A data acquisition structure, sensor, and device for an array-type tactile sensor
By limiting the number and spacing of permanent magnets in an array-type tactile sensor, the problems of high development costs and low measurement accuracy caused by irregular robot contact structures are solved, enabling more efficient tactile data acquisition and wider applications.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- PASSINI PERCEPTION TECH (SHENZHEN) CO LTD
- Filing Date
- 2025-07-07
- Publication Date
- 2026-07-03
AI Technical Summary
Existing array-type tactile sensors require the separate development of permanent magnet arrangement structures due to the irregular contact structure of robots, which increases development costs and reduces measurement accuracy.
By employing an array of permanent magnets, and by limiting the number, spacing, and distance of the permanent magnets in a rectangular mapping diagram, specific threshold conditions are ensured for the permanent magnets in the x, y, and z directions, thus avoiding problems such as signal interference and incomplete coverage.
It improves the accuracy of tactile data acquisition and the versatility of its arrangement, reduces development costs, and increases development efficiency.
Smart Images
Figure CN224456030U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of force detection technology, and in particular to a data acquisition structure, sensor and device for an array-type tactile sensor. Background Technology
[0002] Compared to other types of tactile sensors, array-type tactile sensors based on magnetic effects (hereinafter referred to as "sensors") have advantages such as wide detection range, high accuracy, and strong stability. With the rapid development of intelligent robots, the important role of tactile sensors in robot intelligent control is becoming increasingly prominent.
[0003] Existing force / tactile sensors typically consist of a circuit layer (including a substrate layer and a sensing unit chip) and a data acquisition structure (including a deformation layer and permanent magnets). However, because the shapes of robot contact structures (such as hands) are often irregular, the sensor deformation layer also has an irregular structure. Therefore, a separate permanent magnet arrangement structure needs to be developed for each different deformation layer, increasing development costs and reducing development efficiency. In addition, it is often difficult to guarantee the required measurement accuracy of the sensor. Utility Model Content
[0004] The purpose of this application is to provide a data acquisition structure, sensor, and device for an array-type tactile sensor to improve the accuracy of tactile data acquisition.
[0005] In a first aspect, embodiments of this application provide a data acquisition structure for an array-type tactile sensor, including the following technical solution:
[0006] A data acquisition structure for an array-type tactile sensor includes: a deformation layer and an array of permanent magnets;
[0007] The array of permanent magnets is embedded in the deformation layer; wherein...
[0008] In the rectangular mapping diagram of the data acquisition structure, along the x-direction, the number of permanent magnets is 0.1-0.5 times (s1 / d1); along the y-direction, the number of permanent magnets is 0.1-0.5 times (s2 / d1).
[0009] In the rectangular mapping diagram, along the x-direction, the distance between the outermost permanent magnet and the corresponding edge of the deformation layer is not less than 3*d1; along the y-direction, the distance between the outermost permanent magnet and the corresponding edge of the deformation layer is not less than 3*d1.
[0010] Along the z-direction, the distance l3 between the permanent magnet and the corresponding upper surface of the deformed layer is no greater than 0.5*d1;
[0011] In the rectangular mapping diagram, 3mm ≤ the distance between adjacent permanent magnets in the x-direction ≤ 5mm; 3mm ≤ the distance between adjacent permanent magnets in the y-direction ≤ 5mm;
[0012] Wherein, s1 represents the width of the deformation layer in the rectangular mapping diagram; s2 represents the length of the deformation layer in the rectangular mapping diagram; s3 represents the thickness of the deformation layer; d1 represents the width of the permanent magnet; the x-direction corresponds to the width direction of the deformation layer in the rectangular mapping diagram; the y-direction corresponds to the length direction of the deformation layer in the rectangular mapping diagram; and the z-direction corresponds to the thickness direction of the deformation layer.
[0013] Furthermore, in one embodiment, the height of the permanent magnet along the thickness direction of the deformed layer satisfies the condition: 1 / 10*s3≤h1≤1 / 2*s3; where h1 represents the height of the permanent magnet.
[0014] Furthermore, in one embodiment, the width of the permanent magnet satisfies the condition: 1 / 20*s1≤d1≤1 / 10*s1.
[0015] Furthermore, in one embodiment, the central axis of the permanent magnet is arranged along the normal of the bottom surface of the deformation layer.
[0016] Furthermore, in one embodiment, the permanent magnet is a cylinder, a sphere, or a cube.
[0017] Secondly, embodiments of this application provide a tactile sensor, including: a data acquisition structure for an array-type tactile sensor as described in any of the above claims.
[0018] Thirdly, embodiments of this application provide a device with tactile function, the device including the tactile sensor described above; wherein, at least a portion of the surface of the device with tactile function is provided with the data acquisition structure of the array-type tactile sensor described above.
[0019] Furthermore, in one embodiment, the device is a robot.
[0020] Compared with the prior art, the embodiments of this application have the following main advantages:
[0021] This application embodiment limits the number and spacing of permanent magnets to meet certain threshold conditions, ensuring that the spacing between adjacent permanent magnets is appropriate. This reduces signal interference caused by excessively small spacing, which affects the detection effect, or excessive spacing, which fails to completely cover the detection area of the deformation layer. Furthermore, by limiting the threshold distance between the outermost permanent magnet and the edge of the deformation layer in the x and y directions of the rectangular mapping diagram, it reduces the possibility that the magnetic sensor cannot fully capture the displacement signal generated by the permanent magnet due to the outermost permanent magnet being too close to the edge of the deformation layer in that direction. Similarly, by limiting the threshold distance between the outermost permanent magnet and the edge of the deformation layer in the z direction, it reduces the impact of reduced displacement signal caused by the outermost permanent magnet being too far from the edge of the deformation layer in that direction. Through the coordinated efforts of these multiple aspects, the overall accuracy of tactile data acquisition can be improved.
[0022] In addition, by uniformly mapping any regular or irregular data acquisition structure into a regular rectangular mapping diagram and then limiting it in the x and y directions, it is convenient to use uniform parameters to limit the arrangement of permanent magnets in any regular or irregular deformation layer, thereby improving the versatility and efficiency of the arrangement. Attached Figure Description
[0023] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0024] Figure 1 This is a three-dimensional structural diagram of an embodiment of the array-type tactile sensor data acquisition structure of this application;
[0025] Figure 2 This is a three-dimensional structural schematic diagram of one embodiment of the permanent magnet of this application;
[0026] Figure 3 for Figure 1 A schematic diagram of the array-type tactile sensor data acquisition structure mapped to a rectangle;
[0027] Figure 4 for Figure 1 A front view schematic diagram of the array-type tactile sensor data acquisition structure;
[0028] Figure 5 This is a three-dimensional structural diagram of another embodiment of the array-type tactile sensor data acquisition structure of this application;
[0029] Figure 6 for Figure 5A schematic diagram of the array-type tactile sensor data acquisition structure mapped to a rectangle;
[0030] Figure 7 for Figure 5 A front view schematic diagram of the array-type tactile sensor data acquisition structure.
[0031] Figure reference numerals: 100 Data acquisition structure; 110 Deformation layer; 120 Permanent magnet; 121 Outermost permanent magnet. Detailed Implementation
[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.
[0033] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0034] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
[0035] like Figure 1 As shown, Figure 1 This is a schematic diagram of one embodiment of the data acquisition structure of an array-type tactile sensor of this application.
[0036] This application provides a data acquisition structure for an array-type tactile sensor. The data acquisition structure 100 includes a deformation layer 110 and an array of permanent magnets 120.
[0037] Among them, the array-type tactile sensor is composed of multiple sensing units arranged according to a preset layout structure, which can realize the perception of force distribution information at multiple points.
[0038] Tactile sensors can measure multidimensional contact force information, surface deformation information, temperature information, texture information, etc. The contact surfaces of tactile sensors and objects are typically flexible and have good resilience. The implementation of a tactile sensor includes a flexible detection surface, sensing circuitry, computing devices, and contact force information analysis algorithms.
[0039] Specifically, the deformation layer can adopt any adaptable shape as needed, such as: cube, frustum (e.g.) Figure 1 (as shown) or irregular shapes (such as) Figure 5 (As shown).
[0040] Among them, the deformation layer refers to the structural layer that can deform under the action of external force, such as: 1. Plastic flexible layer with good resilience: such as PEEK, PPS; 2. Antimagnetic metal: such as aluminum, copper; 3. Antimagnetic alloy: such as copper-tin alloy, etc.
[0041] The deformation layer can be made of various existing or future-developed materials with strong resilience, such as silicone rubber, styrene-butadiene rubber, cis-butadiene rubber, isoprene rubber, etc.
[0042] Specifically, permanent magnets can take various shapes as needed, such as cylinders, spheres, cubes, and irregular shapes. In one embodiment, cylinders, spheres, or cubes are preferred to make it easier to find the N / S ratio during assembly and prevent misalignment of the permanent magnet. For ease of understanding, this application embodiment mainly uses a cylinder as an example for detailed description.
[0043] Permanent magnets can be embedded in the deformation layer using various existing or future methods, such as casting, pressing, injection, and bonding.
[0044] In the rectangular mapping diagram of the data acquisition structure, along the x-direction, the number of permanent magnets 120 is 0.1-0.5 times that of (s1 / d1); along the y-direction, the number of permanent magnets is 0.1-0.5 times that of (s2 / d1).
[0045] Where s1 represents the width of the deformation layer in the rectangular mapping diagram of the data acquisition structure; s2 represents the length of the deformation layer in the rectangular mapping diagram; h1 represents the height of the permanent magnet (e.g., ...). Figure 2 (as shown); d1 represents the width of the permanent magnet; the x-direction corresponds to the direction of the width of the deformation layer in the rectangular mapping diagram; the y-direction corresponds to the direction of the length of the deformation layer in the rectangular mapping diagram; and the z-direction corresponds to the direction of the thickness s3 of the deformation layer.
[0046] It should be noted that any geometric shape can be mapped to a rectangular map through coordinate system transformation. For example, for a geometric shape like... Figure 1 or Figure 5For a non-regular cubic data acquisition structure, s1 represents the width of the deformation layer in the rectangular mapping diagram of the irregular data acquisition structure (e.g., ...). Figure 3 (as shown); s2 represents the length of the deformation layer in the rectangular mapping diagram of the irregular data acquisition structure (e.g., ...). Figure 6 (As shown).
[0047] This application embodiment sets the threshold number of permanent magnets to ensure that the signals of adjacent permanent magnets do not interfere with the detection due to an excessive number of permanent magnets, while the detection area of the deformation layer is not completely covered due to an insufficient number of permanent magnets.
[0048] like Figure 3 or Figure 6 As shown, in the rectangular mapping diagram, along the x-direction, the distance I2 between the outermost permanent magnet 121 and the edge of the deformation layer 110 is not less than 3*d1; along the y-direction, the distance I1 between the outermost permanent magnet 121 and the edge of the deformation layer 110 is not less than 3*d1.
[0049] like Figure 4 As shown in Figure 7, the distance s4 between the permanent magnet 120 and the upper surface of the deformation layer 110 along the z-direction should not be greater than 0.5*d1.
[0050] It should be noted that, as Figure 6 As shown, since the deformation layer may be irregular in shape, the distance to the edge of the deformation layer or the distance to the upper surface corresponding to each permanent magnet located at the outermost edge is different, therefore it needs to be calculated separately. For example: Figure 6 As shown, the distances between permanent magnet T1 and permanent magnet T2 and the upper surface of the deformation layer (i.e., the perpendicular segments from the permanent magnet to the upper surface of the deformation layer) are different and need to be calculated separately.
[0051] In this embodiment of the application, a threshold distance is defined in the x and y directions of the rectangular mapping diagram between the outermost permanent magnet and the edge of the deformation layer. This threshold distance ensures that the outermost permanent magnet in this direction is not too close to the edge of the deformation layer, which would prevent the magnetic sensor from being unable to fully capture the displacement signal generated by the permanent magnet. Similarly, in the z direction, a threshold distance is defined in the x and y directions between the outermost permanent magnet and the edge of the deformation layer. This threshold distance ensures that the outermost magnet in this direction is not too far from the edge of the deformation layer, which would reduce the displacement generated by the permanent magnet and weaken the displacement signal it generates.
[0052] In the rectangular mapping diagram, 3mm ≤ the distance I4 between adjacent permanent magnets in the x-direction ≤ 5mm; 3mm ≤ the distance I3 between adjacent permanent magnets in the y-direction ≤ 5mm.
[0053] In this embodiment, by setting permanent magnets that meet the above-mentioned magnetic spacing, if the spacing between adjacent permanent magnets is too small, the signals of adjacent permanent magnets will interfere and affect the detection; if the spacing between adjacent permanent magnets is too large, the detection area of the deformation layer cannot be completely covered.
[0054] like Figure 2 As shown, for example, taking a cubic permanent magnet, h1 is the height of the cube; d1 is the width of the cube along the x-direction; in addition, taking a cylindrical permanent magnet as an example (figure omitted), h1 is the height of the cylinder; d1 is the diameter of the circular cross-section of the cylinder.
[0055] This application embodiment defines the number of permanent magnets in the rectangular mapping diagram as 0.1-0.5 times (s1 / d1) along the x-direction and 0.1-0.5 times (s2 / d1) along the y-direction; the distance between adjacent permanent magnets in the x-direction is 3mm ≤ 5mm; and the distance between adjacent permanent magnets in the y-direction is 3mm ≤ 5mm. By setting the permanent magnets to meet the above quantity and spacing, if the distance between adjacent permanent magnets is too small, interference between adjacent permanent magnet signals will occur, affecting detection; if the distance between adjacent permanent magnets is too large, the detection area of the deformation layer cannot be completely covered. This is achieved by ensuring that the distance between the outermost permanent magnet in the x-direction and the corresponding edge of the deformation layer is not less than 3*d1; and the distance between the outermost permanent magnet in the y-direction is 3mm ≤ 5mm. The distance between the permanent magnet and the corresponding edge of the deformation layer is not less than 3*d1; along the z direction, the distance l3 between the permanent magnet and the corresponding upper surface of the deformation layer should not be greater than 0.5*d1. By limiting the threshold distance between the outermost permanent magnet and the edge of the deformation layer in the x and y directions, this threshold distance ensures that the outermost permanent magnet in this direction will not be too close to the edge of the deformation layer, which would prevent the magnetic sensor from failing to fully capture the displacement signal generated by the permanent magnet; in the z direction, by limiting the threshold distance between the outermost permanent magnet and the edge of the deformation layer in the x and y directions, this threshold distance ensures that the outermost magnet in this direction will not be too far from the edge of the deformation layer, which would reduce the displacement generated by the permanent magnet and weaken the displacement signal generated by it.
[0056] In addition, by uniformly mapping any regular or irregular data acquisition structure into a regular rectangular mapping diagram and then defining it, it is convenient to use uniform parameters to define the arrangement of permanent magnets in any regular or irregular deformation layer, thereby improving the versatility and efficiency of the arrangement.
[0057] In one embodiment, the height of the permanent magnet along the thickness direction of the deformation layer satisfies the condition: 1 / 10*s3≤h1≤1 / 2*s3.
[0058] This application embodiment limits the height of the permanent magnet to prevent it from being too tall and easily coming into contact with the magnetic sensor at the bottom during displacement, thus causing measurement failure; conversely, if the height of the permanent magnet is too small, it may twist, leading to measurement failure.
[0059] In one implementation, the width of the permanent magnet satisfies the condition: 1 / 20*s1≤d1≤1 / 10*s1.
[0060] In this embodiment, by limiting the width of the permanent magnet in the rectangular mapping diagram, the signal of the adjacent permanent magnets will not interfere with each other due to the small distance between them, thus affecting the detection; if the distance between the adjacent permanent magnets is too large, the detection area of the deformation layer cannot be completely covered.
[0061] In one embodiment, the central axis of the permanent magnet is positioned along the normal of the bottom surface of the deformation layer.
[0062] In this embodiment, by setting the axis of the permanent magnet along the normal of the bottom surface of the deformation layer, since the magnetic sensor is located on a circuit board below the bottom surface of the deformation layer, the permanent magnet and the magnetic sensor are initially in a perpendicular state. This allows for better differentiation of the magnetic field changes in the x, y, and z directions caused by displacement, ensuring measurement accuracy.
[0063] It should be noted that, in addition to the above-mentioned configuration, permanent magnets can also be configured in other ways as needed, and all of these fall within the scope of protection of this application.
[0064] Based on the data acquisition structure of the array-type tactile sensor described in the above embodiments, this application also provides a tactile sensor (figures omitted). This tactile sensor includes the data acquisition structure and circuit layer described in the above embodiments.
[0065] In one embodiment, the circuit layer may include a substrate layer and an array of sensor unit chips. The sensor unit chips are fixed to the substrate layer for positioning, and each sensor unit chip corresponds to a permanent magnet, forming a sensor unit. When the deformation layer comes into contact with the surface of an object, deformation occurs, causing the permanent magnet embedded within the deformation layer to displace. This allows the sensor unit chip corresponding to the permanent magnet to detect the change in magnetic field, and based on a preset calibration result, obtain the sensing information corresponding to that location.
[0066] The tactile sensor described in this application embodiment can be applied to various scenarios, such as the hand of a humanoid robot.
[0067] Based on the tactile sensor described in the above embodiments, this application also provides a device with tactile functionality, such as a robot (figures omitted). The robot includes a robot body and the tactile sensor described in the above embodiments. The data acquisition structure of the array-type tactile sensor can be placed on any part of the robot's surface where tactile detection is required, such as the fingertips, arms, and calves; or the surface of the torso, chest, and abdomen.
[0068] It should be noted that the fixed connection described in the embodiments of this application includes, but is not limited to: prefabricated as a whole; or fixed connection through intermediate parts (such as screws, pins, adhesives).
[0069] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.
Claims
1. A data acquisition structure for an arrayed tactile sensor, characterized by, include: Deformation layer and arrayed permanent magnets; The array of permanent magnets is embedded in the deformation layer; wherein... In the rectangular mapping diagram of the data acquisition structure, along the x-direction, the number of permanent magnets is 0.1-0.5 times (s1 / d1); along the y-direction, the number of permanent magnets is 0.1-0.5 times (s2 / d1). In the rectangular mapping diagram, along the x-direction, the distance between the outermost permanent magnet and the corresponding edge of the deformation layer is not less than 3*d1; along the y-direction, the distance between the outermost permanent magnet and the corresponding edge of the deformation layer is not less than 3*d1. Along the z-direction, the distance l3 between the permanent magnet and the corresponding upper surface of the deformed layer is no greater than 0.5*d1; In the rectangular mapping diagram, 3mm ≤ the distance between adjacent permanent magnets in the x-direction ≤ 5mm; 3mm ≤ the distance between adjacent permanent magnets in the y-direction ≤ 5mm; Wherein, s1 represents the width of the deformation layer in the rectangular mapping diagram; s2 represents the length of the deformation layer in the rectangular mapping diagram; s3 represents the thickness of the deformation layer; d1 represents the width of the permanent magnet; the x-direction corresponds to the width direction of the deformation layer in the rectangular mapping diagram; the y-direction corresponds to the length direction of the deformation layer in the rectangular mapping diagram; and the z-direction corresponds to the thickness direction of the deformation layer.
2. The data acquisition structure of an arrayed tactile sensor according to claim 1, wherein, The height of the permanent magnet along the thickness direction of the deformation layer satisfies the condition: 1 / 10*s3≤h1≤1 / 2*s3; where h1 represents the height of the permanent magnet.
3. The data acquisition structure of an arrayed tactile sensor according to claim 1 or 2, wherein, The width of the permanent magnet satisfies the condition: 1 / 20*s1≤d1≤1 / 10*s1.
4. The data acquisition structure of an array tactile sensor according to claim 1 or 2, wherein, The central axis of the permanent magnet is positioned along the normal of the bottom surface of the deformation layer.
5. The data acquisition structure of an array-type tactile sensor according to claim 1 or 2, characterized in that, The permanent magnet is a cylinder, a sphere, or a cube.
6. A tactile sensor characterized by, include: A data acquisition structure for an array-type tactile sensor according to any one of claims 1 to 5.
7. A device having haptic functionality, characterized in that The device includes the tactile sensor of claim 6; wherein at least a portion of the surface of the tactile device is provided with the data acquisition structure of the array-type tactile sensor of claim 6.
8. The device with tactile function according to claim 7, characterized in that, The device is a robot.