A surface area position sensing circuit, sensing system, bionic skin and robot

Abstract

This invention discloses a surface position sensing circuit, a sensing system, a bionic skin, and a robot, belonging to the field of intelligent robot technology. It includes a sensing network comprising horizontally and vertically arranged transverse and longitudinal wires; the longitudinal wires are numbered as integers. n And the serial number of the longitudinal conductor running horizontally from one end to the other. n Gradually increasing; all longitudinal conductors are connected to a power source, and the voltage value of the power source corresponding to each longitudinal conductor is configured as 2. n A contact switch is installed at each intersection of the horizontal and vertical conductors for switching on and off. The grounding terminal of the horizontal conductor is connected to a fixed resistor and grounded, forming a circuit loop. The circuit loop is connected to an external processing system, which collects the voltage value of the corresponding loop of the horizontal conductor and decouples it to obtain the position of the contacted intersection, realizing the perception of information such as pressure position, magnitude, and direction. This significantly simplifies the complexity and cost of the tactile sensing structure, and features simple structure, high efficiency, and high resolution.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, and in particular to a surface position sensing circuit, a sensing system, bionic skin, and a robot. Background Technology

[0002] Tactile sensors are a key component of robotic perception systems. Currently, bionic skin often uses array-type tactile sensors to sense force; however, the resolution and accuracy of pressure sensing are limited by the number of sensor units. Furthermore, as spatial resolution requirements increase, the number of sensors needed increases significantly, leading to complex system structures and significant integration difficulties. For example, in a 1cm... 2 Within the bionic skin region, if the sensor spacing is 1mm, 100 sensor units need to be arranged, which presents a significant challenge in manufacturing and wiring for practical applications. Therefore, existing array-type bionic skins still have obvious shortcomings in balancing resolution, accuracy, and structural simplification.

[0003] While visual-tactile sensors developed in recent years, combining visual perception technology, can acquire information such as the shape and color of contacted objects and possess high spatial resolution, they still face similar technical bottlenecks in force perception as bionic skin. Furthermore, these sensors have complex structures and are typically only suitable for tactile recognition of larger objects, limiting their application in refined and miniaturized tactile tasks. In summary, existing tactile perception technologies struggle to simultaneously achieve high-resolution, high-precision force perception while also meeting the demands for structural simplification and widespread application.

[0004] Therefore, there is an urgent need to develop a new tactile sensing structure or principle to overcome current technological limitations and to take into account the advantages of simplified structure, high resolution and high-precision force sensing. Summary of the Invention

[0005] The purpose of this invention is to solve the above-mentioned technical problems and provide a surface position sensing circuit, sensing system, bionic skin and robot. It proposes a new tactile sensing structure and principle, which greatly simplifies the complexity and cost of tactile sensing structure and has the characteristics of simple structure, high efficiency and high resolution.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention discloses a surface position sensing circuit, including a sensing network for mounting on a supporting substrate, the sensing network including transverse and longitudinally arranged transverse wires; the longitudinal wires are numbered as integers. n The serial number of the longitudinal conductor running transversely from one end to the other. n Gradually increasing; each of the longitudinal conductors is connected to a power source, and the voltage value of the power source corresponding to each longitudinal conductor is configured to be 2. nA contact switch is provided at each intersection of the transverse conductor and the longitudinal conductor. The grounding end of the transverse conductor is connected to a fixed resistor and grounded, forming a circuit loop. The contact switch is configured to turn on when in contact with an external object, so that the transverse conductor and the longitudinal conductor are connected at the intersection. The voltage corresponding to the connected longitudinal conductor is connected in series to the circuit where the transverse conductor is located. The circuit loop is connected to an external processing system, which is used to collect the voltage value of the circuit corresponding to the transverse conductor and decouple it to obtain the position of the contacted intersection, thereby realizing the sensing of the pressure position.

[0007] In one implementation, integer n The value range is [-4, 8].

[0008] In one embodiment, the contact switch is mounted on a support base, and the contact switch is a pressure contact switch, a tension contact switch, or a tangential force contact switch; The transverse conductor is cut into two breaks at each intersection by the contact switch. The transverse conductor is connected to the bearing substrate through a conductor fixing platform to ensure that the relative position of the breaks and the bearing substrate remains unchanged. The longitudinal conductor includes two leads. The pressure contact switch includes a pressure contact, a pressure moving seat, and a pressure elastic body. The pressure contact includes a pressure contact head and two pressure conductive parts. The pressure contact head is fixedly connected to one end of the pressure elastic body, and the other end of the pressure elastic body is fixedly connected to the bearing base. The pressure moving seat is sleeved on the pressure elastic body and fixedly connected to the bottom end of the pressure contact head. The pressure moving seat is located between the bearing base and the pressure contact, and there is a moving gap between the pressure moving seat and the bearing base. The two pressure conductive parts are respectively electrically connected to the positive and negative terminals of the power supply through two leads. The two pressure conductive parts correspond to two breakpoints. Each breakpoint is located between the pressure moving seat and the corresponding pressure conductive part. The breakpoint is configured such that when the pressure contact head is not pressurized, it can short-circuit with the pressure moving seat; when the pressure contact head is pressurized, it can separate from the pressure moving seat and make contact with the pressure conductive part to conduct electricity. The power supply corresponding to the longitudinal wire at this point is connected in series to the circuit loop corresponding to the transverse wire. The pull contact switch includes a pull contact, a pull moving seat, and a pull elastic body. The pull contact includes a pull contact head and two pull conductive parts. The pull contact head is sleeved on the pull elastic body and fixedly connected to the pull moving seat. One end of the pull elastic body is fixedly connected to the pull moving seat, and the other end of the pull elastic body is fixedly connected to the bearing base. The pull contact is located between the pull moving seat and the bearing base. The two pull conductive parts are respectively electrically connected to the positive and negative terminals of the power supply through two leads. Each break point is located between the pull moving seat and the corresponding pull conductive part. The break point is configured such that when the pull moving seat is not under tension, it can short-circuit with the break point of the transverse conductor. During the process of the pull moving seat being under tension, it separates from the pull moving seat and contacts the pull conductive part to conduct electricity, connecting the power supply corresponding to the longitudinal conductor at that point in series to the circuit loop corresponding to the transverse conductor. The tangential force contact switch includes a pressure-cutting contact, a pressure-cutting base, and a pressure-cutting elastic body. The pressure-cutting base includes an upper contact ring, an insulating spacer ring, a lower contact ring, and an insulating support ring. The upper contact ring, insulating spacer ring, lower contact ring, and insulating support ring are fixedly connected, and the insulating support ring is fixed to the bearing base. The lower contact ring and the upper contact ring are respectively connected to the two break points. A first spherical contact is also provided on the transverse conductor near the two break points. The pressure-cutting contact includes an insulating support column, an inner contact ring, an insulating sleeve ring, an outer contact ring, and a surface insulating conductor. The insulating support column, inner contact ring, insulating sleeve ring, outer contact ring, and surface insulating conductor are fixedly connected. The insulating support column includes a disc segment and a column segment. The column segment of the insulating support column passes through the upper contact ring, the insulating spacer ring, the lower contact ring, and the insulating support ring in sequence, and makes movable contact with the bearing base. At least one uniformly spaced section is provided between the insulating support ring and the column segment in the circumferential direction. Four compression elastic bodies are provided, one end of which is fixedly connected to the insulating support ring, and the other end of which is fixedly connected to the column segment. The inner contact ring is coaxially fixedly connected to the disk segment, and the outer contact ring is connected to the inner contact ring through the insulating sleeve. The surface insulating wire passes through the disk segment, the inner contact ring, the insulating sleeve, and the outer contact ring, and both ends of the surface insulating wire have second spherical contacts. The inner contact ring and the outer contact ring are electrically connected to the negative and positive terminals of the power supply through two leads. The second spherical contacts are configured to be in constant contact with the first spherical contacts and can be disengaged from the first spherical contacts during the movement of the insulating support. The inner contact ring and the outer contact ring are in contact with the upper contact ring and the lower contact ring at any position in the circumference, respectively, and the power supply corresponding to the longitudinal wire at this position is connected in series to the circuit loop corresponding to the transverse wire.

[0009] In one embodiment, the tangential force contact switch further includes a positioning guide rail arranged in a single direction to define the movement direction of the cutting contact; the cutting elastic body is coaxially arranged with the positioning guide rail.

[0010] The present invention also discloses a surface position sensing system, including a processing system and the above-mentioned surface position sensing circuit. The processing system includes a data acquisition and reading module and a host computer. The data acquisition and reading module is used to acquire and read the voltage value of the loop corresponding to the transverse conductor. The host computer is communicatively connected to the data acquisition and reading module to obtain the voltage value and decouple to obtain the position of the contacted intersection.

[0011] In one embodiment, the host computer uses sequence 2 n The sequence 2 is decoupled using the principle of decoupling. n The principle of decoupling is as follows: When a single transverse conductor comes into contact with one or more longitudinal conductors, the power supply corresponding to the longitudinal conductor is connected in series to the voltage loop corresponding to the transverse conductor. The voltage value of the circuit loop of the transverse conductor is the sum of the voltage values ​​of all connected power supplies, i.e., the voltage value is a sequence number 2. n The sum of several terms; 2 n Transform into n +1 binary number, where the first bit is 1 and the other bits are 0. By summing any terms of the sequence, the original term can be obtained through decoupling, and thus the sequence number of the connected vertical wire can be obtained through decoupling. n .

[0012] In one embodiment, the data acquisition and reading module includes one of a voltmeter, a voltage acquisition device, or a current acquisition and conversion device; The voltmeter is electrically connected to the horizontal conductor, and the host computer is communicatively connected to the voltmeter, sending voltage information to the host computer for decoupling. The voltage acquisition device includes an analog signal acquisition section and a digital signal processing section. The analog signal acquisition section includes a voltage transformer and a sampling resistor. The voltage transformer is electrically connected to the transverse conductor, and the sampling resistor is electrically connected to the voltage transformer. The digital signal processing section includes a microcontroller and a single-phase bidirectional energy metering integrated circuit chip. The single-phase bidirectional energy metering integrated circuit chip is electrically connected to the sampling resistor, and the microcontroller is electrically connected to the single-phase bidirectional energy metering integrated circuit chip to perform digital conversion and reading of the analog voltage. The host computer is communicatively connected to the microcontroller, and the voltage information is sent to the host computer for decoupling; or the voltage is decoupled internally by the microcontroller and displayed through a display device, no longer connected to the host computer. The current acquisition and conversion device includes an analog signal acquisition section and a digital signal processing section. The analog signal acquisition section includes a current transformer and a sampling resistor. The current transformer is electrically connected to the transverse conductor, and the sampling resistor is electrically connected to the current transformer. The digital signal processing section includes a microcontroller and a single-phase bidirectional energy metering integrated circuit chip. The single-phase bidirectional energy metering integrated circuit chip is electrically connected to the sampling resistor, and the microcontroller is electrically connected to the single-phase bidirectional energy metering integrated circuit chip to convert and read the analog current into voltage information. The host computer is communicatively connected to the microcontroller, and the voltage information is sent to the host computer for decoupling.

[0013] The present invention also discloses a biomimetic skin, comprising a skin surface layer, a skin intermediate matrix layer, and a skin bottom layer arranged sequentially from the outside to the inside. A circuit sensing layer is stacked on the skin intermediate matrix layer. Each circuit sensing layer includes a carrier substrate and the aforementioned surface position sensing circuit. The surface position sensing circuit is disposed on the carrier substrate. The sensitivity of the contact switch of the surface position sensing circuit on the circuit sensing layer on the skin intermediate matrix layer gradually decreases sequentially.

[0014] In one embodiment, the supporting substrate is a soft, elastic material.

[0015] In one embodiment, the skin surface layer and the skin basal layer are protective layers of the skin, and the circuit sensing layer includes one or more layers of the carrier substrate; When the circuit sensing layer includes a layer of the carrier substrate, the type of the contact switch on the carrier substrate is one of pressure contact switch, tension contact switch or tangential force contact switch. When the circuit sensing layer includes multiple layers of the carrier substrate, the contact switches of the multiple layers of the carrier substrate are any one or more combinations of pressure contact switches, tension contact switches, or tangential force contact switches, and the sensitivity gradually decreases with the layer depth.

[0016] The present invention also discloses a robot that uses the above-mentioned bionic skin.

[0017] The present invention achieves the following technical effects compared to the prior art: A planar position sensing circuit is proposed, featuring a sensing network composed of transverse and longitudinal wires arranged horizontally and vertically. By analyzing the voltage value of the circuit, the position of the triggered contact switch can be located, thus achieving positioning. This forms a planar position sensing circuit with a binary decoupling principle, which significantly reduces the number of sensors required for two-dimensional pressure field sensing or position positioning. Compared with traditional visual and tactile sensors, it achieves the same level of performance. n × n cm 2To meet the need for area perception, the sensing unit will be changed from... n 2 One reduced to n This invention significantly simplifies the complexity and cost of tactile sensing structures, featuring simple and efficient structures and high resolution. It can be used to realize the skin sensing function of the whole body of a robot, and is particularly suitable for tactile sensing in tiny areas such as the fingertips.

[0018] The other technical solutions of this invention achieve the following technical effects compared to the prior art: 1. Three different types of contact switches are proposed, which can sense the tensile force, compressive force and tangential force signals of contact respectively. Combined with the surface position sensing circuit, the three types of switches can sense tensile force, compressive force and tangential force respectively. In particular, the tangential contact switch can sense tangential force in any direction, or sense tangential force in a single direction by fixing the direction, realizing the sensing of information such as position, magnitude and direction.

[0019] 2. The bionic skin consists of a skin surface layer, a middle skin matrix layer, and a skin bottom layer. A circuit sensing layer is stacked on the middle skin matrix layer. The skin surface layer and the skin bottom layer are the protective layers of the skin. The circuit sensing layer includes one or more carrier substrates. Each carrier substrate has a surface position sensing circuit. As the layer depth increases, the sensitivity of the contact switch of the surface position sensing circuit gradually decreases. This means that when the force is small, the circuits near the surface are connected first, and when the pressure increases, the deeper circuits are connected sequentially.

[0020] 3. The contact switches of the area position sensing circuit can be any one or more in any combination, and the sensitivity gradually decreases with the depth of the layer. Thus, it can continuously and three-dimensionally sense any two or all of the combined forces of the tensile force, compressive force and tangential force of the contact, and realize continuous sensing of three-dimensional forces in space. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained by analyzing these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the area position sensing system (including area position sensing circuit, data acquisition and reading module, host computer, and acquisition voltage) in an embodiment of the present invention. Figure 2 This is a schematic diagram of the data acquisition and reading module (acquiring voltage) in an embodiment of the present invention; Figure 3Schematic diagram of the surface area position perception system (including the surface area position perception circuit, data acquisition and reading module, and host computer, collecting current) in the embodiment of the present invention; Figure 4 Schematic diagram of the data acquisition and reading module (collecting current) in the embodiment of the present invention; Figure 5 Schematic diagram of the sectional structure of the pressure contact switch in the embodiment of the present invention; Figure 6 Schematic diagram of the top view perspective structure of the pressure contact switch in the embodiment of the present invention; Figure 7 Schematic diagram of the sectional structure of the tension contact switch in the embodiment of the present invention; Figure 8 Schematic diagram of the top view perspective structure of the tension contact switch in the embodiment of the present invention; Figure 9 Schematic diagram of the sectional structure of the non-directional tangential force contact switch in the embodiment of the present invention; Figure 10 Schematic diagram of the top view perspective structure of the non-directional tangential force contact switch in the embodiment of the present invention; Figure 11 Schematic diagram of the sectional structure of the fixed-line bidirectional tangential force contact switch in the embodiment of the present invention; Figure 12 Schematic diagram of the top view perspective structure of the fixed-line bidirectional tangential force contact switch in the embodiment of the present invention; Figure 13 Schematic diagram of the sectional structure of the fixed-line unidirectional tangential force contact switch in the embodiment of the present invention; Figure 14 Schematic diagram of the top view perspective structure of the fixed-line unidirectional tangential force contact switch in the embodiment of the present invention; Figure 15 Schematic diagram of the bionic skin in the embodiment of the present invention; Figure 16 Schematic diagram of the distribution mode of the bearing matrix of the skin surface layer (skin intermediate matrix layer or skin bottom layer) in the embodiment of the present invention; Figure 17 Schematic diagram of the layout structure of the tangential force contact switch of the surface area position perception circuit in the embodiment of the present invention.

[0023] Note: Figure 2 and Figure 4 ①②③④ in represent four lines; SDI: Full English spelling: Serial Digital Interface, Chinese name: Serial Digital Interface; SDO: Full English spelling: Service Data Object(s), Chinese name: Service Data Object; CS: Full English name: Compressed Sensing, Chinese name: Compressed Sensing; SCLK: Full English name: Serial Clock, Chinese name: Serial Clock; Explanation of reference numerals: 1. Area position sensing circuit; 11. Horizontal wire; 12. Vertical wire; 13. Contact switch; 14. Fixed value resistor; 15. Power supply; 16. Ground terminal; 111. First spherical contact; 121. Lead wire; 122. Wire fixing platform; 131. Pressure contact; 132. Pressure moving seat; 133. Pressure elastic body; 1311. Pressure contact part; 1312. Pressure conducting part; 134. Tensile contact; 135. Tensile moving seat; 136. Tensile elastic body; 1341. Tensile contact part; 1342. Tensile conducting part; 137. Cutting pressure contact; 138. Cutting pressure base; 139. Cutting pressure elastic body; 1371. Insulating pillar; 1372. Inner contact ring; 1373. Insulating sleeve ring; 1374. Outer contact ring; 1375. Surface insulating wire; 1376. Second spherical contact; 1381. Upper contact ring; 1382. Insulating spacer ring; 1383. Lower contact ring; 1384. Insulating support ring; 1385. Wire perforation; 1386. Positioning guide rail; 2. Data acquisition and reading module; 21. Voltage transformer; 22. Sampling resistor; 23. Single-phase bidirectional electric energy metering integrated circuit chip; 24. Single-chip microcomputer; 25. Current transformer; 3. Host computer; 4. Bionic skin; 41. Skin surface layer; 42. Skin intermediate matrix layer; 43. Skin bottom layer; 400. Carrying matrix; 420. Circuit sensing layer. Specific implementation manners

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0025] The purpose of this invention is to provide a surface position sensing circuit, sensing system, bionic skin, and robot to solve the problems existing in the prior art. It proposes a new tactile sensing structure and principle, which greatly simplifies the complexity and cost of the tactile sensing structure. It has the characteristics of simple and efficient structure and high resolution, and can realize the perception of information such as pressure position, magnitude and direction.

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] Example 1 like Figures 1 to 17 As shown, this embodiment provides a surface position sensing circuit, which is a novel tactile sensing structure and principle that can be used on bionic skin 4, and of course, on other structures as needed. The surface position sensing circuit 1 includes a sensing net, which is mounted on a supporting substrate 400. The sensing net includes transverse wires 11 and longitudinal wires 12, which are arranged in a horizontal and vertical configuration.

[0028] The numbering of longitudinal conductor 12 is set to an integer. n And the serial number of the longitudinal conductor 12 running horizontally from one end to the other. n Gradually increase n The values ​​can start from 0, or from negative or positive numbers. For example, the range for negative numbers is: [-4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6, 7, 8]. Each longitudinal conductor 12 is connected to a power supply 15, and the voltage value of the power supply 15 corresponding to each longitudinal conductor 12 is configured as 2. n .

[0029] A contact switch 13 is installed at each intersection of the transverse conductor 11 and the longitudinal conductor 12. The grounding terminal 16 of the transverse conductor 11 is connected to a fixed resistor 14 and grounded, forming a circuit loop. One or more fixed resistors 14 can be connected in series with the transverse conductor 11. The contact switch 13 is configured to close when in contact with an external object, so that the transverse conductor 11 and the longitudinal conductor 12 are connected at the intersection. The voltage corresponding to the connected longitudinal conductor 12 is connected in series to the loop containing the transverse conductor 11. The circuit loop is connected to an external processing system, which is used to collect the voltage value of the loop corresponding to the transverse conductor 11 and decouple it to obtain the position of the contacted intersection, thereby realizing the sensing of the pressure position. The processing system collects the voltage value of the loop corresponding to the transverse conductor 11 in two ways: one is to directly collect the voltage value, and the other is to collect the current value and then convert it into a voltage value.

[0030] Working principle: When the contact switch 13 comes into contact with an external object, it connects the horizontal wire 11 and the vertical wire 12 at the intersection, thereby connecting the power supply 15 connected to the vertical wire 12 corresponding to the contact switch 13 in series to the horizontal wire 11, so that the circuit loop corresponding to the horizontal wire 11 is connected to a voltage source.

[0031] When the transverse conductor 11 comes into contact with one or more longitudinal conductors 12, the voltage source corresponding to the longitudinal conductor 12 in contact with it is connected in series to the voltage loop corresponding to the transverse conductor 11. The voltage value of the circuit loop corresponding to the transverse conductor 11 is the sum of the values ​​of all voltage sources connected to that loop.

[0032] Since the voltage of the power supply 15 corresponding to the longitudinal conductor 12 is according to 2 n The values ​​are taken sequentially according to a certain pattern, so the voltage value in the circuit corresponding to the horizontal conductor 11 is a sequence 2. n The sum of certain terms, since 2 n It can be represented as n +1 bit binary number, where the first bit is 1 and all other bits are 0. For example, 2 2 It can be represented as "100". Therefore, this sequence has the property of decoupling, that is, the original term can be obtained by summing any term of the sequence.

[0033] Therefore, when a horizontal conductor 11 contacts an external object and connects with a vertical conductor 12, the sequence number of the connected vertical conductor 12 can be obtained by decoupling through its loop voltage value. Based on this principle, by reading the voltage value of the corresponding loop of the horizontal conductor 11 through the processing system, the position of the contact point can be decoupled and the contact position can be perceived.

[0034] In theory, n The number of vertical conductors 12 can be set to any number as needed. The number of horizontal conductors 11 can also be set according to requirements, and can be greater than [a certain value]. n Of course, it can also be no greater than n .

[0035] This area position sensing circuit 1 significantly reduces the number of sensors: for n × n cm 2 For area sensing, if the sensor spacing is 1cm, then the number of sensors required for an array sensor is: n 2 One, while the local area position sensing circuit 1 only needs to be one. n The circuit voltage is detected; corresponding n × n cm 2 For area perception, the number of sensors will be reduced from... n × n One reduced ton indivual.

[0036] In one embodiment of this invention, the contact switch 13 is mounted on the support base 400. The contact switch 13 is a pressure contact switch, a tension contact switch, or a tangential force contact switch. A pressure contact switch, such as... Figure 5 and Figure 6 As shown, a pressure-sensing switch, mounted on the bionic skin 4, is used to detect contact pressure, enabling the bionic skin 4 to sense contact pressure. This is a pull-pressure contact switch, such as... Figure 7 and Figure 8 As shown, a device for sensing normal tensile force is mounted on the bionic skin 4, enabling the bionic skin 4 to sense tensile force. A tangential force contact switch, such as... Figure 9 and Figure 14 As shown, it is used to sense the contact tangential force and is mounted on the bionic skin 4, which enables the bionic skin 4 to sense the contact tangential force.

[0037] In one embodiment of this invention, the transverse conductor 11 is cut into two points at each intersection by a contact switch 13. The transverse conductor 11 is connected to the carrier base 400 via a conductor fixing platform 122 to ensure that the relative position of the break point and the carrier base 400 remains unchanged. The ends of the break points of the transverse conductor 11 are metal conductors with high rigidity and strength, and are fixed on the conductor fixing platform 122. Each longitudinal conductor 12 includes two leads 121.

[0038] Pressure contact switch: like Figure 5 and Figure 6 As shown, the pressure contact switch includes a pressure contact 131, a pressure moving seat 132, and a pressure elastic body 133. The pressure contact 131 includes a pressure contact head 1311 and two pressure conductive parts 1312. The pressure contact head 1311 is made of insulating material, and the pressure conductive parts 1312 are made of conductive material. The pressure contact head 1311 is fixedly connected to one end of the pressure elastic body 133. Preferably, the end of the pressure contact head 1311 may be provided with a blind hole, and the end of the pressure elastic body 133 is inserted into and bonded to the blind hole. The other end of the pressure elastic body 133 is fixedly connected to the bearing base 400. The pressure elastic body 133 supports the pressure contact 131, ensuring its reciprocating motion under pressure and reset. Preferably, the bearing base 400 is also provided with a blind hole, and the other end of the pressure elastic body 133 is inserted into and bonded to the blind hole. The pressure moving seat 132 is sleeved on the pressure elastic body 133 and fixedly connected to the bottom end of the pressure contact 1311. The pressure moving seat 132 is located between the bearing base 400 and the pressure contact 131. There is a moving gap between the pressure moving seat 132 and the bearing base 400. The two pressure conductive parts 1312 are respectively connected to the positive terminal (V) of the power supply 15 through two leads 121. y + ) and negative electrode (vy - Electrical connection is made, with lead 121 soldered to pressure conductive part 1312. Each of the two pressure conductive parts 1312 corresponds to a break point, located between the pressure moving seat 132 and the corresponding pressure conductive part 1312. The break point is configured such that when the pressure contact 1311 is not under pressure, it can short-circuit with the pressure moving seat 132; and when the pressure contact 1311 is under pressure, it can separate from the pressure moving seat 132 and make contact with the pressure conductive part 1312 to conduct electricity, connecting the power supply corresponding to the longitudinal conductor 12 in series to the circuit loop corresponding to the transverse conductor 11.

[0039] Working principle: The pressure contact switch has two states: (1) When the pressure contact 131 is pressed, it moves downward and contacts the break point of the transverse conductor 11. The pressure elastic body 133 is compressed. At the same time, the pressure moving seat 132 moves downward along with the pressure contact 1311 and separates from the break point of the transverse conductor 11: realizing the connection of the power supply 15 corresponding to the longitudinal conductor 12 to the circuit where the transverse conductor 11 is located (on state). (2) When the pressure is removed, under the action of the elastic restoring force of the pressure elastic body 133, the pressure contact 131 moves upward and separates from the break point of the transverse conductor 11, while the pressure moving seat 132 also moves upward and contacts the break point of the transverse conductor 11, realizing the short circuit conduction of the contact point (normally open short circuit state).

[0040] Pull contact switch: like Figure 7 and Figure 8 As shown, the pull contact switch includes a pull contact 134, a pull moving seat 135, and a pull elastic body 136. The pull contact 134 includes a pull contact head 1341 and two pull conductive parts 1342. The pull contact head 1341 is sleeved on the pull elastic body 136 and fixedly connected to the pull moving seat 135. One end of the pull elastic body 136 is fixedly connected to the pull moving seat 135, and the other end of the pull elastic body 136 is fixedly connected to the bearing base 400. The pull contact 134 is located between the pull moving seat 135 and the bearing base 400. The two pull conductive parts 1342 are respectively connected to the positive terminal (V) of the power supply 15 through two leads 121. y + ) and negative electrode (v y -The electrical connection is made such that each break point is located between the tension moving seat 135 and the corresponding tension conductive part 1342. The break point is configured such that when the tension moving seat 135 is not under tension, it can short-circuit with the tension moving seat 135; when the tension moving seat 135 is under tension, it can separate from the tension moving seat 135 and make contact with the tension conductive part 1342 to conduct electricity, thereby connecting the power supply corresponding to the longitudinal wire 12 at this point in series to the circuit loop corresponding to the transverse wire 11. Working principle: The pull contact switch has two states: (1) When the pull contact switch is not subjected to external force, the pull moving seat 135 contacts the break point of the transverse conductor 11, realizing the short circuit conduction of the contact point (normally open short circuit state); (2) When the tension moving seat 135 is subjected to tension, it moves upward and separates from the break point of the transverse wire 11. The tension contact 134 moves upward together with the tension moving seat 135, and the tension conductive part 1342 contacts the break point of the transverse wire 11: realizing the connection of the power supply 15 corresponding to the longitudinal wire 12 to the circuit where the transverse wire 11 is located (on state). (3) When the tension is removed, under the action of the elastic restoring force of the tension elastic body 136, the tension contact 134 moves downward, the tension conductive part 1342 separates from the break point of the transverse wire 11, and the tension moving seat 135 also moves downward and contacts the break point of the transverse wire 11, realizing the short circuit conduction of the contact point (restoring the normally open short circuit state).

[0041] Tangential force contact switch: Tangential force contact switches are divided into directional tangential force contact switches (such as...) Figure 11 and Figure 14 (as shown) and non-directional tangential force contact switches (such as Figure 9 and Figure 10 (As shown).

[0042] The directional tangential force contact switch is further divided into the fixed-line bidirectional tangential force contact switch (such as...). Figure 11 and Figure 12 (as shown) and fixed-line unidirectional tangential force contact switch (such as Figure 13 and Figure 14 (As shown).

[0043] Their common characteristics include the following: The tangential force contact switch includes a cutting contact 137, a cutting base 138, and a cutting elastic body 139. The cutting base 138 includes an upper contact ring 1381, an insulating spacer ring 1382, a lower contact ring 1383, and an insulating support ring 1384, which are fixedly connected. The insulating support ring 1384 is fixed to the bearing base 400. The lower contact ring 1383 and the upper contact ring 1381 are respectively connected to two breaks in the transverse conductor 11. Preferably, the lower contact ring 1383 is provided with a conductor through hole 1385 for the transverse conductor 11 to be introduced and connected to the upper contact ring 1381. A first spherical contact 111 is also provided on the transverse conductor 11 near the two breaks. The compression contact 137 includes an insulating support 1371, an inner contact ring 1372, an insulating collar 1373, an outer contact ring 1374, and a surface insulated conductor 1375. These components are fixedly connected. The insulating support 1371 includes a disc section and a column section. The column section of the insulating support 1371 passes sequentially through the upper contact ring 1381, the insulating spacer ring 1382, the lower contact ring 1383, and the insulating support ring 1384, and makes movable contact with the bearing substrate 400. At least four compression elastic bodies 139 are evenly distributed between the insulating support ring 1384 and the column section. One end of each compression elastic body 139 is fixedly connected to the insulating support ring 1384, and the other end is fixedly connected to the column section. The inner contact ring 1372 is coaxially fixed to the disk segment. The outer contact ring 1374 is connected to the inner contact ring 1372 via an insulating collar 1373. A surface-insulated wire 1375 passes through the disk segment, the inner contact ring 1372, the insulating collar 1373, and the outer contact ring 1374. Both ends of the surface-insulated wire 1375 have second spherical contacts 1376. The inner contact ring 1372 and the outer contact ring 1374 are connected to the positive terminal (V) of the power supply 15 via two leads 121. y + ) and negative electrode (v y - Electrical connection. The inner contact ring 1372 and outer contact ring 1374 of the cutting contact 137, together with the upper contact ring 1381 and lower contact ring 1383 of the cutting base 138, form an annular contact pair. The second spherical contact 1376 is configured to be in constant contact with the first spherical contact 111, and to be able to disengage from the first spherical contact 111 during the movement of the insulating support 1371. The inner contact ring 1372 and outer contact ring 1374 are in contact with the upper contact ring 1381 and lower contact ring 1383 at any circumferential position, respectively, connecting the power supply corresponding to the longitudinal conductor 12 at that location in series with the circuit loop corresponding to the transverse conductor 11.

[0044] Working principle: It includes two states: short circuit on and voltage source connected in series, which can be switched back and forth.

[0045] (1) When the cutting contact 137 is not subjected to tangential force, the first ball contact 111 and the second ball contact 1376 are in constant contact, and the transverse conductor 11 is conductive; while there is a gap between the inner contact ring 1372 and the outer contact ring 1374 of the cutting contact 137 and the annular contact pair formed by the upper contact ring 1381 and the lower contact ring 1383 of the cutting base 138, the circuit is disconnected, and in this state, the power supply 15 is not connected to the circuit where the transverse conductor 11 is located (short circuit connected state).

[0046] (2) When the cutting contact 137 is subjected to a tangential force, the cutting contact 137 is displaced on the surface of the bearing substrate 400, and the point contact pair of the first spherical contact 111 and the second spherical contact 1376 is misaligned and disconnected; due to the movement of the cutting contact 137, the inner contact ring 1372 and the outer contact ring 1374 are no longer coaxial with the upper contact ring 1381 and the lower contact ring 1383, and the annular contact pair formed by them makes contact at any point in the circumference, and the power supply 15 is connected in series in the switching path of the transverse conductor 11 (power supply series connection state).

[0047] (3) When the tangential force on the cutting contact 137 disappears, under the action of the cutting elastic body 139, the cutting contact 137 returns to the center position, the annular contact pair is disconnected, and the point contact pair formed by the first ball contact 111 and the second ball contact 1376 is restored to the connected state, the transverse conductor 11 is restored to the straight-through state, and the power supply 15 is cut off (restored to the short-circuit connected state).

[0048] Directional tangential force contact switch (e.g.) Figure 11 and Figure 14 (as shown) and non-directional tangential force contact switches (such as Figure 9 and Figure 10 The distinguishing features are: whether the arrangement direction of the shearing elastomer 139 is directional (e.g., fixed-line unidirectional or fixed-line bidirectional) or circumferential, and whether the shearing elastomer 139 is restricted to move along a predetermined direction (fixed-line unidirectional or fixed-line bidirectional).

[0049] For example: non-directional tangential force contact switch (such as...) Figure 9 and Figure 10 As shown, there are multiple pressure-cutting elastic bodies 139, which are then evenly distributed circumferentially between the insulating support ring 1384 and the column section of the pressure-cutting contact 137. This allows the pressure-cutting contact 137 to move 360° tangentially. While a non-directional tangential force contact switch can sense tangential forces in any direction, it cannot distinguish the direction of the tangential force.

[0050] Directional tangential force contact switch (e.g.) Figure 11and Figure 14 As shown, the compression elastic body 139 is arranged along a predetermined direction, and a positioning guide rail 1386 is also arranged along the predetermined direction. The compression elastic body 139 and the positioning guide rail 1386 are coaxially arranged. The compression contact 137 is slidably connected to the positioning guide rail 1386, and the positioning guide rail 1386 limits the movement direction of the compression contact 137. This gives the contact switch 13 the ability to recognize the direction of force. Two or one of the various compression elastic bodies 139 can be selected and retained. Two compression elastic bodies 139 are retained, coaxially positioned on either side of the compression contact 137, with a positioning guide 1386 passing through both bodies. This ensures the compression contact 137 can only move within a single diameter range, thus forming a... Figure 11 and Figure 12 The fixed-line bidirectional tangential force contact switch.

[0051] One shearing elastic body 139 is retained among all the shearing elastic bodies 139. This shearing elastic body 139 is arranged tangentially on one side of the shearing contact 137. The positioning guide rail 1386 passes through only one shearing elastic body 139, so that the shearing contact 137 can only move within a radius range, thus forming a... Figure 13 and Figure 14 The fixed-line unidirectional tangential force contact switch.

[0052] By adjusting the orientation of the shearing elastic body 139 (positioning guide rail 1386) of the directional tangential force contact switch, a shearing contact switch capable of sensing tangential forces in different directions can be obtained. On the same surface area position sensing circuit 1, by setting directional tangential force contact switches with different sensing directions (preferably, the shearing contact switches belonging to the same transverse conductor 11 have the same sensing direction), a shearing sensing circuit capable of sensing tangential forces in different directions can be obtained.

[0053] In one embodiment of this invention, the shearing elastic body 139, the pressure elastic body 133, and the tension elastic body 136 are springs.

[0054] Example 2 like Figures 1 to 17 As shown, this embodiment provides a surface location sensing system, including a processing system and the surface location sensing circuit 1 in Embodiment 1. The processing system includes a data acquisition and reading module 2 and a host computer 3. The data acquisition and reading module 2 is used to acquire and read the voltage value of the circuit corresponding to the transverse conductor 11; the host computer 3 is electrically connected to the data acquisition and reading module 2 to decouple and obtain the position of the contacted intersection point. The data acquisition and reading module 2 can read the voltage value of the corresponding circuit from the other end of the transverse conductor 11 opposite to the grounding terminal 16 and upload it to the host computer 3, such as... Figure 1As shown. Alternatively, the value can be read from the position near the grounding terminal 16 on the horizontal conductor 11 and uploaded to the host computer 3, such as... Figure 3 As shown. The host computer 3 decouples the voltage data, which can identify which contact switches 13 are turned on, thus completing the position sensing.

[0055] In one embodiment of this example, the host computer 3 uses sequence 2 n Decoupling is performed using the principle of decoupling, sequence 2 n The principle of decoupling is as follows: When a single horizontal conductor 11 comes into contact with one or more vertical conductors 12, the power supply 15 corresponding to the vertical conductor 12 will be connected in series to the voltage loop corresponding to the horizontal conductor 11. The voltage value of the circuit loop of the horizontal conductor 11 is the sum of the voltage values ​​of all the connected power supplies 15, that is, the voltage value is a sequence number 2. n The sum of several terms; 2 n Transform into n +1 bit binary number, where the first bit is 1 and the other bits are 0. By summing any terms of the sequence, the original term can be obtained through decoupling, and then the sequence number of the connected vertical wire 12 can be obtained through decoupling. n .

[0056] In one embodiment of this example, the data acquisition and reading module 2 adopts one of a voltmeter, a voltage acquisition device, or a current acquisition and conversion device; When the data acquisition and reading module 2 includes a voltmeter, the voltmeter is electrically connected to the horizontal conductor 11, and the host computer 3 is communicatively connected to the voltmeter, sending the voltage information to the host computer 3 for decoupling. Alternatively, the voltmeter value can be read manually, followed by data decoupling, or the data decoupling can be performed within the microcontroller 24, and the sensing results can be displayed on a digital display device, no longer connected to the host computer 3.

[0057] When the data acquisition and reading module 2 includes a voltage acquisition device, refer to Figure 2 As shown, the voltage acquisition device includes an analog signal acquisition section and a digital signal processing section. The analog signal acquisition section includes a voltage transformer 21 and a sampling resistor 22. The voltage transformer 21 is electrically connected to the transverse conductor 11, and the sampling resistor 22 is electrically connected to the voltage transformer 21. The digital signal processing section includes a microcontroller 24 and a single-phase bidirectional energy metering integrated circuit chip 23. The single-phase bidirectional energy metering integrated circuit chip 23 is electrically connected to the sampling resistor 22, and the microcontroller 24 is electrically connected to the single-phase bidirectional energy metering integrated circuit chip 23 to perform digital conversion and reading of the analog voltage. The host computer 3 is communicatively connected to the microcontroller 24, and sends the voltage information to the host computer 3 for decoupling to obtain the voltage decomposition result, thereby realizing position positioning.

[0058] When the data acquisition and reading module 2 includes a current acquisition and conversion device, refer to Figure 3 and Figure 4 As shown, The current acquisition and conversion device includes an analog signal acquisition section and a digital signal processing section. The analog signal acquisition section includes a current transformer 25 and a sampling resistor 22. The current transformer 25 is electrically connected to the horizontal conductor 11, and the sampling resistor 22 is electrically connected to the current transformer 25. The digital signal processing section includes a microcontroller 24 and a single-phase bidirectional energy metering integrated circuit chip 23. The single-phase bidirectional energy metering integrated circuit chip (23) is electrically connected to the sampling resistor 22, and the microcontroller 24 is electrically connected to the single-phase bidirectional energy metering integrated circuit chip (23) to convert and read the analog current into voltage information. The host computer 3 is connected to the microcontroller 24 for communication. The voltage information is sent to the host computer 3 for decoupling to obtain the voltage decomposition result and realize the position positioning.

[0059] Example 3 like Figures 1 to 17 As shown, this embodiment provides a bionic skin 4. The bionic skin 4 includes a skin surface layer 41, a skin intermediate matrix layer 42, and a skin bottom layer 43 arranged sequentially from the outside to the inside. The skin surface layer 41 and the skin bottom layer 43 are protective layers of the bionic skin 4. One or more circuit sensing layers 420 are provided on the skin intermediate matrix layer 42. Each circuit sensing layer 420 includes a carrier substrate 400 and a surface position sensing circuit 1 as described in Embodiment 1. The surface position sensing circuit 1 is disposed on the carrier substrate 400. The sensitivity of the contact switch 13 of the surface position sensing circuit 1 on the circuit sensing layer 420 on the skin intermediate matrix layer 42 gradually decreases. That is, the elastic coefficient of the elastic body of the contact switch 13 increases sequentially with the layer depth. Thus, when the contact force (e.g., pressure, tension, or tangential force) is small, the contact switch 13 near the surface layer is more sensitive (the elastic coefficient of the elastic body is smaller), therefore the contact switch 13 near the surface layer circuit sensing layer 420 is easily triggered. As the contact force (e.g., pressure, tension, or tangential force) increases, the contact switches 13 of the deeper circuit sensing layer 420 are triggered sequentially. The triggering status of the surface position sensing circuits 1 in each layer can then detect the magnitude of the contact force (e.g., pressure, tension, or tangential force).

[0060] In one embodiment of this example, the support substrate 400 is a soft, elastic material, such as silicone.

[0061] In one embodiment of this example, when a circuit sensing layer 420 is provided on the intermediate skin matrix layer 42, the contact switch 13 on the circuit sensing layer 420 is one of a pressure contact switch, a pull contact switch, or a tangential force contact switch. When a multilayer circuit sensing layer 420 is provided on the intermediate matrix layer 42 of the skin, the contact switches 13 on the multilayer circuit sensing layer 420 are of any one or more combinations of pressure contact switches, pull contact switches or tangential force contact switches, and the sensitivity gradually decreases with the depth of the layer.

[0062] Different combinations can achieve different effects, specifically: Location detection: ① The single-layer circuit sensing layer 420 only senses the location of the single-state force corresponding to the switch type. For example, the single-layer circuit sensing layer 420 of the contact switch type is a pressure contact switch, which only senses the location where the pressure occurs.

[0063] ② The combination of circuit sensing layers 420 of different contact switch types can realize the sensing of the location of occurrence of multi-state composite forces (any two or more of tension, compression, and tangential forces occurring simultaneously or in combination). For example, the combination of a single-layer circuit sensing layer 420 of pressure contact switch type and a single-layer circuit sensing layer 420 of tension contact switch type can simultaneously sense the location of occurrence of pressure and tension.

[0064] Perception of the location and magnitude of force: ③ For sensing the magnitude of a single-state force, a circuit sensing layer 420 with corresponding types of contact switches needs to be superimposed, with the sensitivity decreasing sequentially. For sensing the magnitude of pressure, a multi-layer sensing circuit is set up, with each layer having a pressure contact switch as the switch type, but the sensitivity decreasing sequentially, that is, the elastic coefficient of the elastic body of the contact switch 13 increases sequentially with the layer depth. The location and magnitude of the pressure are determined by the sensitivity of the corresponding layer.

[0065] ④ To perceive the magnitude of the multi-state force, it is necessary to combine multiple "combinations" on the basis of the combination of different contact switch types of sensing layers in ②, with the sensitivity decreasing sequentially on the basis of the "combination", so as to realize the perception of the magnitude and position of the multi-state force.

[0066] In one embodiment of this example, The contact switch 13 of the tangential force sensing circuit 1 primarily uses tangential force contact switches. Additionally, 36 directional tangential force contact switches (which can be fixed-line unidirectional tangential force contact switches or fixed-line bidirectional tangential force contact switches) are arranged sequentially at 10° intervals on (or adjacent to) the inner circumference of the tangential force sensing circuit 1. This circumference is centered on the center of the plane of the tangential force sensing circuit 1. Figure 17As shown, the position coordinates of each directional tangential force contact switch in the circuit matrix layout are clearly defined, and the direction of a given directional tangential force contact switch is taken as the direction of the tangential force. Non-directional tangential force contact switches are used to measure the magnitude of the tangential force.

[0067] In one embodiment of this example, based on the biomimetic skin 4 structure design, a continuous pressure sensing model, a tensile sensing model, and a tangential force sensing model can be constructed using deep learning technology.

[0068] First, by conducting force (pressure, tension, or tangential force) tests, experimental data on the external force application and the triggering status of the internal surface-domain position sensing circuit 1 can be obtained. Then, using deep learning technology, a continuous force application three-dimensional sensing model based on the triggering status of the surface-domain position sensing circuit 1 is constructed. This model characterizes the actual force field (pressure, tension, or tangential force) distribution by the spatial distribution of the on / off states of each contact switch 13 within the multi-layer surface-domain position sensing circuit 1. This achieves continuous perception of tactile force.

[0069] Example 4 This embodiment provides a robot that employs the bionic skin described in Embodiment 3 and integrates the surface position perception system from Embodiment 2. Specifically, the processing system within the surface position perception system is located on the robot body, while the surface position perception circuit 1 is located on the bionic skin. This robot can be any robot requiring bionic skin. Functionally, it can be categorized as a household intelligent robot, a factory intelligent robot, an agricultural robot, or other life-assistance intelligent robots. In terms of appearance, it can be a humanoid intelligent robot, a humanoid intelligent robot, or a non-humanoid intelligent robot.

[0070] The advantages of this invention are: Innovation 1: A surface-domain position sensing circuit 1 with binary number decoupling principle is proposed. By analyzing the total voltage or current value of the circuit, the position of the triggered contact switch 13 can be located, thereby achieving positioning. Advantage: It can significantly reduce the number of sensors required for two-dimensional pressure field sensing or position positioning. From n 2 One reduced to n indivual.

[0071] Innovation 2: In conjunction with Innovation 1, three different types of contact switches 13 are proposed, which can respectively sense the tensile force, compressive force, and tangential force signals of contact; Advantage: Combined with the surface position sensing circuit 1, the three types of switches can sense tensile force, compressive force, and tangential force respectively. In particular, the tangential contact switch can sense tangential force in any direction, and can also sense tangential force in a single direction by fixing the direction.

[0072] Innovation 3: Based on a surface-domain position sensing circuit 1 and three different types of contact switches, a multi-layered embedded bionic skin 4 is designed using deep learning methods. This bionic skin can continuously and three-dimensionally sense the tensile, compressive, and tangential forces of contact, as well as any two or all of their combined forces. This achieves continuous perception of three-dimensional forces in space. Technical advantages: The bionic skin 4, designed through the composite embedding of the multi-layered surface-domain position sensing circuit 1, uses deep learning methods to construct a continuous three-dimensional perception model of its contact force field, achieving continuous perception of three-dimensional forces in space. Compared with bionic skin 4 based on array sensors, it features uniformity, good flexibility, high resolution and accuracy, and significantly reduces the number of sensors required.

[0073] In summary, this invention represents a revolutionary advancement in the field of tactile sensing bionic skin, significantly simplifying the complexity and cost of tactile sensing bionic skin 4. It features a simple and efficient structure, high resolution, and good flexibility. It can be used to achieve full-body skin sensing for robots, and is particularly well-suited for tactile sensing in tiny areas such as the fingertips.

[0074] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A surface position sensing circuit, characterized in that, Includes a sensing network for mounting on a support substrate (400), the sensing network comprising transverse conductors (11) and longitudinal conductors (12) arranged horizontally and vertically; the longitudinal conductors (12) are numbered as integers. n And the serial number of the longitudinal guide (12) from one end to the other in the transverse direction. n Gradually increasing; each of the longitudinal conductors (12) is connected to a power supply (15), and the voltage value of the power supply (15) corresponding to each of the longitudinal conductors (12) is configured to be 2. n A contact switch (13) is provided at each intersection of the transverse conductor (11) and the longitudinal conductor (12). The grounding terminal (16) of the transverse conductor (11) is connected to a fixed resistor (14) and grounded to form a circuit loop. The contact switch (13) is configured to be turned on when in contact with an external object, so that the transverse conductor (11) and the longitudinal conductor (12) are connected at the intersection. The voltage corresponding to the connected longitudinal conductor (12) is connected in series to the circuit where the transverse conductor (11) is located. The circuit loop is connected to an external processing system. The processing system is used to collect the voltage value of the circuit corresponding to the transverse conductor (11) and decouple it to obtain the position of the contacted intersection point, so as to realize the sensing of the pressure position.

2. The area position sensing circuit according to claim 1, characterized in that: Integer n The value range is [-4, 8].

3. The area position sensing circuit according to claim 1, characterized in that: The contact switch (13) is mounted on the support base (400), and the contact switch (13) is a pressure contact switch, a tension contact switch or a tangential force contact switch; The transverse conductor (11) is cut into two breaks at each intersection by the contact switch (13). The transverse conductor (11) is connected to the bearing substrate (400) through the conductor fixing platform (122) so that the relative position of the break point and the bearing substrate (400) remains unchanged. The longitudinal conductor (12) includes two leads (121). The pressure contact switch includes a pressure contact (131), a pressure moving seat (132), and a pressure elastic body (133). The pressure contact (131) includes a pressure contact head (1311) and two pressure conductive parts (1312). The pressure contact head (1311) is fixedly connected to one end of the pressure elastic body (133), and the other end of the pressure elastic body (133) is fixedly connected to the bearing base (400). The pressure moving seat (132) is sleeved on the pressure elastic body (133) and fixedly connected to the bottom end of the pressure contact head (1311). The pressure moving seat (132) is located between the bearing base (400) and the pressure contact (131). The pressure moving seat (132) and the bearing base (400) are... There is a moving gap between them. The two pressure conductive parts (1312) are electrically connected to the positive and negative terminals of the power supply (15) through the two leads (121). The two pressure conductive parts (1312) correspond to the two break points respectively. Each break point is located between the pressure moving seat (132) and the corresponding pressure conductive part (1312). The break point is configured such that when the pressure contact head (1311) is not pressed, it can short-circuit with the pressure moving seat (132). When the pressure contact head (1311) is pressed, it can separate from the pressure moving seat (132) and make contact with the pressure conductive part (1312) to conduct electricity. The power supply corresponding to the longitudinal conductor (12) is connected in series to the circuit loop corresponding to the transverse conductor (11). The pull contact switch includes a pull contact (134), a pull moving seat (135), and a pull elastic body (136). The pull contact (134) includes a pull contact head (1341) and two pull conductive parts (1342). The pull contact head (1341) is sleeved on the pull elastic body (136) and fixedly connected to the pull moving seat (135). One end of the pull elastic body (136) is fixedly connected to the pull moving seat (135), and the other end of the pull elastic body (136) is fixedly connected to the bearing base (400). The pull contact (134) is located between the pull moving seat (135) and the bearing base (400). Between 0), the two tension conductive parts (1342) are electrically connected to the positive and negative terminals of the power supply (15) through two leads (121), respectively. Each break point is located between the tension moving seat (135) and the corresponding tension conductive part (1342). The break point is configured such that when the tension moving seat (135) is not tensioned, it can short-circuit with the tension moving seat (135). During the tension moving seat (135) being tensioned, it separates from the tension moving seat (135) and contacts the tension conductive part (1342) to conduct electricity. The power supply corresponding to the longitudinal conductor (12) at this point is connected in series to the circuit loop corresponding to the transverse conductor (11). The tangential force contact switch includes a pressure-cutting contact (137), a pressure-cutting base (138), and a pressure-cutting elastomer (139); the pressure-cutting base (138) includes an upper contact ring (1381), an insulating spacer ring (1382), a lower contact ring (1383), and an insulating support ring (1384), which are fixedly connected, and the insulating support ring (1384) is fixed to the bearing base (400); the lower contact ring (1383) and the upper contact ring (1381) are respectively Do not connect to the two said breakpoints; the transverse conductor (11) is also provided with a first spherical contact (111) near the two said breakpoints; the cutting contact (137) includes an insulating support (1371), an inner contact ring (1372), an insulating collar (1373), an outer contact ring (1374), and a surface insulating conductor (1375), the insulating support (1371), the inner contact ring (1372), the insulating collar (1373), the outer contact ring (1374), and the surface insulating conductor (1375) are fixedly connected, the insulating support (1371) includes a disc section and a column section; the insulating The column segment of the support column (1371) passes sequentially through the upper contact ring (1381), the insulating spacer ring (1382), the lower contact ring (1383), and the insulating support ring (1384), and makes movable contact with the bearing substrate (400); at least four shearing and compression elastic bodies (139) are evenly arranged circumferentially between the insulating support ring (1384) and the column segment, one end of the shearing and compression elastic body (139) is fixedly connected to the insulating support ring (1384), and the other end of the shearing and compression elastic body (139) is fixedly connected to the column segment; the inner contact ring (1372) The outer contact ring (1374) is coaxially fixedly connected to the disk segment. The outer contact ring (1374) is connected to the inner contact ring (1372) through the insulating collar (1373). The surface insulating wire (1375) passes through the disk segment, the inner contact ring (1372), the insulating collar (1373), and the outer contact ring (1374). The two ends of the surface insulating wire (1375) have second spherical contacts (1376). The inner contact ring (1372) and the outer contact ring (1374) are electrically connected to the negative and positive terminals of the power supply (15) through two leads (121).The second spherical contact (1376) is configured to be in constant contact with the first spherical contact (111), and to be able to detach from the first spherical contact (111) during the movement of the insulating support (1371). The inner contact ring (1372) and the outer contact ring (1374) are respectively in contact with the upper contact ring (1381) and the lower contact ring (1383) at any circumferential position, connecting the power supply corresponding to the longitudinal conductor (12) in series with the circuit loop corresponding to the transverse conductor (11).

4. The area position sensing circuit according to claim 3, characterized in that: The tangential force contact switch also includes a positioning guide rail (1386) arranged in a single direction to limit the movement direction of the cutting contact (137); the cutting elastic body (139) is coaxially arranged with the positioning guide rail (1386).

5. A surface location sensing system, characterized in that, The system includes a processing system and a surface position sensing circuit (1) as described in any one of claims 1-4. The processing system includes a data acquisition and reading module (2) and a host computer (3). The data acquisition and reading module (2) is used to acquire and read the voltage value of the loop corresponding to the transverse conductor (11). The host computer (3) is connected to the data acquisition and reading module (2) to obtain the voltage value and decouple to obtain the position of the contacted intersection.

6. The area position sensing system according to claim 5, characterized in that, The host computer (3) is based on sequence 2 n The sequence 2 is decoupled using the principle of decoupling. n The principle of decoupling is as follows: When a single transverse conductor (11) comes into contact with one or more longitudinal conductors (12), the power supply (15) corresponding to the longitudinal conductor (12) will be connected in series to the voltage loop corresponding to the transverse conductor (11). The voltage value of the circuit loop of the transverse conductor (11) is the sum of the voltage values ​​of all the connected power supplies (15), that is, the voltage value is a sequence 2. n The sum of certain terms; 2 n Transform into n +1 binary number, where the first bit is 1 and the other bits are 0. By summing any terms of the sequence, the original term can be decoupled and obtained. Then, the sequence number of the connected longitudinal wire (12) can be decoupled and obtained. n .

7. The area position sensing system according to claim 5, characterized in that, The data acquisition and reading module (2) includes one of a voltmeter, a voltage acquisition device, or a current acquisition and conversion device; The voltmeter is electrically connected to the horizontal conductor (11), and the host computer (3) is communicatively connected to the voltmeter, sending voltage information to the host computer (3) for decoupling. The voltage acquisition device includes an analog signal acquisition section and a digital signal processing section. The analog signal acquisition section includes a voltage transformer (21) and a sampling resistor (22). The voltage transformer (21) is electrically connected to the transverse conductor (11), and the sampling resistor (22) is electrically connected to the voltage transformer (21). The digital signal processing section includes a microcontroller (24) and a single-phase bidirectional energy metering integrated circuit chip (23). The single-phase bidirectional energy metering integrated circuit chip (23) is electrically connected to the sampling resistor (22), and the microcontroller (24) is electrically connected to the single-phase bidirectional energy metering integrated circuit chip (23) to convert and read the analog voltage. The host computer (3) is communicatively connected to the microcontroller (24) to send the voltage information to the host computer (3) for decoupling; or the voltage is decoupled inside the microcontroller (24) and displayed through a display device, no longer connected to the host computer (3). The current acquisition and conversion device includes an analog signal acquisition section and a digital signal processing section. The analog signal acquisition section includes a current transformer (25) and a sampling resistor (22). The current transformer (25) is electrically connected to the transverse conductor (11), and the sampling resistor (22) is electrically connected to the current transformer (25). The digital signal processing section includes a microcontroller (24) and a single-phase bidirectional energy metering integrated circuit chip (23). The single-phase bidirectional energy metering integrated circuit chip (23) is electrically connected to the sampling resistor (22), and the microcontroller (24) is electrically connected to the single-phase bidirectional energy metering integrated circuit chip (23) to convert and read the analog current into voltage information. The host computer (3) is communicatively connected to the microcontroller (24) to send the voltage information to the host computer (3) for decoupling.

8. A biomimetic skin, characterized in that, The system comprises, from the outside to the inside, a skin surface layer (41), a skin intermediate matrix layer (42), and a skin bottom layer (43). The skin surface layer (41) and the skin bottom layer (43) are protective layers of the skin. One or more circuit sensing layers (420) are provided on the skin intermediate matrix layer (42). Each circuit sensing layer (420) includes a carrier substrate (400) and a surface position sensing circuit (1) as described in any one of claims 1-4. The surface position sensing circuit (1) is disposed on the carrier substrate (400). The sensitivity of the contact switch (13) of the surface position sensing circuit (1) on the circuit sensing layer (420) of the skin intermediate matrix layer (42) gradually decreases.

9. The bionic skin according to claim 8, characterized in that, When a circuit sensing layer (420) is provided on the intermediate matrix layer (42) of the skin, the contact switch (13) on the circuit sensing layer (420) is of the type of pressure contact switch, pull contact switch or tangential force contact switch; When the skin intermediate matrix layer (42) is provided with multiple circuit sensing layers (420), the contact switches (13) on the multiple circuit sensing layers (420) are of any one or more combinations of pressure contact switches, pull contact switches or tangential force contact switches, and the sensitivity gradually decreases with the depth of the layer.

10. A robot, characterized in that, The bionic skin described in claim 8 or 9 is used.

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