A pressure detection module, a bionic finger device and a smart device

Abstract

This application provides a pressure detection module, a bionic finger device, and a smart device. The pressure detection device includes a substrate, a capacitance detection module, a resistance detection module, and a pressure detection module. The capacitance detection module includes a detection capacitor, and the resistance detection module includes a detection resistor. The capacitance detection module outputs a first electrical signal under pressure, and the resistance detection module outputs a second electrical signal under pressure. The pressure detection module is electrically connected to both the capacitance detection module and the resistance detection module. Based on the first and second electrical signals, the pressure detection module outputs a pressure signal characterizing the pressure applied to the pressure detection module. The pressure detection module described in this application avoids the limitation of detection scenarios inherent in single pressure detection methods, broadens the detection scenarios of the pressure detection module, and improves the accuracy of pressure detection.

Description

Technical Field

[0001] This application belongs to the field of artificial intelligence equipment technology, specifically relating to a pressure detection module, a bionic finger device, and a smart device. Background Technology

[0002] With the development of artificial intelligence technology, the functions of robots and other intelligent devices are becoming increasingly powerful. Correspondingly, the tasks that intelligent devices can perform are becoming more sophisticated. For example, intelligent devices may be used for assembly operations and handling fragile items, or to assist humans in various basic or complex tasks in different environments (e.g., agriculture, home, aid work). In specific applications, during the performance of sophisticated tasks, intelligent devices often need to possess a certain level of tactile perception to quickly adapt to different environments. Tactile perception is often achieved by detecting tactile pressure. Therefore, there is an urgent need to add a pressure detection device to intelligent devices that can accurately detect tactile pressure. Utility Model Content

[0003] This application aims to provide a pressure detection module, a bionic finger device, and a smart device to solve the problem of existing smart devices needing to detect tactile pressure.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows:

[0005] In a first aspect, this application discloses a pressure detection module, the pressure detection device comprising: a substrate, a capacitance detection module, a resistance detection module, and a pressure detection module;

[0006] The capacitance detection module includes a detection capacitor, and the resistance detection module includes a detection resistor. Both the capacitance detection module and the resistance detection module are disposed on the substrate. The capacitance detection module is used to output a first electrical signal when under pressure, and the first electrical signal is used to characterize the pressure of the detection capacitor. The resistance detection module is used to output a second electrical signal when under pressure, and the second electrical signal is used to characterize the pressure of the detection resistor.

[0007] The pressure detection module is electrically connected to the capacitance detection module and the resistance detection module respectively. The pressure detection module is used to output a pressure signal that characterizes the pressure on the pressure detection module based on the first electrical signal and the second electrical signal.

[0008] Optionally, the capacitance detection module and the resistance detection module are insulated from each other.

[0009] Optionally, both the detection capacitor and the detection resistor are connected to the substrate, and the detection capacitor and the detection resistor are insulated from each other.

[0010] Optionally, the detection capacitor and the detection resistor are disposed separately along the direction of the first plane, the first plane is parallel to the plane of the substrate, and there is a gap between the detection capacitor and the detection resistor;

[0011] The pressure detection module further includes a first insulating layer, which fills the gap to achieve insulation between the detection capacitor and the detection resistor.

[0012] Optionally, the detection capacitor includes a positive plate and a negative plate spaced apart along a direction perpendicular to the substrate; the detection resistor includes a resistor body and a positive terminal and a negative terminal disposed at both ends of the resistor body, wherein the positive terminal, the resistor body, and the negative terminal are arranged sequentially along a direction perpendicular to the substrate; wherein,

[0013] The first insulating layer includes a first surface and a second surface that are disposed opposite to each other. One end of the positive electrode plate and the negative electrode plate are respectively connected to the first surface, and one end of the positive electrode, the negative electrode and the resistor body are respectively connected to the second surface.

[0014] Optionally, the substrate includes a first substrate and a second substrate spaced apart along a direction perpendicular to the substrate; one of the positive electrode plate and the negative electrode plate is connected to the first substrate, and the other of the positive electrode plate and the negative electrode plate is connected to the second substrate.

[0015] One of the positive electrode and the negative electrode is connected to the first substrate, and the other of the positive electrode and the negative electrode is connected to the second substrate.

[0016] Optionally, the detection capacitor and the detection resistor are stacked in a direction perpendicular to the substrate, and at least one of the detection capacitor and the detection resistor is connected to the substrate.

[0017] Optionally, the detection capacitor includes a positive plate and a negative plate spaced apart along a direction perpendicular to the substrate, and the detection resistor is disposed between the positive plate and the negative plate;

[0018] The pressure detection module further includes a second insulating layer and a third insulating layer. The second insulating layer is disposed between the detection resistor and the positive plate to achieve insulation between the detection resistor and the positive plate. The third insulating layer is disposed between the detection resistor and the negative plate to achieve insulation between the detection resistor and the negative plate.

[0019] Optionally, the detection resistor includes a resistor body and a positive and a negative electrode disposed at both ends of the resistor body, wherein the positive electrode, the resistor body, and the negative electrode are arranged sequentially along a direction perpendicular to the substrate; wherein,

[0020] The second insulating layer is disposed between one of the positive electrode and the negative electrode and the positive electrode plate, and the third insulating layer is disposed between the other of the positive electrode and the negative electrode plate.

[0021] Optionally, the substrate includes a first substrate and a second substrate spaced apart along a direction perpendicular to the substrate, one of the positive electrode plate and the negative electrode plate being connected to the first substrate, and the other of the positive electrode plate and the negative electrode plate being connected to the second substrate.

[0022] Optionally, of the positive electrode plate and the negative electrode plate, the one located at the top is the target electrode plate, and at least part of the target electrode plate is arc-shaped.

[0023] Optionally, in the positive electrode plate and the negative electrode plate, one end of the target electrode plate is connected to the substrate, and the electrode plates other than the target electrode plate are disposed on the substrate.

[0024] Optionally, the substrate is a circuit board, and the capacitance detection module, the resistance detection module, and the pressure detection module are electrically connected to the substrate.

[0025] Secondly, this application also discloses a bionic finger device, which includes the pressure detection module described in any of the above claims.

[0026] Thirdly, this application also discloses an intelligent device, which includes the aforementioned bionic finger device.

[0027] In this embodiment, by simultaneously detecting the applied pressure using both a capacitance detection module and a resistance detection module, the limitation of detection scenarios inherent in single pressure detection methods can be avoided, thus broadening the detection scope of the pressure detection module. Furthermore, by combining the pressure detection results from both the capacitance and resistance detection modules, the accuracy of pressure detection can be further improved.

[0028] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0029] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0030] Figure 1 This is a schematic diagram of the structure of a pressure detection module according to an embodiment of this application;

[0031] Figure 2This is a schematic diagram of the structure of a capacitance detection module according to an embodiment of this application;

[0032] Figure 3 This is a schematic diagram of the structure of a resistance detection module according to an embodiment of this application;

[0033] Figure 4 This is a schematic diagram of another pressure detection module described in an embodiment of this application;

[0034] Figure 5 This is a schematic diagram of another pressure detection module described in an embodiment of this application;

[0035] Reference numerals: 10 - substrate, 101 - first substrate, 102 - second substrate, 11 - capacitance detection module, 110 - detection capacitor, 1101 - positive plate, 1102 - negative plate, 111 - first switch, 112 - first resistor, 113 - first operational amplifier, 1131 - first input terminal, 1132 - second input terminal, 1133 - first output terminal, 114 - first correlated dual sampling circuit, 115 - first analog-to-digital conversion circuit, 116 - equivalent circuit Capacitor, 12 - Resistance detection module, 120 - Detection resistor, 1201 - Resistor body, 1202 - Positive terminal, 1203 - Negative terminal, 121 - Second switch, 122 - Second operational amplifier, 1221 - Third input terminal, 1222 - Fourth input terminal, 1223 - Second output terminal, 123 - Second correlated dual sampling circuit, 124 - Second analog-to-digital conversion circuit, 125 - Equivalent resistance, 13 - First insulating layer, 14 - Second insulating layer, 15 - Third insulating layer. Detailed Implementation

[0036] The embodiments of this utility model will now be described in detail. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0037] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0038] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0039] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0040] This application provides a pressure detection module that can be used in devices requiring pressure detection, such as bionic finger devices and touch screens. Specifically, the pressure detection module can be used to directly contact a target object to detect the pressure exerted by the target object on the pressure detection module.

[0041] Reference Figure 1 The diagram shows a structural schematic of a pressure detection module according to an embodiment of this application, as shown below. Figure 1 As shown, the pressure detection module specifically includes: a substrate 10, a capacitance detection module 11, a resistance detection module 12, and a pressure detection module. The capacitance detection module 11 specifically includes a detection capacitor 110, and the resistance detection module 12 specifically includes a detection resistor 120. Both the detection capacitor 110 and the detection resistor 120 are disposed on the substrate 10. The capacitance detection module 11 can output a first electrical signal under pressure, which can be used to characterize the pressure on the detection capacitor 110. The resistance detection module 12 can output a second electrical signal under pressure, which can be used to characterize the pressure on the detection resistor 120. The pressure detection module is electrically connected to the capacitance detection module 11 and the resistance detection module 12, respectively. The pressure detection module can output a pressure signal characterizing the pressure on the pressure detection module based on the first electrical signal and the second electrical signal.

[0042] In this embodiment, by simultaneously detecting the pressure using both the capacitance detection module 11 and the resistance detection module 12, the limitation of detection scenarios inherent in single pressure detection methods can be avoided, thus broadening the detection scope of the pressure detection module. Furthermore, by combining the pressure detection results from both the capacitance detection module 11 and the resistance detection module 12, the accuracy of pressure detection can be further improved.

[0043] In specific applications, the substrate 10 mainly serves to support the capacitance detection module 11, the resistance detection module 12, and the pressure detection module. The substrate 10 can be made of materials with a certain strength, such as plastic or metal, to support the capacitance detection module 11, the resistance detection module 12, and the pressure detection module.

[0044] Optionally, the substrate 10 can be a circuit board, and the capacitance detection module 11, resistance detection module 12, and pressure detection module are electrically connected to the substrate 10. Specifically, the circuit board can be a printed circuit board, which facilitates the integration of the pressure detection module into the circuit board and the electrical connection of the capacitance detection module 11 and resistance detection module 12 onto the circuit board, thereby improving the integration of the pressure detection module and reducing its size. Moreover, since the printed circuit board has a certain strength, it can reliably support the capacitance detection module 11, resistance detection module 12, and pressure detection module.

[0045] It should be noted that, in specific applications, the substrate 10 can also be a flexible circuit board, etc. The embodiments of this application do not specifically limit the specific type of the substrate 10.

[0046] Reference Figure 2 The diagram shows a structural schematic of a capacitance detection module according to an embodiment of this application, as shown below. Figure 2 As shown, the capacitance detection module 11 may specifically include: a detection capacitor 110, a first switch 111, a first resistor 112, a first operational amplifier 113, a first correlated dual sampling circuit 114, and a first analog-to-digital converter circuit 115; wherein, the first operational amplifier 113 has a first input terminal 1131, a second input terminal 1132, and a first output terminal 1133, wherein the first input terminal 1131 is connected to one end of the detection capacitor 110, and the first output terminal 1133 is connected to the other end of the detection capacitor 110; the first switch 111 and the first resistor 112 are connected in parallel with the detection capacitor 110; the first correlated dual sampling circuit 114 is connected between the first output terminal 1133 and the first analog-to-digital converter circuit 115, and the output terminal of the first analog-to-digital converter circuit 115 can be used to output the first electrical signal. Figure 2As shown, the first input terminal 1131 can be connected to one end of the equivalent capacitor 116, and the other end of the equivalent capacitor 116 can be grounded or connected to a fixed voltage.

[0047] Specifically, when the first switch 111 is closed, the charge on the detection capacitor 110 is released. When the detection capacitor 110 is pressed, its capacitance changes. Due to the virtual short effect of the first operational amplifier 113 (i.e., the voltage difference between the first input terminal 1131 and the second input terminal 1132 approaches zero), the charge of the equivalent capacitor 116 can be transferred to the detection capacitor 110, thereby causing a change in the voltage value output from the first output terminal 1133 of the first operational amplifier 113. The voltage value output from the first output terminal 1133 is sampled by the first correlated dual sampling circuit 114 and then converted into the first electrical signal by the first analog-to-digital converter circuit 115. The first electrical signal can be used to characterize the pressure applied to the detection capacitor 110.

[0048] In this embodiment, the input terminal of the pressure detection module can be connected to the output terminal of the first analog-to-digital converter 115 to receive the first electrical signal output by the first analog-to-digital converter 115, determine the pressure applied to the pressure detection module based on the first electrical signal, and output a pressure signal that can characterize the pressure. The pressure signal can be a voltage signal, a current signal, etc., and this embodiment does not specifically limit the type of pressure signal.

[0049] It should be noted that in specific applications, the determination of the pressure signal based on the first electrical signal can be done by referring to existing capacitive pressure detectors, and this application embodiment does not impose any specific limitations.

[0050] Specifically, Figure 2 The capacitance detection module 11 shown can be integrated into a high-precision sensor. Figure 2 The components shown can be packaged together into an integrated capacitance detection module 11, which is more conducive to the detection of pressure changes.

[0051] Reference Figure 3 The diagram shows a structural schematic of a resistance detection module according to an embodiment of this application, as shown below. Figure 3As shown, the resistance detection module 12 may specifically include: a detection resistor 120, a second switch 121, a second operational amplifier 122, a second correlated dual sampling circuit 123, and a second analog-to-digital converter circuit 124; wherein, the second operational amplifier 122 has a third input terminal 1221, a fourth input terminal 1222, and a second output terminal 1223, wherein the third input terminal 1221 is connected to one end of the detection resistor 120, the second output terminal 1223 is connected to the other end of the detection resistor 120, the second switch 121 is connected in parallel with the detection resistor 120, the second correlated dual sampling circuit 123 is connected between the second output terminal 1223 and the second analog-to-digital converter circuit 124, and the output terminal of the second analog-to-digital converter circuit 124 can be used to output the second electrical signal. Figure 2 As shown, the third input terminal 1221 can be connected to one end of the equivalent resistor 125, and the other end of the equivalent resistor 125 can be grounded or connected to a fixed voltage.

[0052] Specifically, when the second switch 121 is closed, it can be reset. At this time, the second correlated dual-sampling circuit 123 can be reset along with the second switch 121, releasing noise from the circuit. Due to the virtual short effect of the first operational amplifier 113 (i.e., the voltage difference between the third input terminal 1221 and the fourth input terminal 1222 approaches zero), the change in the resistance of the equivalent resistor 125 will cause a change in current. The current output from the equivalent resistor 125 will not be input to the second operational amplifier 122 from the third input terminal 1221; instead, it will cause a change in the output voltage of the second output terminal 1223 via the detection resistor 120. When the detection resistor 120 is under voltage, its resistance value will change, and this change will cause a corresponding change in the output voltage of the second output terminal 1223. The voltage change output by the second output terminal 1223 is sampled by the second related dual sampling circuit 123 and then converted into the second electrical signal by the second analog-to-digital conversion circuit 124. The second electrical signal can be used to characterize the pressure on the detection resistor 120.

[0053] In this embodiment, the input terminal of the pressure detection module can be connected to the output terminal of the second analog-to-digital converter circuit 124 to receive the second electrical signal output by the second analog-to-digital converter circuit 124, determine the pressure applied to the pressure detection module based on the second electrical signal, and output a pressure signal that can characterize the pressure. The pressure signal can be a voltage signal, a current signal, etc., and this embodiment does not specifically limit the type of pressure signal.

[0054] It should be noted that in specific applications, the pressure signal can be determined based on the second electrical signal by referring to existing resistive pressure detectors, and this application embodiment does not make specific limitations here.

[0055] Specifically, Figure 3 The resistance detection module 12 shown can be integrated into a high-precision sensor. Figure 3 The components shown can be packaged together into an integrated resistance detection module 12, which is more conducive to the detection of pressure changes.

[0056] In this embodiment, when the capacitance detection module 11 is subjected to pressure, the capacitance change caused by the deformation of the detection capacitor 110 is relatively small, placing high demands on the capacitance detection module 11. While the resistance detection module 12 easily detects changes in resistance under pressure, the resistance change of the detection resistor 120 is easily affected by temperature. In the pressure detection module described in this embodiment, because both the capacitance detection module 11 and the resistance detection module 12 are simultaneously provided, the pressure detection module can simultaneously collect changes in both the detection capacitor 110 and the detection resistor 120. This results in a larger signal, more accurate detection, and applicability to pressure detection under different temperature environments and pressure scenarios.

[0057] Optionally, the capacitance detection module 11 and the resistance detection module 12 are insulated from each other to avoid mutual interference that could affect the accuracy of pressure detection. In specific applications, by isolating the capacitance detection module 11 and the resistance detection module 12, they can each perform pressure detection independently, resulting in higher detection accuracy.

[0058] In some optional embodiments of this application, both the detection capacitor 110 and the detection resistor 120 are connected to the substrate 10, so that the substrate 10 provides reliable support for the detection capacitor 110 and the detection resistor 120. Furthermore, the detection capacitor 110 and the detection resistor 120 are insulated from each other to avoid mutual interference during pressure detection, thereby improving the accuracy of pressure detection by the detection capacitor 110 and the detection resistor 120.

[0059] In practical applications, since the core component for pressure detection in the capacitance detection module 11 is the detection capacitor 110, and the core component for pressure detection in the resistance detection module 12 is the detection resistor 120, insulating these two core components can further improve the insulation effect between the capacitance detection module 11 and the resistance detection module 12, thereby helping to further improve the pressure detection accuracy of the capacitance detection module 11 and the resistance detection module 12.

[0060] Reference Figure 4 This shows a schematic diagram of another pressure detection module according to an embodiment of this application, such as... Figure 4As shown, the detection capacitor 110 and the detection resistor 120 are separately arranged along the direction of the first plane, which is parallel to the plane of the substrate 10. There is a gap between the detection capacitor 110 and the detection resistor 120. The pressure detection module may also include a first insulating layer 13, which fills the gap to achieve insulation between the detection capacitor 110 and the detection resistor 120.

[0061] In specific applications, since the gap between the detection capacitor 110 and the detection resistor 120 is filled by the first insulating layer 13, the first insulating layer 13 can achieve insulation between the detection capacitor 110 and the detection resistor 120, thus preventing them from affecting each other. Figure 4 In the pressure detection module shown, by separating the detection capacitor 110 and the detection resistor 120 along the first plane, the overall height of the pressure detection module in the direction perpendicular to the substrate 10 can be reduced, which is beneficial for the installation of the pressure detection module in height-restricted scenarios.

[0062] For example, the material of the first insulating layer 13 can be insulating foam, insulating silicone or insulating fabric, etc. The embodiments of this application do not specifically limit the material of the first insulating layer 13.

[0063] like Figure 4 As shown, the detection capacitor 110 may specifically include a positive electrode plate 1101 and a negative electrode plate 1102 spaced apart along a direction perpendicular to the substrate 10; the detection resistor 120 may include a resistor body 1201 and a positive electrode 1202 and a negative electrode 1203 disposed at both ends of the resistor body 1201, with the positive electrode 1202, resistor body 1201, and negative electrode 1203 arranged sequentially along a direction perpendicular to the substrate 10; wherein, the first insulating layer 13 may include a first surface and a second surface disposed opposite to each other, one end of the positive electrode plate 1101 and the negative electrode plate 1102 respectively connected to the first surface, and one end of the positive electrode 1202, the negative electrode 1203, and the resistor body 1201 respectively connected to the second surface. In this way, the first insulating layer 13 can achieve insulation between the detection capacitor 110 and the detection resistor 120.

[0064] In specific applications, the resistor body 1201 can be made of piezoresistive material. During fabrication... Figure 4 In the process of assembling the pressure detection module shown, the capacitance detection module 11 and the resistance detection module 12 can be processed separately. When connecting the capacitance detection module 11 and the resistance detection module 12 to the substrate 10, a first insulating layer 13 for insulation can be set between the capacitance detection module 11 and the resistance detection module 12. The processing technology is simple and the layout of the capacitance detection module 11 and the resistance detection module 12 is relatively flexible.

[0065] like Figure 4As shown, the substrate 10 may include a first substrate 101 and a second substrate 102 disposed at intervals along a direction perpendicular to the substrate 10; one of the positive electrode plate 1101 and the negative electrode plate 1102 is connected to the first substrate 101, and the other of the positive electrode plate 1101 and the negative electrode plate 1102 is connected to the second substrate 102; one of the positive electrode 1202 and the negative electrode 1203 is connected to the first substrate 101, and the other of the positive electrode 1202 and the negative electrode 1203 is connected to the second substrate 102.

[0066] In specific applications, by dividing the substrate 10 into a first substrate 101 and a second substrate 102 arranged perpendicularly to the substrate 10, not only can the first substrate 101 and the second substrate 102 support the detection capacitor 110 and the detection resistor 120 from the top and bottom respectively, improving the support reliability of the first substrate 101 and the second substrate 102 for the detection capacitor 110 and the detection resistor 120; moreover, due to the positive electrode plate 1101 and the negative electrode plate 1102 in the detection capacitor 110, the positive electrode plate 1102 in the detection resistor 120... The positive electrode 1101 and the negative electrode 1202 are spaced apart along a direction perpendicular to the substrate 10. When the first substrate 101 and the second substrate 102 are also spaced apart accordingly, the distance between the positive electrode 1101, the negative electrode 1102, the positive electrode 1202 and the negative electrode 1203 and the first substrate 101 and the second substrate 102 is also relatively short, which facilitates the operation of connecting the positive electrode 1101, the negative electrode 1102, the positive electrode 1202 and the negative electrode 1203 to the first substrate 101 and / or the second substrate 102.

[0067] Reference Figure 5 The diagram shows a structural schematic of another pressure detection module according to an embodiment of this application, as follows. Figure 1 , Figure 5 As shown, the detection capacitor 110 and the detection resistor 120 are stacked in a direction perpendicular to the substrate 10, and at least one of the detection capacitor 110 and the detection resistor 120 is connected to the substrate 10.

[0068] In practical applications, by stacking the detection capacitor 110 and the detection resistor 120 along a direction perpendicular to the substrate 10, the area occupied by the detection capacitor 110 and the detection resistor 120 on the substrate 10 can be reduced. In this way, the detection capacitor 110 and the detection resistor 120 can be supported and fixed with only a substrate 10 with a smaller area, which helps to reduce the overall size of the pressure detection module.

[0069] like Figure 1 and Figure 5As shown, the detection capacitor 110 may include a positive electrode plate 1101 and a negative electrode plate 1102 spaced apart along a direction perpendicular to the substrate 10, and a detection resistor 120 disposed between the positive electrode plate 1101 and the negative electrode plate 1102; the pressure detection module may also include a second insulating layer 14 and a third insulating layer 15, the second insulating layer 14 being disposed between the detection resistor 120 and the positive electrode plate 1101 to achieve insulation between the detection resistor 120 and the positive electrode plate 1101, and the third insulating layer 15 being disposed between the detection resistor 120 and the negative electrode plate 1102 to achieve insulation between the detection resistor 120 and the negative electrode plate 1102.

[0070] In specific applications, when the detection resistor 120 is positioned between the positive plate 1101 and the negative plate 1102 of the detection capacitor 110, a second insulating layer 14 and a third insulating layer 15 need to be provided on the upper and lower sides of the detection resistor 120 respectively to achieve insulation between the detection resistor 120 and the detection capacitor 110, so as to achieve reliable insulation between the detection resistor 120 and the detection capacitor 110.

[0071] For example, the materials of the second insulating layer 14 and the third insulating layer 15 can be insulating foam, insulating silicone or insulating fabric, etc. The embodiments of this application do not specifically limit the materials of the second insulating layer 14 and the third insulating layer 15.

[0072] like Figure 1 , Figure 5 As shown, the detection resistor 120 may include a resistor body 1201 and a positive electrode 1202 and a negative electrode 1203 disposed at both ends of the resistor body 1201. The positive electrode 1202, the resistor body 1201, and the negative electrode 1203 are arranged sequentially along a direction perpendicular to the substrate 10. A second insulating layer 14 is disposed between one of the positive electrode 1202 and the negative electrode 1203 and the positive plate 1101 to achieve insulation between the positive electrode 1202 or the negative electrode 1203 and the positive plate 1101. A third insulating layer 15 is disposed between the other of the positive electrode 1202 and the negative plate 1102 to achieve insulation between the positive electrode 1202 or the negative electrode 1203 and the negative plate 1102. In this way, by setting the second insulating layer 14 and the third insulating layer 15, insulation can be achieved between the positive electrode 1202 and the negative electrode 1203 of the detection resistor 120 and the positive electrode plate 1101 and the negative electrode plate 1102 of the detection capacitor 110, thereby achieving insulation between the detection resistor 120 and the detection capacitor 110.

[0073] It should be noted that, Figure 1 and Figure 5This illustration only shows the configuration where the positive electrode 1202 of the detection resistor 120 is above the negative electrode 1203, the positive plate 1101 of the detection capacitor 110 is above the negative plate 1102, the second insulating layer 14 is located between the positive electrode 1202 and the positive plate 1101, and the third insulating layer 15 is located between the negative electrode 1203 and the negative plate 1102. In practical applications, those skilled in the art can also, depending on the actual situation, place the negative electrode 1203 of the detection resistor 120 above the positive electrode 1202 and the negative plate 1102 of the detection capacitor 110 above the positive plate 1101. This embodiment does not specifically limit the positional relationship between the negative electrode 1203 and the positive electrode 1202, or the relative position of the positive plate 1101 and the negative plate 1102.

[0074] like Figure 5 As shown, the substrate 10 may include a first substrate 101 and a second substrate 102 disposed at intervals along a direction perpendicular to the substrate 10. One of the positive electrode plate 1101 and the negative electrode plate 1102 is connected to the first substrate 101, and the other of the positive electrode plate 1101 and the negative electrode plate 1102 is connected to the second substrate 102.

[0075] In specific applications, by dividing the substrate 10 into a first substrate 101 and a second substrate 102 arranged perpendicularly to the substrate 10, the first substrate 101 and the second substrate 102 can support the detection capacitor 110 and the detection resistor 120 from the top and bottom respectively, thereby improving the reliability of the first substrate 101 and the second substrate 102 in supporting the detection capacitor 110 and the detection resistor 120; moreover, due to the positive electrode plate 1101 and the negative electrode plate 1102 in the detection capacitor 110, the positive electrode plate 1101 in the detection resistor 120... The positive electrode 1101 and the negative electrode 1202 are spaced apart along a direction perpendicular to the substrate 10. When the first substrate 101 and the second substrate 102 are also spaced apart accordingly, the distance between the positive electrode 1101, the negative electrode 1102, the positive electrode 1202 and the negative electrode 1203 and the first substrate 101 and the second substrate 102 is also relatively short, which facilitates the operation of connecting the positive electrode 1101, the negative electrode 1102, the positive electrode 1202 and the negative electrode 1203 to the first substrate 101 and / or the second substrate 102.

[0076] like Figure 1 As shown, of the positive electrode 1101 and the negative electrode 1102, the one located at the top is the target electrode. At least a portion of the target electrode is arc-shaped to facilitate contact between the target electrode and the target object. Optionally, the target electrode can be designed to resemble the fingertip, i.e., it can protrude outwards in a semi-circular shape to achieve the visual effect of a biomimetic finger device. Of course, in practical applications, the target electrode can also be designed to protrude outwards in a rectangular, circular, or other shape, depending on the actual situation. This embodiment does not specifically limit the shape of the target electrode.

[0077] It should be noted that, Figure 1 The diagram only shows the case where the positive electrode 1101 is above the negative electrode 1102, i.e., the positive electrode 1101 is the target electrode. In practical applications, the negative electrode 1102 can also be placed above the positive electrode 1101, i.e., the negative electrode 1102 is set as the target electrode.

[0078] like Figure 1 As shown, in the positive electrode plate 1101 and the negative electrode plate 1102, one end of the target electrode plate can be connected to the substrate 10 by wires or the like, and the electrode plates other than the target electrode plate can be set on the substrate 10 to reduce the overall height of the pressure detection module.

[0079] like Figure 1 As shown, in order to further reduce the overall height of the pressure detection module, a groove can be cut in the substrate 10, and the electrode plate other than the target electrode plate can be embedded in the groove of the substrate 10 to further reduce the overall height of the pressure detection module.

[0080] It should be noted that, Figure 1 , Figure 4 and Figure 5 The pressure detection module shown only illustrates the configuration where the detection capacitor 110 in the capacitance detection module 11 and the detection resistor 120 in the resistance detection module 12 are mounted on the substrate 10. In practical applications, the first switch 111, the first operational amplifier 113, the first correlated dual sampling circuit 114, and the first analog-to-digital converter circuit 115 in the capacitance detection module 11 can also be mounted on the substrate 10. Similarly, the second switch 121, the second operational amplifier 122, the second correlated dual sampling circuit 123, and the second analog-to-digital converter circuit 124 in the resistance detection module 12 can also be mounted on the substrate 10. This application does not impose any special limitations on this configuration.

[0081] In summary, the pressure detection module described in the embodiments of this application can include at least the following advantages:

[0082] In this embodiment, by simultaneously detecting the applied pressure using both a capacitance detection module and a resistance detection module, the limitation of detection scenarios inherent in single pressure detection methods can be avoided, thus broadening the detection scope of the pressure detection module. Furthermore, by combining the pressure detection results from both the capacitance and resistance detection modules, the accuracy of pressure detection can be further improved.

[0083] This application also provides a bionic finger device, which may specifically include the pressure detection module described in any of the above embodiments. The pressure detection module can perform pressure detection functions within the bionic finger device.

[0084] It should be noted that the bionic finger device described in this application embodiment has the same structure as the bionic finger device described in any of the above embodiments, and its beneficial effects are also similar, so it will not be described in detail here.

[0085] This application also provides a smart device, which may include the pressure detection module described in any of the above embodiments, or the smart device may include the bionic finger device described in any of the above embodiments.

[0086] In this application embodiment, the electronic device may include, but is not limited to, robots, robotic arms, etc., and this application embodiment does not specifically limit the specific type of the intelligent device.

[0087] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0088] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A pressure detection module, characterized by, The pressure detection module includes: a substrate (10), a capacitance detection module (11), a resistance detection module (12), and a pressure detection module; The capacitance detection module (11) includes a detection capacitor (110), and the resistance detection module (12) includes a detection resistor (120). Both the capacitance detection module (11) and the resistance detection module (12) are disposed on the substrate (10). The capacitance detection module (11) is used to output a first electrical signal under pressure, and the first electrical signal is used to characterize the pressure of the detection capacitor (110). The resistance detection module (12) is used to output a second electrical signal under pressure, and the second electrical signal is used to characterize the pressure of the detection resistor (120). The pressure detection module is electrically connected to the capacitance detection module (11) and the resistance detection module (12) respectively. The pressure detection module is used to output a pressure signal to characterize the pressure on the pressure detection module based on the first electrical signal and the second electrical signal.

2. The pressure detection module according to claim 1, wherein The capacitance detection module (11) and the resistance detection module (12) are insulated from each other.

3. The pressure detection module of claim 1, wherein, The detection capacitor (110) and the detection resistor (120) are both connected to the substrate (10), and the detection capacitor (110) and the detection resistor (120) are insulated from each other.

4. The pressure detection module of claim 3, wherein, The detection capacitor (110) and the detection resistor (120) are separately arranged along the direction of the first plane, the first plane is parallel to the plane of the substrate (10), and there is a gap between the detection capacitor (110) and the detection resistor (120); The pressure detection module further includes a first insulating layer (13), which fills the gap to achieve insulation between the detection capacitor (110) and the detection resistor (120).

5. The pressure detection module according to claim 4, wherein The detection capacitor (110) includes a positive plate (1101) and a negative plate (1102) spaced apart along a direction perpendicular to the substrate (10); the detection resistor (120) includes a resistor body (1201) and a positive electrode (1202) and a negative electrode (1203) disposed at both ends of the resistor body (1201), wherein the positive electrode (1202), the resistor body (1201), and the negative electrode (1203) are arranged sequentially along a direction perpendicular to the substrate (10); wherein, The first insulating layer (13) includes a first surface and a second surface that are disposed opposite to each other. One end of the positive electrode plate (1101) and the negative electrode plate (1102) are respectively connected to the first surface, and one end of the positive electrode (1202), the negative electrode (1203) and the resistor body (1201) are respectively connected to the second surface.

6. The pressure detection module according to claim 5, wherein The substrate (10) includes a first substrate (101) and a second substrate (102) spaced apart along a direction perpendicular to the substrate (10); one of the positive electrode plate (1101) and the negative electrode plate (1102) is connected to the first substrate (101), and the other of the positive electrode plate (1101) and the negative electrode plate (1102) is connected to the second substrate (102); One of the positive electrode (1202) and the negative electrode (1203) is connected to the first substrate (101), and the other of the positive electrode (1202) and the negative electrode (1203) is connected to the second substrate (102).

7. The pressure detection module of claim 3, wherein, The detection capacitor (110) and the detection resistor (120) are stacked in a direction perpendicular to the substrate (10), and at least one of the detection capacitor (110) and the detection resistor (120) is connected to the substrate (10).

8. The pressure detection module according to claim 7, wherein The detection capacitor (110) includes a positive plate (1101) and a negative plate (1102) spaced apart along a direction perpendicular to the substrate (10), and the detection resistor (120) is disposed between the positive plate (1101) and the negative plate (1102); The pressure detection module further includes a second insulating layer (14) and a third insulating layer (15). The second insulating layer (14) is disposed between the detection resistor (120) and the positive electrode plate (1101) to achieve insulation between the detection resistor (120) and the positive electrode plate (1101). The third insulating layer (15) is disposed between the detection resistor (120) and the negative electrode plate (1102) to achieve insulation between the detection resistor (120) and the negative electrode plate (1102).

9. The pressure detection module of claim 8, wherein, The detection resistor (120) includes a resistor body (1201) and a positive electrode (1202) and a negative electrode (1203) disposed at both ends of the resistor body (1201). The positive electrode (1202), the resistor body (1201), and the negative electrode (1203) are arranged sequentially along a direction perpendicular to the substrate (10). The second insulating layer (14) is disposed between one of the positive electrode (1202) and the negative electrode (1203) and the positive electrode plate (1101), and the third insulating layer (15) is disposed between the other of the positive electrode (1202) and the negative electrode (1203) and the negative electrode plate (1102).

10. The pressure detection module of claim 8, wherein, The substrate (10) includes a first substrate (101) and a second substrate (102) spaced apart along a direction perpendicular to the substrate (10). One of the positive electrode plate (1101) and the negative electrode plate (1102) is connected to the first substrate (101), and the other of the positive electrode plate (1101) and the negative electrode plate (1102) is connected to the second substrate (102).

11. The pressure detection module of claim 8, wherein, Of the positive electrode plate (1101) and the negative electrode plate (1102), the one located at the top is the target electrode plate, and at least part of the target electrode plate is arc-shaped.

12. The pressure detection module of claim 11, wherein, In the positive electrode plate (1101) and the negative electrode plate (1102), one end of the target electrode plate is connected to the substrate (10), and the electrode plates other than the target electrode plate are disposed on the substrate (10).

13. The pressure detection module according to any one of claims 1 to 12, characterized in that, The substrate (10) is a circuit board, and the capacitance detection module (11), the resistance detection module (12) and the pressure detection module are electrically connected to the substrate (10).

14. A bionic finger device, characterized in that The bionic finger device includes the pressure detection module as described in any one of claims 1 to 13.

15. A smart device, comprising: The smart device includes the bionic finger device as described in claim 14.

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