Foot side sensing device, insole, shoe, sock and machine sole fixture

Abstract

The utility model relates to a foot side sensing device, a shoe pad, a shoe, a sock and a machine sole fixture. The foot side sensing device comprises a CDC, a switch array, a digital processing circuit and a side sensing unit laid on the side of a foot. Each group of side surface sensing units comprises at least two flexible outer electrodes, the outer electrodes form mutual capacitance and / or self-capacitance for detecting approaching of a side surface obstacle, a bulge is formed on the inward side of each outer electrode, the outer surface of each bulge is an elastic curved surface, an inner electrode is arranged in the inward direction of each bulge, an inner insulating layer is arranged between each bulge and the corresponding inner electrode, and the outer surface of each bulge is an elastic curved surface. The outer electrode is deformed by an external force to change the indirect contact area of the involved bulge on each corresponding inner electrode; the CDC is respectively coupled with each inner electrode and is respectively coupled with each outer electrode through the switch array, and the switch array is used as the outer electrode and is coupled to a time-sharing gating channel of the CDC or the ground; and the digital processing circuit is used for logic processing and / or logic sequence control and is respectively coupled with the CDC and the switch array.

Description

Technical Field

[0001] This utility model relates to the field of robotic feet, and more particularly to a foot side sensing device, insole, shoe, sock, and robotic foot sole fixing device. Background Technology

[0002] Mobile robots mimic multi-legged creatures in nature, such as humans, spiders, or dogs, building multiple legs to achieve the ability to walk, crawl, or traverse various complex terrains through coordinated movement. Mobile robots excel in terrain adaptability, flexibility, and stability, and are widely used in fields such as industrial inspection, disaster relief, and space exploration.

[0003] To ensure that the robotic legs of mobile robots can safely bypass obstacles and reach the target location during task execution or movement, the robotic legs need to be designed to sense the approach of objects and the force of collisions. Most traditional robotic legs only have the ability to detect and avoid collision forces, but lack the ability to sense the approach of objects before a collision. A few integrated sensing devices use multiple sensors to achieve this, which is relatively complex in structure. Utility Model Content

[0004] This utility model aims to overcome the shortcomings of the prior art by providing a foot side sensing device, insole, shoe, sock, and machine foot fixing device.

[0005] To address this, a foot side sensing device is provided, comprising a capacitance-to-digital converter circuit, a switch array, a digital processing circuit, and at least one set of side sensing units disposed on the side of the foot. Each set of side sensing units includes at least two flexible external electrodes arranged along a predetermined direction. The at least two flexible external electrodes form mutual capacitance and / or self-capacitance for detecting the approach of side obstacles. Each external electrode has a protrusion on its inward side, the outer surface of which is an elastic curved surface. At least one internal electrode is disposed on the inward direction of each protrusion. An inner insulating layer with a thickness between 10 nanometers and 1 millimeter is disposed between the protrusion and the corresponding internal electrode. The inward projection of the protrusion covers at least a portion of the area of ​​each corresponding internal electrode. The indirect contact area of ​​the protrusion on each corresponding internal electrode is affected by the deformation of the external electrode under external force. The capacitance-to-digital converter circuit is coupled to each internal electrode and to each external electrode through the switch array. The switch array serves as a time-division multiplexing channel for coupling the external electrodes to the capacitance-to-digital converter circuit or ground. The digital processing circuit, used for logic processing and / or logic sequence control, is coupled to the capacitance-to-digital converter circuit and the switch array.

[0006] By using multiple external electrodes to form self-capacitance or mutual capacitance in pairs, and the inner protrusion of each external electrode to cooperate with the pressure deformation of the corresponding internal electrode, the robot foot realizes the function of sensing the approach of objects on the side of the capacitor, as well as the function of sensing the collision force of objects. This achieves a convenient structure while ensuring the safety of the robot foot for itself and the outside world during the execution of tasks or movement.

[0007] The foot side sensing device provided by this utility model also includes the following auxiliary technical solutions:

[0008] Among them, the protrusions and / or inner electrodes are strip electrodes arranged or extending along the periphery of the foot.

[0009] Each protrusion has one or more internal electrodes arranged in the inward direction, and the internal electrodes serve as self-capacitance electrodes.

[0010] Each protrusion has a first inner electrode and a second inner electrode arranged in the inward direction. The first inner electrode and the second inner electrode form a planar mutual capacitance for pressure detection. The outer electrode is configured to be coupled to ground when sampling the capacitance of the inner electrode.

[0011] Each protrusion is provided with one or more inner electrodes, and the outer electrode serves as a common electrode. The protrusion and each corresponding inner electrode form a mutual capacitance.

[0012] The side sensing unit has at least two units, and each side sensing unit is distributed around the foot to form a ring.

[0013] The invention includes a circuit board with an internal electrode formed on the surface of the circuit board; a first wear-resistant insulating layer is provided on the inner side of the circuit board, the first wear-resistant insulating layer being thick enough to isolate or reduce electric field penetration; and / or, an active shielding layer is provided on the inner side of the circuit board.

[0014] The outer electrode has a second wear-resistant insulating layer on its outward-facing side.

[0015] This includes a storage battery for powering the foot-side sensing device; and / or a power input interface for the energy system of a pluggable external robot.

[0016] A foot side sensing device is also provided, including a capacitance-to-digital conversion circuit, a switch array, a digital processing circuit, a circuit board, and at least one set of side sensing units laid on the side of the foot; each set of side sensing units includes at least one flexible inner electrode, each inner electrode forming a protrusion on its outward side, the outer surface of the protrusion being an elastic curved surface, each protrusion having at least one outer electrode disposed in its outward direction, an inner insulating layer with a thickness between 10 nanometers and 1 millimeter being disposed between the protrusion and the corresponding outer electrode, the outward projection of the protrusion at least covering a portion of the area of ​​each corresponding outer electrode, the protrusion deforming under force changing the indirect contact area with each corresponding outer electrode; the outer electrode is formed on the inward side of the circuit board, at least two third electrodes are disposed on the outward side of the circuit board arranged in a set direction, the at least two arranged third electrodes forming mutual capacitance and / or self capacitance for detecting the approach of side obstacles; the capacitance-to-digital conversion circuit is coupled to each outer electrode respectively, and coupled to each third electrode respectively through the switch array, the switch array serving as a time-division multiplexing channel for the third electrode coupled to the capacitance-to-digital conversion circuit or ground; the digital processing circuit, for logic processing and / or logic sequence control, is coupled to the capacitance-to-digital conversion circuit and the switch array respectively.

[0017] Also provided is an insole, shoe, sock, or machine foot fixation device, including the aforementioned foot side sensing device. Attached Figure Description

[0018] Figure 1 The internal structure of the foot side sensor is shown;

[0019] Figure 2 The structure that collects the pressure by the self-capacitance of the internal electrode is shown;

[0020] Figure 3 The structure for collecting the mutual capacitance of the internal electrodes to reflect pressure is shown;

[0021] Figure 4 The structure of the foot side sensor is shown when it is inverted. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0023] Example 1

[0024] like Figure 1As shown, the foot side sensing device includes a side sensing unit and a circuit board 100. A capacitive-to-digital converter circuit, a switch array, and a digital processing circuit are mounted on the circuit board 100. The digital processing circuit is coupled to both the capacitive-to-digital converter circuit and the switch array. The digital processing circuit can be controlled by a processor for logic processing in software, or by a state controller for logical sequence control in hardware logic. At least one side sensing unit is provided, mounted on the side of the robot's moving foot via an inner structural support 101, to provide proximity and collision force sensing functions.

[0025] Each set of side sensing units includes at least two flexible external electrodes 200 arranged along a set direction, which can be arranged vertically or horizontally along the periphery of the foot. The at least two flexible external electrodes 200 form mutual capacitance and / or self capacitance for detecting the approach of side obstacles.

[0026] The outer electrodes 200 are made of conductive silicone on the sampling side. Each outer electrode 200 has an inward-facing protrusion 201, the outer surface of which is an elastic curved surface capable of deformation under pressure. At least one inner electrode 300 is disposed on the inward-facing side of each protrusion 201, located on the outer side of the circuit board 100. The protrusions 201 and their corresponding inner electrodes 300 are isolated by an inner insulating layer. The thickness of the inner insulating layer is configured between 10 nanometers and 1 millimeter to achieve high sensitivity for sensor pressure detection. The inward projection of the protrusions 201 at least covers a portion of the area of ​​each corresponding inner electrode 300. The deformation of the outer electrode 200 under external force affects the indirect contact area of ​​the protrusions 201 on each corresponding inner electrode 300. When an object contacts and presses down, the conductive silicone hemispherical protrusion deforms, increasing the contact area with the circuit board electrode and thus increasing the electrode capacitance. The pressure value is calculated based on the capacitance change.

[0027] The capacitance-to-digital converter (CDC) circuit couples each inner electrode 300 to sample capacitance values ​​to reflect pressure. Simultaneously, it couples each outer electrode 200 via a switch array, which serves as a time-division multiplexing channel for coupling the outer electrodes 200 to the CDC circuit or ground. Before contact or collision occurs, the outer electrodes 200 are coupled to the CDC circuit to obtain their self-capacitance or the mutual capacitance formed by pairs of outer electrodes 200. The approach of an object is detected by the change in mutual capacitance. After contact or collision, the outer electrodes 200 are coupled to ground, becoming shielded electrodes and shielding the pressure detection of the inner electrodes 300 from external interference.

[0028] This invention utilizes multiple external electrodes to form a self-capacitance or pairs of mutual capacitances. The inner protrusion of each external electrode cooperates with the pressure deformation of the corresponding internal electrode. Based on the capacitance, the robot foot can sense the approach of objects and the collision force of objects, achieving a convenient structure while ensuring the safety of the robot foot itself and the outside world during task performance or movement.

[0029] Among them, the protrusion 201 and / or the inner electrode 300 are strip electrodes arranged or extending along the periphery of the foot, and the entire strip is arranged around the periphery of the foot.

[0030] As a specific solution for pressure testing. Figure 2 A schematic diagram of the structure for collecting pressure data based on the self-capacitance of the internal electrodes is provided. One or more internal electrodes 300 are positioned in the inward direction of each protrusion 201, serving as self-capacitance electrodes. During measurement, the digital processing circuit outputs an excitation to each upper electrode, using itself as the receiver. Alternatively, considering that self-capacitance is a ground capacitance, and the distance between the foot and the ground is too close, the influence of the ground on self-capacitance is significant. To improve the sensitivity and signal-to-noise ratio of pressure detection, Figure 3 A schematic diagram of the structure for collecting the mutual capacitance of the internal electrodes to reflect pressure is provided. Each protrusion 201 has a first internal electrode 301 and a second internal electrode 302 arranged in the inward direction. The first internal electrode 301 and the second internal electrode 302 form a planar mutual capacitance for pressure detection. The outer electrode 200 is configured to be coupled to ground when sampling the capacitance of the internal electrodes 301 and 302. Alternatively, each protrusion 201 may have one or more internal electrodes 300, with the outer electrode 200 serving as a common electrode. The protrusion 201 and each corresponding internal electrode 300 form a mutual capacitance.

[0031] When the outer electrodes 200 of the side sensing unit are arranged vertically, at least two side sensing units can be set, and each side sensing unit is distributed around the foot to form a ring, ensuring detection capability in all directions.

[0032] As an improvement, a first wear-resistant insulating layer is provided on the inward side of the circuit board 100. This wear-resistant insulating layer provides isolation and protection. The first wear-resistant insulating layer is thick enough to isolate or reduce electric field penetration and reduce interference from the machine foot's own metal on the capacitance detection of the inner and outer electrodes. And / or, an active shielding layer is provided on the inward side of the circuit board 100 to shield the machine foot's own metal from interference with the electrodes. Furthermore, a second wear-resistant insulating layer 202 is provided on the outward side of the outer electrode 200 to protect the side conductive silicone.

[0033] In this embodiment, the sensing device includes a storage battery for powering the foot sensor; and / or includes a power interface for the power system of a pluggable external robot.

[0034] In this embodiment, the sensing device is not limited to being located inside the shoe; it can be located on the insole, the machine's foot fixing device, or even a sock as a consumable to provide capacitive sensing functionality.

[0035] Example 2

[0036] Example 2 is technically the same as Example 1, except that the directions of the inner and outer electrodes are reversed. In this case, the circuit board is on the outside, and the inner electrode is arranged on the inner side of the circuit board. A third electrode is additionally set on the outer side of the circuit board to detect the approach of an object, and pressure distribution detection is achieved in conjunction with the protrusion and the inner electrode. Specifically, Figure 4 A schematic diagram of the inverted foot side sensing device structure is provided, including a capacitance-to-digital conversion circuit, a switch array, a digital processing circuit, a circuit board 401, and at least one set of side sensing units laid on the side of the foot; each set of side sensing units includes at least one flexible inner electrode 402, and each inner electrode 402 forms a protrusion 403 on its outward side. The outer surface of the protrusion 403 is an elastic curved surface. At least one outer electrode 404 is disposed in the outward direction of each protrusion 403. An inner insulating layer with a thickness between 10 nanometers and 1 millimeter is provided between the protrusion 403 and the corresponding outer electrode 404. The outward projection of the protrusion 403 at least covers a portion of the area of ​​each corresponding outer electrode 404. The protrusion 403 is deformed under force. The indirect contact area between the variable and each corresponding external electrode 404 is changed; the external electrode 404 is formed on the inward side of the circuit board 400, and at least two third electrodes 405 arranged in a set direction are provided on the outward side of the circuit board 400. The at least two third electrodes 405 form mutual capacitance and / or self capacitance for detecting the approach of side obstacles; the capacitance-to-digital conversion circuit is coupled to each external electrode 404 respectively, and coupled to each third electrode 405 respectively through a switch array. The switch array serves as a time-division multiplexing channel for the third electrode 405 to be coupled to the capacitance-to-digital conversion circuit or ground; the digital processing circuit, used for logic processing and / or logic sequence control, is coupled to the capacitance-to-digital conversion circuit and the switch array respectively.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit the scope of protection of this utility model. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the essence and scope of the technical solutions of this utility model.

Claims

1. A foot side sensing device, characterized in that: It includes a capacitor-to-digital converter circuit, a switch array, a digital processing circuit, and at least one set of side sensing units laid on the side of the foot; Each set of side sensing units includes at least two flexible external electrodes arranged along a set direction. The at least two flexible external electrodes form mutual capacitance and / or self capacitance for detecting the approach of side obstacles. Each external electrode has a protrusion on its inward side. The outer surface of the protrusion is an elastic curved surface. Each protrusion has at least one internal electrode arranged in the inward direction. An inner insulating layer with a thickness between 10 nanometers and 1 millimeter is provided between the protrusion and the corresponding internal electrode. The inward projection of the protrusion covers at least a portion of the area of ​​each corresponding internal electrode. The indirect contact area of ​​the protrusion on each corresponding internal electrode is affected by the deformation of the external electrode due to external force. The capacitor-to-digital converter circuit is coupled to each internal electrode and coupled to each external electrode through a switch array. The switch array serves as a time-division multiplexing channel for the external electrodes to be coupled to the capacitor-to-digital converter circuit or ground. Digital processing circuitry, used for logic processing and / or logic sequence control, coupled with a capacitor-to-digital converter circuit and a switch array, respectively.

2. The foot side sensing device according to claim 1, characterized in that: The protrusions and / or inner electrodes are strip electrodes arranged or extending along the periphery of the foot.

3. The foot side sensing device according to claim 1, characterized in that: One or more internal electrodes are provided in the inward direction for each protrusion, and the internal electrodes serve as self-capacitance electrodes.

4. The foot side sensing device according to claim 1, characterized in that: Each protrusion is provided with a first inner electrode and a second inner electrode in the inward direction. The first inner electrode and the second inner electrode form a planar mutual capacitance for pressure detection. The external electrode is configured to be coupled to ground when sampling the internal electrode capacitance.

5. The foot side sensing device according to claim 1, characterized in that: Each protrusion is provided with one or more inner electrodes, and the outer electrode serves as a common electrode. The protrusion and each corresponding inner electrode form a mutual capacitance.

6. The foot side sensing device according to claim 1, characterized in that: The side sensing unit has at least two units, and each side sensing unit is distributed around the foot to form a ring.

7. The foot side sensing device according to claim 1, characterized in that: Includes a circuit board, with internal electrodes formed on the surface of the circuit board; A first wear-resistant insulating layer is provided on the inner side of the circuit board. The first wear-resistant insulating layer is thick enough to isolate or reduce electric field penetration. And / or, an active shielding layer is provided on the inward side of the circuit board.

8. The foot side sensing device according to claim 7, characterized in that: A second wear-resistant insulating layer is provided on the outward-facing side of the outer electrode.

9. The foot side sensing device according to claim 1, characterized in that: Includes a storage battery for powering the foot side sensor; And / or, including power input interfaces, for power systems of pluggable external robots.

10. A foot side sensing device, characterized in that: It includes a capacitor-to-digital converter circuit, a switch array, a digital processing circuit, a circuit board, and at least one set of side sensing units laid on the side of the foot; Each set of side sensing units includes at least one flexible inner electrode. Each inner electrode forms a protrusion on its outward side. The outer surface of the protrusion is an elastic curved surface. At least one outer electrode is provided in the outward direction of each protrusion. An inner insulating layer with a thickness between 10 nanometers and 1 millimeter is provided between the protrusion and the corresponding outer electrode. The outward projection of the protrusion covers at least a portion of the area of ​​each corresponding outer electrode. The protrusion deforms under force, changing the indirect contact area with each corresponding outer electrode. An external electrode is formed on the inward side of the circuit board, and at least two third electrodes are arranged in a set direction on the outward side of the circuit board. The at least two arranged third electrodes form mutual capacitance and / or self capacitance for detecting the approach of side obstacles. The capacitor-to-digital converter circuit is coupled to each external electrode and to each third electrode through a switch array. The switch array serves as a time-division multiplexing channel for the third electrode to be coupled to the capacitor-to-digital converter circuit or ground. Digital processing circuitry, used for logic processing and / or logic sequence control, coupled with a capacitor-to-digital converter circuit and a switch array, respectively.

11. An insole, characterized in that, Includes the foot side sensing device as described in any one of claims 1-10.

12. A shoe, characterized in that, Includes the foot side sensing device as described in any one of claims 1-10.

13. A type of sock, characterized in that, Includes the foot side sensing device as described in any one of claims 1-10.

14. A machine foot fixation device, characterized in that, Includes the foot side sensing device as described in any one of claims 1-10.

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