dielectric isolation layer, and the dielectric isolation layer has a non-compressive dense structure. The upper and lower surfaces of the dielectric isolation layer are respectively provided with the signal receiving electrode layer and the signal transmitting electrode layer. The application thereof is that the approaching distance of an external object can be determined according to the nonlinear function between the change amount of the voltage amplitude before and after the external object approaches the textile-based non-contact sensing assembly and the approaching distance of the external object, or a plurality of sensing assemblies are arranged in an array for three-dimensional space positioning and automatic tracking. The application significantly reduces the baseline drift and false positive interference caused by wearing movement, and ensures that the weak edge field signal can be solved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent textile and flexible electronics technology, and relates to a textile-based non-contact sensing component and its application. Background Technology

[0002] With the rapid development of the Internet of Things, smart wearables, and advanced robotics, the demand for sensors that can be seamlessly integrated into everyday environments, the human body, and various flexible terminals is becoming increasingly urgent. Non-contact sensing technology, due to its ability to detect the presence, distance, and movement of objects without physical contact, plays a crucial role in fields such as health monitoring, gesture interaction, and robotic environmental perception.

[0003] However, traditional non-contact sensors (such as infrared and ultrasonic sensors) are mostly built based on rigid components and circuit boards. Their shape is fixed and inflexible, making it difficult to achieve conformal and comfortable integration with soft textiles, irregular human body surfaces, or flexible robot bodies, which severely limits their application scope.

[0004] To overcome the limitations of rigid devices and achieve the integration of sensing functions with textiles, a gridded sensing scheme based on conductive fibers has been designed in this field.

[0005] The core idea of ​​this type of solution (such as patent application CN118032018A and related research) is to use conductive fibers as sensing units, forming intersecting nodes through warp and weft weaving, and using changes in the coupling capacitance between nodes to sense external stimuli. While this solution initially realizes the concept of "fabric as a sensor," it has a fundamental flaw: the sensing function is entirely dependent on a specific woven mesh structure, and a single fiber cannot work independently. This not only severely limits the texture design and aesthetic freedom of textiles, but also makes the contact resistance and capacitance between mesh nodes highly susceptible to deformation caused by stretching, bending, and washing during daily use, resulting in poor signal consistency and insufficient stability, making it difficult to meet the requirements of high-reliability applications.

[0006] To overcome the dependence of mesh-based solutions on woven structures and achieve more flexible and independent sensing units, researchers in this field are exploring the fabrication of independent flexible planar electrode sensors, which are then attached to or embedded in textiles. This approach decouples the sensing function from the textile structure itself, enabling the individualization and design freedom of the sensing unit, representing a significant technological advancement. Currently, such sensors often employ a "sandwich" structure, with a flexible dielectric layer sandwiched between upper and lower conductive fabric electrodes.

[0007] However, these planar electrode solutions reveal a common fatal weakness when applied to the specific scenario of dynamic wearable non-contact sensing: poor resistance to motion interference due to the instability of the dielectric layer structure. This is particularly evident in the "pure textile-based array flexible capacitive sensor" disclosed in patent application CN115248640A. This patent application explicitly states that its pressure detection relies on "the capacitance change caused by the decrease in the spacing of the spacer fabric under pressure." The spacer fabric used, as a compressible and easily deformable 3D porous medium, improves the sensitivity of contact pressure detection, but this characteristic becomes a major drawback for non-contact sensing applications. In dynamic wearable scenarios, the minute mechanical stress generated by the wearer's limb bending, fabric friction, and other daily activities inevitably leads to unintentional deformation of the dielectric layer. This deformation directly causes a severe drift in the capacitance baseline and generates a large number of interference signals (false positive signals) unrelated to external objects. This makes it impossible for the sensor to stably distinguish between real external sensing signals and noise introduced by its own movement, resulting in a sharp deterioration in the signal-to-noise ratio and a significant reduction in practical reliability.

[0008] Therefore, it is necessary to propose an all-fabric sensor with strong resistance to motion interference. Summary of the Invention

[0009] The purpose of this invention is to solve the problems existing in the prior art and provide a textile-based non-contact sensing component and its application, so as to realize a flexible sensing solution that combines wearing comfort, independent operation capability, and high-precision spatial positioning capability.

[0010] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0011] A textile-based non-contact sensing component includes a textile-based carrier;

[0012] The textile substrate is a dielectric insulating layer, which has a non-compressible dense structure, that is, the dielectric insulating layer is a textile solid structure that has not been foamed or porous.

[0013] A signal receiving electrode layer is provided on the upper surface of the dielectric isolation layer;

[0014] A signal transmitting electrode layer is provided on the lower surface of the dielectric isolation layer;

[0015] The spatial projections of the signal transmitting electrode layer and the signal receiving electrode layer overlap.

[0016] The dielectric isolation layer of this invention has an incompressible and dense structure (unlike the "highly porous and easily compressible materials" used in the prior art that rely on compressive deformation as the source of sensitivity, such as foamed sponge, aerogel, and thick 3D spacer fabric). This allows the dielectric isolation layer to maintain a basically constant geometric dimension during non-contact processes, and does not rely on capacitance changes caused by compressive deformation as the detection mechanism. This significantly reduces baseline drift and false positive interference caused by wearable movement, and ensures that weak edge electric field signals can be solved.

[0017] This invention employs an electrically insulated adjacent structure of "signal transmitting electrode layer - dielectric isolation layer - signal receiving electrode layer" to form a fixed mutual capacitance, enabling the signal receiving electrode to acquire an initial voltage. When an external object enters the quasi-static near-field, the voltage division relationship is altered by introducing "external object-signal receiving end coupling capacitance + external object-to-ground capacitance," thereby using the change in the voltage amplitude at the signal receiving end as the output signal. This readout link differs from the detection paradigm of many existing textile capacitive sensors (including pressure / proximity dual-mode sensors), which relies on "changes in electrode spacing / effective area leading to changes in capacitance."

[0018] As a preferred technical solution:

[0019] As described above, a textile-based non-contact sensing component is a fiber, and the signal transmitting electrode layer, the dielectric isolation layer, and the signal receiving electrode layer are three layers that are components of the fiber and are arranged sequentially along the radial direction of the fiber.

[0020] The signal receiving electrode layer includes a polymer matrix and a first conductive material dispersed therein; the dielectric isolation layer includes a polymer matrix and a dielectric functional filler dispersed therein; and the signal transmitting electrode layer includes a polymer matrix and a second conductive material dispersed therein.

[0021] Textile-based non-contact sensing components are prepared by microfluidic spinning, melt spinning or wet spinning processes.

[0022] As described above, the textile-based non-contact sensing component has a polymer matrix of polyurethane (TPU), polydimethylsiloxane, polyvinylidene fluoride, polyimide, polyvinyl alcohol, or epoxy resin.

[0023] The first conductive material and the second conductive material are each independently selected from one of the following: metal nanowires, metal particles, conductive polymers, carbon nanotubes, graphene, carbon black, and liquid metal.

[0024] The dielectric functional filler is barium titanate, titanium dioxide, aluminum oxide, silicon nitride, or lead zirconate titanate.

[0025] As described above, a textile-based non-contact sensing component has a signal receiving electrode layer made of a first conductive fabric, a dielectric isolation layer made of an insulating fabric, and a signal transmitting electrode layer made of a second conductive fabric. The first conductive fabric, the insulating fabric, and the second conductive fabric are sandwich-like insulating adjacent structures formed by layering, weaving, or post-insulation treatment. A non-uniform edge electric field is formed in the edge region of the structure to achieve non-contact proximity sensing. The insulating fabric maintains a basically constant geometric dimension during non-contact sensing and does not use capacitance changes caused by compressive deformation as the detection mechanism.

[0026] As described above, in a textile-based non-contact sensing component, the first conductive fabric and the second conductive fabric are intrinsically conductive fabrics or composite / coated conductive fabrics. The intrinsically conductive fabric is a conductive fabric composed of metal fibers, metallized fibers, carbon fibers, conductive polymer fibers, etc., while the composite / coated conductive fabric is a metal-plated conductive fabric, a filled conductive fabric, or a fabric printed / coated with conductive paste. The insulating fabric is cotton, linen, silk, wool, polyester, nylon, acrylic, or a blend thereof.

[0027] As described above, a textile-based non-contact sensing component has a dielectric isolation layer made of insulating fabric, and a signal transmitting electrode layer and a signal receiving electrode layer made of conductive patterns printed on the insulating fabric. The conductive patterns have overlapping areas or specific alignment relationships in spatial projection, thus constructing an edge non-contact sensing field. This edge non-contact sensing field is used to cause a voltage division change in the voltage amplitude of the signal receiving electrode when an external object approaches, and does not rely on fabric deformation under pressure as the detection mechanism.

[0028] As described above, in a textile-based non-contact sensing component, the conductive pattern is made of conductive metallic ink, conductive polymer ink, metal foil, electroless metal plating, physical vapor deposition metal, or conductive embroidery thread. The conductive pattern is formed on an insulating fabric by screen printing, inkjet printing, transfer printing, physical vapor deposition-patterning etching, electroless plating-patterning mask synergy, computer embroidery, conductive sewing, or laser-induced graphitization. The geometry of the conductive pattern can be any custom shape. The insulating fabric is cotton, linen, silk, wool, polyester, nylon, acrylic, or a blend thereof.

[0029] The present invention also provides a method for obtaining proximity distance, wherein an alternating voltage signal is applied to the signal transmitting electrode layer of a textile-based non-contact sensing component as described above, and the voltage amplitude output by the signal receiving electrode layer of the textile-based non-contact sensing component is monitored in real time. The change in voltage amplitude before and after an external object approaches the textile-based non-contact sensing component is calculated, and the proximity distance of the external object is determined based on the nonlinear function between the change in voltage amplitude before and after the external object approaches the textile-based non-contact sensing component and the proximity distance of the external object.

[0030] The method for obtaining the nonlinear function between the change in voltage amplitude before and after an external object approaches the textile-based non-contact sensing component and the approach distance of the external object is as follows: control the external object to approach the textile-based non-contact sensing component according to the set approach distance, calculate the change in voltage amplitude before and after the external object approaches the textile-based non-contact sensing component, and perform nonlinear fitting on multiple sets of approach distances and the change in voltage amplitude before and after the external object approaches the textile-based non-contact sensing component to obtain the nonlinear function.

[0031] This invention also provides a three-dimensional spatial positioning and tracking method. First, n textile-based non-contact sensing components, as described above, are arranged in an array, where n>2. The method controls that each textile-based non-contact sensing component is not entirely collinear in space and does not completely overlap with each other. Simultaneously, it controls that each textile-based non-contact sensing component forms a common intersection in the target interaction area. Then, the following operations are performed:

[0032] System geometric modeling: Establish a three-dimensional Cartesian coordinate system, determine the spatial position parameters of each textile-based non-contact sensing component in the three-dimensional Cartesian coordinate system, and abstract the effective sensing part of the i-th textile-based non-contact sensing component as consisting of two endpoints A. i (x Ai ,y Ai ,z Ai ) and B i (x Bi ,y Bi ,z Bi A defined finite space line segment A i B i , i=1,2,…,n;

[0033] Distance calibration and mapping: The proximity distance of an external object relative to the i-th textile-based non-contact sensing component is obtained using one of the proximity distance acquisition methods described above. ;

[0034] Geometric constraint construction: The coordinates of the external object in space are defined as unknowns T(x,y,z). For the i-th textile-based non-contact sensing component, the unknown T(x,y,z) is calculated to the finite space line segment A. i B i Theoretical calculated distance d i (x,y,z) (Its calculation uses the shortest distance formula from a point to a finite line segment, specifically: Define vector u) i =B i -A i v i =T−A i Calculate the projection coefficient t i =(u i ·v i ) / (u i ·ui ), and the projection coefficient t i Restricted to the interval [0,1], according to P i= A i +t i ·u i Obtain line segment A i B i The point P closest to point T i Thus, the theoretical calculated distance d is obtained. i (x,y,z)=||T−P i ||), then, define the residual function of the i-th textile-based non-contact sensing component as r i (x,y,z)=d i (x,y,z)− Furthermore, the residual functions of all textile-based non-contact sensing components are combined to construct a system of residual equations containing the unknown quantity T(x,y,z);

[0035] 3D coordinate solution: Based on the residual equation system, a nonlinear least squares optimization function min is constructed with the objective of minimizing the sum of squares of each residual function. x,y,z i (x,y,z) 2 The nonlinear least squares optimization function is solved by iterative optimization until the preset convergence condition is met and the optimal three-dimensional coordinates of the external object are output.

[0036] Application execution: Execute subsequent logic according to the application scenario. When used for spatial interaction, obtain the optimal three-dimensional coordinate sequence in a continuous time and generate the corresponding motion trajectory, and convert the motion trajectory into device control commands according to the preset mapping rules. When used for automatic tracking, calculate the spatial deviation vector between the optimal three-dimensional coordinates and the current position of the end effector of the controlled terminal, and generate a closed-loop feedback control signal based on the deviation vector to drive the controlled terminal to perform tracking actions.

[0037] Beneficial effects:

[0038] (1) The dielectric isolation layer of the present invention has a non-compressible dense structure, which makes the geometric dimensions of the dielectric isolation layer basically constant during non-contact processes. It does not use the capacitance change caused by compressive deformation as the detection mechanism, thereby significantly reducing baseline drift and false positive interference caused by wearing motion, and ensuring that the weak edge electric field signal can be solved.

[0039] (2) The present invention integrates the signal transmitter and receiver within a single fiber or a single fabric unit, realizing non-contact output and array expansion. This means that the component can work independently without a specific weaving structure, greatly improving the design freedom and system integration of smart textiles, while providing a scalable textile carrier foundation for subsequent spatial interaction / positioning applications.

[0040] (3) The capacitive non-contact sensor of the present invention is a fully textile-based sensing unit, which retains the inherent flexibility and breathability of textile materials, enabling the component to achieve seamless conformal fit with human skin or irregular curved surfaces of robots, solving the problems of foreign body sensation and stuffiness during long-term wear or use. It is particularly suitable for wearable human-computer interaction interfaces, and compared with thin-film capacitive sensors, the present invention has stronger breathability and significant wearability advantages.

[0041] (4) Based on the cylindrical field of fibers or the planar edge field characteristics of fabrics, this invention establishes a signal-position mapping model based on geometric boundary conditions. Combined with arrayed geometric constraints and least squares solution, the system can accurately resolve the coordinates (x, y, z) of external objects in three-dimensional space. This enables flexible textiles to have spatial interaction capabilities without relying on complex external weaving networks, significantly reducing the integration difficulty of the system. At the same time, it can also meet the application requirements of UAV control, robot automatic tracking, etc.

[0042] (5) This invention uses “quasi-static electric field multi-body coupling voltage divider readout” as a unified principle, integrates the signal transmitting electrode / signal receiving electrode / dielectric isolation topology into the fiber and fabric, and solves the stability and scalable deployment problems in textile wearable scenarios through “non-deformation mechanism constraint + three-form consistent non-contact sensing realization path”.

[0043] (6) The present invention integrates “signal transmitting electric layer - dielectric isolation layer - signal receiving layer” inside a single fiber, reducing the dependence on the cross points of fabric weaving, facilitating weaving, sewing and wearable integration, and compared with the common structure that uses a porous elastic dielectric layer to realize pressure capacitance change, it can reduce drift and false triggering caused by wearer micro deformation, light touch or environmental disturbance, which is beneficial to stable output of non-contact interaction. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the textile-based non-contact sensing component in Embodiment 1 of the present invention;

[0045] Figure 2 This is a schematic diagram of the non-contact sensing principle and multi-body capacitive coupling equivalent circuit model of the textile-based non-contact sensing component of the present invention; in the figure, T x Represents the signal transmitting electrode layer, R x Indicates the signal receiving electrode layer, CS C represents the inherent capacitance between the signal transmitting electrode layer and the signal receiving electrode layer. TG C represents the parasitic capacitance between the signal transmitting electrode layer and the system ground. RG C represents the parasitic capacitance between the signal receiving electrode layer and the system ground. H C represents the coupling capacitance between the target object and the signal receiving electrode layer. HG C represents the capacitance between the target object and the ground. GND This represents the capacitance between the system ground and the earth.

[0046] Figure 3 This is a schematic diagram of the three-dimensional spatial positioning principle based on non-contact sensing fiber array of the present invention; in the figure, d1-d4 respectively represent the distance between the corresponding non-contact sensing components and the target object, and each dashed outline represents the response range of the non-contact sensing component and the overlapping area of ​​the responses of each component.

[0047] Figure 4 This is a schematic diagram of the automatic tracking principle based on a non-contact sensing fiber array according to the present invention;

[0048] Figure 5 This is a schematic diagram of the array of textile-based non-contact sensing components in Embodiment 1 used for 3D spatial control of a drone and a robotic arm. In the figure, a is a schematic diagram of the array of textile-based non-contact sensing components in Embodiment 1 used for 3D spatial control of a drone, and b is a schematic diagram of the array of textile-based non-contact sensing components in Embodiment 1 used for 3D spatial control of a robotic arm.

[0049] Figure 6 This is a schematic diagram of the application of the present invention, in which an array of textile-based non-contact sensing components as described in Example 1 is integrated into a robotic arm for automatic tracking.

[0050] Figure 7 This is a schematic diagram of the structure of the textile-based non-contact sensing component in Embodiment 2 of the present invention;

[0051] Figure 8 This is a schematic diagram of the structure of the textile-based non-contact sensing component in Embodiment 3 of the present invention.

[0052] In the figure, 1-signal receiving electrode layer, 2-signal transmitting electrode layer, 3-dielectric isolation layer, 4.1-first conductive fabric, 4.2-second conductive fabric, 5-conductive pattern. Detailed Implementation

[0053] The present invention will be further described below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined by the appended claims.

[0054] The manufacturers and brands mentioned in the following embodiments are merely examples. The core of this invention lies in the technical solution itself, and it is not intended to limit specific manufacturers or brands. Products from other manufacturers and brands that meet the technical requirements and performance indicators specified in this invention can also meet the application requirements of this invention and are all feasible choices.

[0055] The test methods for the relevant performance indicators in the following embodiments and comparative examples are as follows:

[0056] Effective non-contact detection distance: The textile-based non-contact sensing components prepared in each embodiment were used as samples. A function generator (Tektronix AFG31000 Series) was used as the driving signal source to output a sine wave with a frequency of 100kHz and an amplitude of 5V, which was then connected to the signal transmitting electrode of the sample. An oscilloscope (Tektronix 4) was used. The Series connects to the signal receiving electrode of the sample to acquire and display the output waveform and amplitude. During the test, the signal transmitting electrode, signal receiving electrode, and instrument ground of the sample are ensured to share a common ground. The target object is wrapped in aluminum foil and foam board with a fixed size of 10cm×10cm, and a lead wire is directly grounded. The sample is then fixed horizontally on an insulating platform, keeping the target object parallel to the sample surface. The initial distance is set to 30cm, and then the sample is approached step by step along the normal direction in 1cm increments. After each step, the steady-state amplitude of the receiving end is read after 5s of stillness. The steady-state output amplitude of the receiving end without the target object is used as the reference value V0, and its noise standard deviation σ is calculated. When the target object approaches, the output amplitude V(d) of the receiving end satisfies ΔV(d)=V0−V(d)≥3σ for the first time relative to the reference value V0, and this phenomenon can be repeated in 3 consecutive independent repeated tests. The corresponding distance is defined as the maximum effective non-contact detection distance of the sample. The same sample is tested at 3 different locations, and each location is repeated 3 times. The average value is taken as the final result.

[0057] Air permeability: The YG461E fabric air permeability meter was used to test the samples according to the GB / T 5453-1997 standard "Determination of air permeability of textile fabrics". Three non-repeating locations were tested for each sample, and the average value was taken as the air permeability result of the sample. The sample area was 20 cm², and the pressure difference was 100 Pa.

[0058] Bending length: In accordance with GB / T 18318.1-2009 "Determination of bending properties of textiles - Part 1: Inclined plane method", the bending length of the sample was measured by a YG022D fully automatic fabric stiffness tester along the warp and weft directions of the three samples respectively. The average value of the warp and weft test results was taken as the bending length of the sample.

[0059] Sensitivity: The textile-based non-contact sensing components prepared in each embodiment were used as samples. A function generator was used as the driving signal source, outputting a sine wave with a frequency of 100kHz and an amplitude of 5V, which was connected to the signal transmitting electrode of the sample. An oscilloscope was used to connect to the signal receiving electrode of the sample to acquire the output waveform of the receiving end. During the test, the signal transmitting electrode, signal receiving electrode of the sample, and the instrument ground were ensured to share a common ground. The target object was wrapped in aluminum foil and foam board with a fixed size of 10cm×10cm, and a lead wire was directly grounded. The sample was fixed on an insulating platform, and the target object was kept parallel to the sample surface. The sample was moved closer to the sample normal in 1cm increments. After pausing for 5s at each distance point, the steady-state output amplitude V(d) of the receiving end was recorded. The sensitivity was defined as the ratio of the change in output amplitude between two adjacent distance points to the change in distance, i.e., S(d)=|V(d)-V(d+Δd)| / Δd, where Δd=1cm, and the unit is V / cm. For array testing, the sensitivity curves of each channel were recorded separately; three identical samples were tested, and each sample was tested three times. The average value was taken as the final result.

[0060] Signal-to-noise ratio (SNR): Under the same test conditions described above, the steady-state output amplitude of the receiver without a target is taken as the reference value V0, and the noise standard deviation σ under this reference state is calculated. When the target is located at a distance d, the output amplitude of the receiver is V(d), and the effective signal amplitude is defined as ΔV(d) = |V0 - V(d)|. The SNR is calculated using the following formula: SNR(d) = 20lg[ΔV(d) / σ]. For array testing, the SNR curves of each channel at different distances are recorded. Three identical samples are tested, and each sample is repeated three times. The average value is taken as the final result.

[0061] Example 1

[0062] A textile-based non-contact sensing component, such as Figure 1 As shown, it includes a textile-based carrier, which is a dielectric insulating layer 3 with a non-compressible dense structure;

[0063] The textile-based non-contact sensing component is made of fiber. The signal receiving electrode layer 1, the dielectric isolation layer 3, and the signal transmitting electrode layer 2 are three layers that are components of the fiber and are arranged sequentially along the radial direction of the fiber. The spatial projections of the signal receiving electrode layer 1 and the signal transmitting electrode layer 2 overlap.

[0064] The signal receiving electrode layer 1 includes a polymer matrix and a first conductive material dispersed therein. The polymer matrix is ​​TPU and the first conductive material is metal particles.

[0065] The dielectric isolation layer 3 includes a polymer matrix and a dielectric functional filler dispersed therein. The polymer matrix is ​​TPU and the dielectric functional filler is barium titanate.

[0066] The signal emitting electrode layer 2 includes a polymer matrix and a second conductive material dispersed therein. The polymer matrix is ​​TPU and the second conductive material is metal particles.

[0067] The specific steps for preparing the above-mentioned textile-based non-contact sensing component using microfluidic spinning technology are as follows:

[0068] (1) Prepare conductive spinning solution;

[0069] First, TPU (manufacturer: BASF, Germany, grade 1180A transparent) and DMF (N,N-dimethylformamide) are mixed to prepare TPU solution A with a mass concentration of 25%. Then, conductive silver paste (manufacturer: Shenzhen Saiya Electronic Paste Co., Ltd., grade 01L-2211D) with a mass ratio of 2:1 is mixed with TPU solution A and mechanically stirred until uniform to obtain conductive spinning solution.

[0070] (2) Prepare dielectric spinning solution;

[0071] First, TPU (manufacturer: BASF, grade: 1180A transparent) and DMF are mixed to prepare TPU solution B with a mass concentration of 25%. Then, nano barium titanate powder (BaTiO3) with a mass ratio of 1:5 is mixed with TPU solution B and subjected to high-speed shear dispersion and ultrasonic treatment to obtain a uniform dielectric spinning solution.

[0072] (3) Preparation of fibers;

[0073] Using an independently controlled precision pneumatic pump, conductive spinning solution is first injected into the first and third channels of the three-channel microfluidic chip at a flow rate of 120 μL / min, and then dielectric spinning solution is injected into the second channel at a flow rate of 100 μL / min. The two flows then converge at the outlet of the three-channel microfluidic chip to form a stable parallel multilayer composite liquid flow. After flowing out of the chip outlet, the multilayer composite liquid flow is directly immersed in a DMF / deionized water coagulation bath with a volume ratio of 3:7 and stays for 30 seconds to complete phase separation and solidification. The channel width of the three-channel microfluidic chip is 500 μm. The first and third channels converge symmetrically into the main axis of the second channel from both sides at an acute angle of 45°. A straight co-extrusion channel with a length of 1 cm is provided between the confluence point of the three channels and the chip outlet.

[0074] (4) The cured fibers are collected by guide rollers and transferred to a vacuum oven at 60°C to dry for 2 hours. After the residual solvent is completely removed, a textile-based non-contact sensing component is obtained.

[0075] The initial capacitance of the 10cm long textile-based non-contact sensing component was 20.72pF, and after 1000 bending cycles, the capacitance was 20.69pF. The overall deviation of the capacitance value from the initial reference was very low.

[0076] The textile-based non-contact sensing component has an effective non-contact detection distance of 15cm for targets such as humans under the condition of an alternating signal with a driving signal frequency of 100kHz and a voltage of 5V.

[0077] The textile-based non-contact sensing component has a sensitivity of 0.263 V / cm at a close distance of 1 cm. As the target moves to 15 cm, the sensitivity decreases, but still maintains a detectable sensitivity of 0.025 V / cm. At a close distance of 1 cm, the signal-to-noise ratio reaches a maximum of 28.8 dB. As the target moves to 15 cm, the signal-to-noise ratio decreases, but still reaches 10.1 dB. The method for obtaining proximity distance using the aforementioned textile-based non-contact sensing component involves the following steps: An alternating signal with a frequency of 100kHz and a voltage of 5V is applied to the signal transmitting electrode layer of the textile-based non-contact sensing component to ensure the formation of a stable quasi-static electric field around it, thereby achieving effective non-contact sensing within a practical range of up to 15cm. Simultaneously, the voltage amplitude output from the signal receiving electrode layer of the textile-based non-contact sensing component is monitored in real time. The change in voltage amplitude before and after an external object approaches the component is calculated. The proximity distance of the external object is determined based on the non-linear function between the change in voltage amplitude and the proximity distance of the external object. The non-contact sensing principle and the equivalent circuit model of multi-body capacitive coupling are as follows: Figure 2 As shown, according to the principle of capacitive voltage division, when a voltage V is applied to the signal transmitting electrode layer... Tx The output voltage V of the signal receiving electrode layer Rx It can be represented as:

[0078] V Rx =V Tx × .

[0079] A three-dimensional spatial positioning and tracking method using the above-mentioned textile-based non-contact sensing components, the spatial geometric positioning principle of which is as follows: Figure 3 As shown, the automatic tracking closed-loop principle is as follows: Figure 4 As shown.

[0080] Fabric with non-contact sensing function for spatial interaction: The fabric substrate is polyester plain weave fabric. Four textile-based non-contact sensing components with a length of 7.5cm prepared above are arranged in a square array with a size of 8×8cm and integrated on the surface of the fabric substrate. The spacing between adjacent sensing units is 0.5cm to ensure that each sensing unit is electrically insulated from the others, thus obtaining a fabric with non-contact sensing function. The textile-based non-contact sensing components are not all collinear in space and do not completely overlap with each other. At the same time, the textile-based non-contact sensing components form a common intersection in the target interaction area.

[0081] Fabric with non-contact sensing function for automatic tracking: The fabric substrate is polyester plain weave fabric. Two textile-based non-contact sensing components prepared above are arranged in parallel and integrated on the surface of the fabric substrate with a 1cm interval to obtain a fabric with non-contact sensing function. Then, the two fabrics with non-contact sensing function are fixed inside the gripper of the robot arm. Among them, each textile-based non-contact sensing component is not completely collinear in space and does not completely overlap with each other. At the same time, each textile-based non-contact sensing component forms a common intersection in the target interaction area.

[0082] The above-mentioned fabrics with non-contact sensing functions used for spatial interaction and automatic tracking are respectively subjected to the following operations:

[0083] System geometric modeling: Establish a three-dimensional Cartesian coordinate system, determine the spatial position parameters of each textile-based non-contact sensing component in the three-dimensional Cartesian coordinate system, and abstract the effective sensing part of the i-th textile-based non-contact sensing component as consisting of two endpoints A. i (x Ai ,y Ai ,z Ai ) and B i (x Bi ,y Bi ,z Bi A defined finite space line segment A i B i , i=1,2,…,n;

[0084] Distance calibration and mapping: The approach distance of the external object relative to the i-th textile-based non-contact sensing component is obtained using the aforementioned method for obtaining proximity distance. ;

[0085] Geometric constraint construction: The coordinates of the external object in space are defined as unknowns T(x,y,z). For the i-th textile-based non-contact sensing component, the unknown T(x,y,z) is calculated to the finite space line segment A. i B i Theoretical calculated distance d i(x,y,z), then, define the residual function of the i-th textile-based non-contact sensing component as r i (x,y,z)=d i (x,y,z)− Furthermore, the residual functions of all textile-based non-contact sensing components are combined to construct a system of residual equations containing the unknown quantity T(x,y,z);

[0086] 3D coordinate solution: Based on the residual equation system, a nonlinear least squares optimization function min is constructed with the objective of minimizing the sum of squares of each residual function. x,y,z i (x,y,z) 2 The nonlinear least squares optimization function is solved by iterative optimization until the preset convergence condition is met and the optimal three-dimensional coordinates of the external object are output.

[0087] Application Execution: When used for spatial interaction, it acquires the optimal three-dimensional coordinate sequence within a continuous time period and generates the corresponding motion trajectory. The motion trajectory is then converted into device control commands according to a preset mapping rule. This utilizes spatial perception capabilities to enable fabrics with non-contact sensing functions to function as a contactless "remote control." For example... Figure 5 As shown, finger movements within the sensing area are mapped in real time, which can then be used to control the spatial movements of drones, robotic arms, robot dogs, and the like.

[0088] like Figure 6 As shown, when used for automatic tracking of a target object, the spatial deviation vector between the optimal three-dimensional coordinates and the current position of the end effector of the controlled terminal is calculated, and a closed-loop feedback control signal is generated based on the deviation vector to drive the controlled terminal to perform tracking actions, thereby realizing the real-time tracking function.

[0089] Example 2

[0090] A textile-based non-contact sensing component, such as Figure 7 As shown, it includes a textile-based carrier, which is a dielectric insulating layer with a non-compressible dense structure;

[0091] The dielectric isolation layer is an insulating fabric, and the insulating fabric is a cotton fabric;

[0092] The upper surface of the insulating fabric is provided with a signal receiving electrode layer, which is the first conductive fabric 4.1;

[0093] The lower surface of the insulating fabric is provided with a signal transmitting electrode layer, which is a second conductive fabric 4.2;

[0094] The spatial projections of the signal transmitting electrode layer and the signal receiving electrode layer overlap.

[0095] The specific steps for preparing the above-mentioned textile-based non-contact sensing component are as follows:

[0096] (1) Preparation of conductive fabric;

[0097] Using 40S combed cotton yarn as the warp and weft yarns to form the fabric base, silver-plated yarn (manufacturer: Qingdao Zhiyuan Xiangyu Co., Ltd., specification: 40D) is used as an additional warp yarn and introduced in parallel at a constant 2mm interval. During the weaving process, the warp density is 280 threads / 10 cm and the weft density is 220 threads / 10 cm to prepare two conductive fabrics, which are used as the first conductive fabric and the second conductive fabric, respectively.

[0098] (2) Preparation of insulating fabric;

[0099] Using 40S combed cotton yarn as the warp and weft yarns to form the fabric base, the warp density is 280 threads / 10 cm and the weft density is 220 threads / 10 cm during the weaving process to prepare the insulating fabric.

[0100] (3) First, the first conductive fabric, the insulating fabric and the second conductive fabric are stacked in sequence to form a composite fabric structure. Then, the composite fabric structure is insulated and encapsulated using a parylene vacuum deposition system (manufacturer: Specialty Coating Systems, model: PDS2010) to ensure the safety and reliability of the conductive yarn during use. After the insulation encapsulation treatment, the textile-based non-contact sensing component is obtained. The encapsulation material used during the insulation encapsulation treatment is parylene type C (manufacturer: Specialty Coating Systems, brand: 0300073), the amount of encapsulation material added is 8g, and the thickness of the encapsulation layer is 4.4μm.

[0101] The final fabricated textile-based non-contact sensing component, with a length of 7.5 cm and a width of 1 cm, had an initial capacitance of 13.58 pF. After 1000 bending cycles, the capacitance was 13.49 pF, and the overall deviation of the capacitance value from the initial reference was very low.

[0102] The textile-based non-contact sensing component has an effective non-contact detection distance of 10cm for targets such as humans under the condition of an alternating signal with a driving signal frequency of 100kHz and a voltage of 5V.

[0103] The air permeability of the textile-based non-contact sensing component is 300 mm / s, and the bending length is 1.5 cm. This shows that the present invention also retains the inherent flexibility and air permeability of textile materials.

[0104] The textile-based non-contact sensing component has a sensitivity of 0.155 V / cm at a close distance of 1 cm. As the target moves to 10 cm, the sensitivity decreases, but still maintains a detectable sensitivity of 0.013 V / cm. At a close distance of 1 cm, the signal-to-noise ratio reaches a maximum of 21.7 dB. As the target moves to 10 cm, the signal-to-noise ratio decreases, but still reaches 9.7 dB.

[0105] The method for obtaining proximity distance using the aforementioned textile-based non-contact sensing component involves the following steps: applying an alternating signal with a frequency of 100kHz and a voltage of 5V to the signal transmitting electrode layer of the textile-based non-contact sensing component to ensure the formation of a stable quasi-static electric field around it, thereby achieving effective non-contact sensing within a practical range of up to 10cm. Simultaneously, the voltage amplitude output by the signal receiving electrode layer of the textile-based non-contact sensing component is monitored in real time. The change in voltage amplitude before and after an external object approaches the textile-based non-contact sensing component is calculated, and the proximity distance of the external object is determined based on the nonlinear function between the change in voltage amplitude before and after the external object approaches the textile-based non-contact sensing component and the proximity distance of the external object.

[0106] A three-dimensional spatial positioning and tracking method using the above-mentioned textile-based non-contact sensing components is as follows:

[0107] Fabric with non-contact sensing function for spatial interaction: The fabric base is polyester plain weave fabric. The textile-based non-contact sensing component prepared above is cut into 4 strip-shaped sensing units with a width of 1cm and a length of 7.5cm. These strip-shaped sensing units are arranged in a square frame pattern with a spacing of 0.5cm between adjacent sensing units. It is ensured that each strip-shaped sensing unit is electrically insulated from the others. Then, they are sewn onto the fabric base to form a sensing fabric array, thus obtaining a fabric with non-contact sensing function. Among them, each textile-based non-contact sensing component is not completely collinear in space and does not completely overlap with each other. At the same time, each textile-based non-contact sensing component forms a common intersection in the target interaction area.

[0108] Fabric with non-contact sensing function for automatic tracking: The fabric base is polyester plain weave fabric. The textile-based non-contact sensing component prepared above is cut into two strip-shaped sensing units with a width of 1cm and a length of 7.5cm. The strip-shaped sensing units are arranged in parallel with a spacing of 1cm, and it is ensured that each strip-shaped sensing unit is electrically insulated from the others. This results in a fabric with non-contact sensing function. The two fabrics with non-contact sensing function are then directly attached to the inner surface of the end effector of the robot arm. The textile-based non-contact sensing components are not all collinear in space and do not completely overlap each other. At the same time, the textile-based non-contact sensing components form a common intersection in the target interaction area.

[0109] The above-mentioned fabrics with non-contact sensing functions used for spatial interaction and automatic tracking are respectively subjected to the following operations:

[0110] System geometric modeling: Establish a three-dimensional Cartesian coordinate system, determine the spatial position parameters of each textile-based non-contact sensing component in the three-dimensional Cartesian coordinate system, and abstract the effective sensing part of the i-th textile-based non-contact sensing component as consisting of two endpoints A. i (x Ai ,y Ai ,z Ai ) and B i (x Bi ,y Bi ,z Bi A defined finite space line segment A i B i , i=1,2,…,n;

[0111] Distance calibration and mapping: The approach distance of the external object relative to the i-th textile-based non-contact sensing component is obtained using the aforementioned method for obtaining proximity distance. ;

[0112] Geometric constraint construction: The coordinates of the external object in space are defined as unknowns T(x,y,z). For the i-th textile-based non-contact sensing component, the unknown T(x,y,z) is calculated to the finite space line segment A. i B i Theoretical calculated distance d i (x,y,z), then, define the residual function of the i-th textile-based non-contact sensing component as r i (x,y,z)=d i (x,y,z)− Furthermore, the residual functions of all textile-based non-contact sensing components are combined to construct a system of residual equations containing the unknown quantity T(x,y,z);

[0113] 3D coordinate solution: Based on the residual equation system, a nonlinear least squares optimization function min is constructed with the objective of minimizing the sum of squares of each residual function. x,y,z i (x,y,z) 2 The nonlinear least squares optimization function is solved by iterative optimization until the preset convergence condition is met and the optimal three-dimensional coordinates of the external object are output.

[0114] The application executes as follows: When used for spatial interaction, it acquires the optimal three-dimensional coordinate sequence within a continuous time period and generates the corresponding motion trajectory, and converts the motion trajectory into device control commands according to a preset mapping rule; when used for automatic tracking, it calculates the spatial deviation vector between the optimal three-dimensional coordinates and the current position of the end effector of the controlled terminal, and generates a closed-loop feedback control signal based on the deviation vector to drive the controlled terminal to perform tracking actions.

[0115] Example 3

[0116] A textile-based non-contact sensing component, such as Figure 8 As shown, it includes a textile-based carrier, which is a dielectric insulating layer with a non-compressible dense structure;

[0117] The dielectric isolation layer is an insulating fabric, and the insulating fabric is a polyester fabric;

[0118] The signal receiving electrode layer is a conductive pattern 5 printed on the surface of an insulating fabric, and the material of the conductive pattern is conductive metallic ink.

[0119] The signal transmitting electrode layer is a conductive pattern 5 printed on the lower surface of the insulating fabric, and the material of the conductive pattern is conductive metal ink;

[0120] The spatial projections of the signal transmitting electrode layer and the signal receiving electrode layer overlap.

[0121] The specific steps for preparing the above-mentioned textile-based non-contact sensing component are as follows:

[0122] (1) Conductive patterns were prepared on the front side of polyester fabric by screen printing using conductive metal ink (nano silver conductive ink, silver content of 80wt%, viscosity of 9000cP), and TPU squeegee was used to squeegee at a 60° angle and constant speed; wherein, the screen was a 200 mesh polyester screen, and the distance between the screen and the fabric was 2.5mm.

[0123] (2) After printing, the polyester fabric is transferred to a 120°C forced-air oven for sintering for 30 minutes to form a stable conductive film on the positive surface of the polyester fabric as a signal receiving electrode.

[0124] (3) The same conductive pattern is prepared on the reverse side of the polyester fabric using the same screen printing process as a signal transmitting electrode. After ensuring that the conductive patterns on the front and back sides of the polyester fabric are not conductive, the textile-based non-contact sensing component is obtained. The sheet resistance of the front and back surfaces of the textile-based non-contact sensing component is 80mΩ / □.

[0125] (4) The textile-based non-contact sensing component is insulated and encapsulated using a parylene vacuum deposition system (manufacturer: Specialty Coating Systems, model: PDS2010) to ensure the safety and reliability of the sensing component during use. The textile-based non-contact sensing component is obtained after the insulation encapsulation treatment. The encapsulation material used in the insulation encapsulation treatment is parylene type C (manufacturer: Specialty Coating Systems, brand: 0300073), the amount of encapsulation material added is 8g, and the thickness of the encapsulation layer is 4.4μm.

[0126] The final fabricated textile-based non-contact sensing component, with a length of 7.5 cm and a width of 1 cm, had an initial capacitance of 45.76 pF. After 1000 bending cycles, the capacitance was 45.68 pF, and the overall deviation of the capacitance value from the initial reference was very low.

[0127] The textile-based non-contact sensing component has an effective non-contact detection distance of 20cm for targets such as humans under alternating signal conditions of 100kHz driving signal frequency and 5V voltage.

[0128] The textile-based non-contact sensing component exhibits a sensitivity of 0.356 V / cm at a close distance of 1 cm. While the sensitivity decreases slightly as the target moves to 20 cm, it still maintains a detectable sensitivity of 0.032 V / cm. At 1 cm, the signal-to-noise ratio (SNR) reaches its maximum of 31.8 dB. Although the SNR decreases further at 20 cm, it still reaches 10.4 dB. The method for obtaining proximity distance using this textile-based non-contact sensing component involves applying an alternating signal with a frequency of 100 kHz and a voltage of 5 V to the signal transmitting electrode layer of the component. This ensures a stable quasi-static electric field around the component, enabling effective non-contact sensing over a practical range of up to 20 cm. Simultaneously, the voltage amplitude output from the signal receiving electrode layer is monitored in real-time. The change in voltage amplitude before and after an external object approaches the component is calculated. The proximity distance is then determined based on a non-linear function relating the change in voltage amplitude to the object's proximity distance.

[0129] A three-dimensional spatial positioning and tracking method using the above-mentioned textile-based non-contact sensing components is as follows:

[0130] Fabric with non-contact sensing function for spatial interaction: The fabric substrate is polyester plain weave fabric. Using the above-mentioned method for preparing textile-based non-contact sensing components, four conductive patterns are printed on the fabric substrate in a square border arrangement. Each conductive pattern is 1 cm wide and 7.5 cm long, and the interval between adjacent conductive patterns is 0.5 cm to ensure that each conductive pattern is electrically insulated to form a planar electric field induction array, thus obtaining a fabric with non-contact sensing function; wherein, each textile-based non-contact sensing component is not completely collinear in space and does not completely overlap with each other, and at the same time, each textile-based non-contact sensing component forms a common intersection in the target interaction area;

[0131] Fabric with non-contact sensing function for automatic tracking: The fabric substrate is polyester plain weave fabric. Using the above-mentioned method for preparing textile-based non-contact sensing components, two parallel conductive patterns are printed on the fabric substrate. Each conductive pattern is 1 cm wide and 7.5 cm long, thus obtaining a fabric with non-contact sensing function. Then, the two fabrics with non-contact sensing function are directly attached to the inner surface of the end effector of the robot arm. Among them, each textile-based non-contact sensing component is not completely collinear in space and does not completely overlap with each other. At the same time, each textile-based non-contact sensing component forms a common intersection in the target interaction area.

[0132] The above-mentioned fabrics with non-contact sensing functions used for spatial interaction and automatic tracking are respectively subjected to the following operations:

[0133] System geometric modeling: Establish a three-dimensional Cartesian coordinate system, determine the spatial position parameters of each textile-based non-contact sensing component in the three-dimensional Cartesian coordinate system, and abstract the effective sensing part of the i-th textile-based non-contact sensing component as consisting of two endpoints A. i (x Ai ,y Ai ,z Ai ) and B i (x Bi ,y Bi ,z Bi A defined finite space line segment A i B i , i=1,2,…,n;

[0134] Distance calibration and mapping: The approach distance of the external object relative to the i-th textile-based non-contact sensing component is obtained using the aforementioned method for obtaining proximity distance. ;

[0135] Geometric constraint construction: The coordinates of the external object in space are defined as unknowns T(x,y,z). For the i-th textile-based non-contact sensing component, the unknown T(x,y,z) is calculated to the finite space line segment A. i Bi Theoretical calculated distance d i (x,y,z), then, define the residual function of the i-th textile-based non-contact sensing component as r i (x,y,z)=d i (x,y,z)− Furthermore, the residual functions of all textile-based non-contact sensing components are combined to construct a system of residual equations containing the unknown quantity T(x,y,z);

[0136] 3D coordinate solution: Based on the residual equation system, a nonlinear least squares optimization function min is constructed with the objective of minimizing the sum of squares of each residual function. x,y,z i (x,y,z) 2 The nonlinear least squares optimization function is solved by iterative optimization until the preset convergence condition is met and the optimal three-dimensional coordinates of the external object are output.

[0137] Application execution: Execute subsequent logic according to the application scenario. When used for spatial interaction, obtain the optimal three-dimensional coordinate sequence in a continuous time and generate the corresponding motion trajectory, and convert the motion trajectory into device control commands according to the preset mapping rules. When used for automatic tracking, calculate the spatial deviation vector between the optimal three-dimensional coordinates and the current position of the end effector of the controlled terminal, and generate a closed-loop feedback control signal based on the deviation vector to drive the controlled terminal to perform tracking actions.

[0138] Based on the verified edge electric field sensing mechanism described above, the textile-based non-contact sensing component of the present invention can also be directly applied to the following scenarios:

[0139] (1) Posture monitoring: Utilizing the flexibility of fibers / fabrics, they are placed on the back or shoulders of the human body. When changes in human posture (such as hunchback) cause changes in the gap (distance) between the skin and the sensor, the changes in human posture can be inferred from the aforementioned voltage amplitude-distance mapping relationship;

[0140] (2) Collision avoidance and obstacle avoidance: Based on the ranging function verified by the embodiment, a safe distance threshold can be set. The non-contact sensing component is attached to the surface of the robot. When an obstacle approaches and causes the voltage amplitude to exceed the limit, the obstacle avoidance logic can be triggered.

[0141] (3) Material property identification: Since different materials have different dielectric constants or conductivity, they will cause different degrees of disturbance to the edge electric field when they enter the sensing field. Therefore, at a fixed distance, different materials can be distinguished by setting a voltage amplitude threshold.

Claims

1. A textile-based non-contact sensing component, characterized in that, Including textile-based carriers; The textile-based carrier is a dielectric insulating layer, which has an incompressible dense structure; A signal receiving electrode layer is provided on the upper surface of the dielectric isolation layer; A signal transmitting electrode layer is provided on the lower surface of the dielectric isolation layer; The spatial projections of the signal transmitting electrode layer and the signal receiving electrode layer overlap.

2. The textile-based non-contact sensing component according to claim 1, characterized in that, The textile-based non-contact sensing component is made of fiber, and the signal transmitting electrode layer, the dielectric isolation layer, and the signal receiving electrode layer are three layers that are components of the fiber and are arranged sequentially along the radial direction of the fiber. The signal receiving electrode layer includes a polymer matrix and a first conductive material dispersed therein; the dielectric isolation layer includes a polymer matrix and a dielectric functional filler dispersed therein; and the signal transmitting electrode layer includes a polymer matrix and a second conductive material dispersed therein. Textile-based non-contact sensing components are prepared by microfluidic spinning, melt spinning or wet spinning processes.

3. The textile-based non-contact sensing component according to claim 2, characterized in that, The polymer matrix is ​​polyurethane, polydimethylsiloxane, polyvinylidene fluoride, polyimide, polyvinyl alcohol, or epoxy resin; The first conductive material and the second conductive material are each independently selected from one of the following: metal nanowires, metal particles, conductive polymers, carbon nanotubes, graphene, carbon black, and liquid metal. The dielectric functional filler is barium titanate, titanium dioxide, aluminum oxide, silicon nitride, or lead zirconate titanate.

4. The textile-based non-contact sensing component according to claim 1, characterized in that, The signal receiving electrode layer is a first conductive fabric, the dielectric isolation layer is an insulating fabric, and the signal transmitting electrode layer is a second conductive fabric.

5. A textile-based non-contact sensing component according to claim 4, characterized in that, The first and second conductive fabrics are intrinsically conductive fabrics or composite / coated conductive fabrics; the insulating fabrics are cotton, linen, silk, wool, polyester, nylon, acrylic, or blends thereof.

6. A textile-based non-contact sensing component according to claim 1, characterized in that, The dielectric isolation layer is an insulating fabric, and the signal transmitting electrode layer and the signal receiving electrode layer are conductive patterns printed on the insulating fabric.

7. A textile-based non-contact sensing component according to claim 6, characterized in that, The materials for conductive patterns are conductive metallic ink, conductive polymer ink, metal foil, chemically plated metal, physical vapor deposition metal, or conductive embroidery thread; the insulating fabrics are cotton, linen, silk, wool, polyester, nylon, acrylic, or blended fabrics thereof.

8. A method for obtaining proximity distance, characterized in that, An alternating voltage signal is applied to the signal transmitting electrode layer of a textile-based non-contact sensing component as described in any one of claims 1 to 7, and the voltage amplitude output by the signal receiving electrode layer of the textile-based non-contact sensing component is monitored in real time. The change in voltage amplitude before and after an external object approaches the textile-based non-contact sensing component is calculated, and the approach distance of the external object is determined based on the nonlinear function between the change in voltage amplitude before and after the external object approaches the textile-based non-contact sensing component and the approach distance of the external object.

9. A three-dimensional spatial positioning and tracking method, characterized in that, First, set up n textile-based non-contact sensing components as described in any one of claims 1 to 7 to form an array, where n>2, and control that each textile-based non-contact sensing component is not entirely collinear in space and does not completely overlap with each other, while controlling that each textile-based non-contact sensing component forms a common intersection in the target interaction area, and then perform the following operations: System geometric modeling: Establish a three-dimensional Cartesian coordinate system, determine the spatial position parameters of each textile-based non-contact sensing component in the three-dimensional Cartesian coordinate system, and abstract the effective sensing part of the i-th textile-based non-contact sensing component as consisting of two endpoints A. i (x Ai ,y Ai ,z Ai ) and B i (x Bi ,y Bi ,z Bi A defined finite space line segment A i B i , i=1,2,…,n; Distance calibration and mapping: The proximity distance of an external object relative to the i-th textile-based non-contact sensing component is obtained using the proximity distance acquisition method described in claim 8. ; Geometric constraint construction: The coordinates of the external object in space are defined as unknowns T(x,y,z). For the i-th textile-based non-contact sensing component, the unknown T(x,y,z) is calculated to the finite space line segment A. i B i Theoretical calculated distance d i (x,y,z), then, define the residual function of the i-th textile-based non-contact sensing component as r i (x,y,z)=d i (x,y,z)− Furthermore, the residual functions of all textile-based non-contact sensing components are combined to construct a system of residual equations containing the unknown quantity T(x,y,z); 3D coordinate solution: Based on the residual equation system, a nonlinear least squares optimization function min is constructed with the objective of minimizing the sum of squares of each residual function. x,y,z i (x,y,z) 2 The nonlinear least squares optimization function is solved by iterative optimization until the preset convergence condition is met and the optimal three-dimensional coordinates of the external object are output. Application execution: Execute subsequent logic according to the application scenario. When used for spatial interaction, obtain the optimal three-dimensional coordinate sequence in a continuous time and generate the corresponding motion trajectory, and convert the motion trajectory into device control commands according to the preset mapping rules. When used for automatic tracking, calculate the spatial deviation vector between the optimal three-dimensional coordinates and the current position of the end effector of the controlled terminal, and generate a closed-loop feedback control signal based on the deviation vector to drive the controlled terminal to perform tracking actions.

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