SENSOR MODULE, SYSTEM AND METHOD FOR OPERATING THE SENSOR MODULE AND SYSTEM

Description

[0001] The invention relates to a capacitive sensor module and sensor system, as well as a method for operating the sensor module and the sensor system. The sensor module is used to detect the approach of an object to the sensor module and to capacitively detect tactile events between an object and the sensor module, which is to be understood herein as synonymous with detecting tactility. The sensor system based on the sensor module is used to capacitively detect the approach of an object to the sensor module and to capacitively detect tactile events between an object and the sensor module, comprising a plurality of sensor modules. The method is used to capacitively detect the approach of an object and to capacitively detect tactile events by means of the sensor module or sensor system. The sensor module, the sensor system, orThe method further relates to secure human-machine interaction (interaction, cooperation, collaboration) and can increase the functional safety of capacitive measurement systems for detecting the approach and contact of people and objects in the immediate vicinity. The invention further relates to a layered structure with an electrical circuit for the functional protection of a capacitive detection system. State of the art

[0002] In capacitive measuring systems used to detect the approach of objects (e.g., people) and mechanical contact, or between the sensor and the object, functional safety is often lacking. For example, the measuring electrodes can fail or become damaged, resulting in an interpretable signal that still does not reflect the safety situation. This means that there doesn't necessarily have to be a complete technical failure of the measuring system; however, the received signals are not plausible or traceable and require redundant verification.

[0003] A popular solution is a redundant implementation of the measurement system on different levels (i.e. on analog and / or digital level).

[0004] Another, in [1]The solution presented for pure proximity measurement involves monitoring functionality by modulating the measurement signal to be evaluated and then testing this modeling. This requires an additional (test) electrode with test pulses.

[0005] In [2] A solution is presented that also requires an additional (test) electrode. Here, the test electrode is connected to ground via a switch with a specific frequency, and the effect on the other electrodes is tested using the fast-forward measurement circuit.

[0006] In both of the above-mentioned references, only a proximity measurement is realized, additional electrodes are required for testing and the measurement signal is modulated to test the functionality by evaluating the modulation.

[0007] Another known sensor module is known from US 2009 / 146827 A1 and discloses a double-sided capacitive proximity configuration and a double-sided capacitive tactility configuration. Task

[0008] The objective technical object of this invention is to provide a sensor module, a sensor system based thereon and a method for operating the sensor module and system, which has additional functional safety while maintaining the same structure of the sensor module. Solution

[0009] This aforementioned objective technical problem is solved with the methods disclosed herein according to the subject matter of the first independent claim 1. Related secondary or dependent claims represent advantageous configurations or embodiments. Advantageous further developments, which can be implemented individually or in any combination, are presented in the dependent claims. The functional safety of a sensor module according to the invention with the same structure, i.e. the number of such sensor elements remains unchanged, is provided in that with such an inventive structure it is possible to test the sensor elements of the sensor module for total or partial damage or short circuits between the sensor elements or separation from the measuring unit as well as to test the measuring unit, i.e. the generation of an excitation signal, for functionality.

[0010] In the following, the terms "comprise," "comprise," or "include," or any grammatical variations thereof, are used non-exclusively. Accordingly, these terms can refer both to situations in which, apart from the features introduced by these terms, no further features are present, or to situations in which one or more further features are present. For example, the expression "A has B," "A comprises B," or "A includes B" can refer both to the situation in which, apart from B, no further element is present in A (i.e., a situation in which A consists exclusively of B), and to the situation in which, in addition to B, one or more further elements are present in A, for example, element C, elements C and D, or even further elements.

[0011] Furthermore, it should be noted that the terms "at least one" and "one or more," as well as grammatical variations of these terms, when used in connection with one or more elements or features and intended to express that the element or feature may be provided singly or multiple times, are generally used only once, for example, when the feature or element is first introduced. Upon subsequent re-mention of the feature or element, the corresponding term "at least one" or "one or more" is generally no longer used, without limiting the possibility that the feature or element may be provided singly or multiple times.

[0012] Furthermore, the terms "preferably", "in particular", "for example (e.g.)" or similar terms are used below in connection with optional features, without limiting alternative embodiments. Thus, features introduced by these terms are optional features, and these features are not intended to limit the scope of the claims, and in particular the independent claims. Thus, as one skilled in the art will recognize, the invention can also be carried out using other embodiments. Similarly, features introduced by "in one embodiment" or "in a further embodiment" are understood as optional features, without limiting alternative embodiments or the scope of the independent claims.Furthermore, these introductory expressions are intended to leave untouched all possibilities of combining features introduced thereby with other features, whether optional or non-optional. General description

[0013] The following terms or generic terms are to be understood in this disclosure: A "sensor element" or "sensor elements" are at least partially electrically conductive and non-conductive elements, components, or parts, each configured such that an electrical potential can be applied thereto. An electrical field is formed by applying an electrical potential to an at least partially electrically conductive sensor element. The electrical field is formed between several at least partially electrically conductive sensor elements with different potentials or between at least partially electrically conductive sensor elements and one or more objects in the vicinity of the respective sensor element. Such sensor elements are also known in the technical literature, for example, as electrodes. A sensor module consists of several at least partially electrically conductive and non-conductive sensor elements.To perform a measurement, the sensor module is electrically connected or coupled to a measuring unit. This measuring unit comprises at least three capacitance measuring devices configured to detect the proximity of the tactile sensor and to test the functionality of the sensor system. Accordingly, a sensor system comprises at least one sensor module and one measuring unit.

[0014] If the electric field builds up or is formed between a sensor element and an object, this is referred to as self-capacitive mode. If the electric field builds up or is formed between two sensor elements, this is referred to as double-capacitive mode. In double-capacitive mode, a distinction is made between the transmitter, to which an electrical potential is applied, and the receiver, which, in the simplest case, is electrically connected to ground via a measuring resistor or is electrically coupled to it.

[0015] In an "approach configuration," the approach of an object can be detected in two modes. In self-capacitive mode, an electric field builds up or forms between an at least partially electrically conductive sensor element and at least one object in the vicinity of the sensor element. As the object approaches the sensor element, the electric field changes. This change is detected by the sensor system and transmitted as a proximity signal. In double-capacitive mode, an electric field builds up or forms between a transmitter and a receiver sensor element. The change in the electric field caused by an approaching object can be detected by both the receiver and transmitter sides and transmitted as a so-called "approach signal." In both modes, this coupling of the electric field can be specifically influenced using a shielding element, e.g.To reduce or prevent coupling to other sensor elements or the measuring unit. For this purpose, the potential of the at least partially conductive sensor element is mirrored on the shielding element using an operational amplifier circuit, a so-called "voltage follower." This method is called "active shielding" and differs from passive shielding in that passive shielding is achieved by connecting the shielding element to ground.

[0016] In a "tactility configuration," an electric field builds up or forms between two at least partially electrically conductive sensor elements, with at least one electrically insulating and compressible layer arranged between these two sensor elements. For this purpose, an electrical potential is applied to at least one at least partially electrically conductive sensor element. This corresponds to a double-sided capacitive mode. In this case, the change in the distance between the two at least partially electrically conductive sensor elements—i.e., upon compression of the compressible sensor element—is detected by the sensor system on the receiver side and transmitted as a so-called "tactility signal."

[0017] In a "test configuration," the second outer sensor element, which serves as a receiver in the tactility configuration, is electrically connected or coupled to a capacitance measuring device. This capacitance measuring device includes electronic circuits and components for evaluating the functionality of the sensor system.

[0018] A "sensor element stack arrangement" describes how the sensor elements described above are arranged relative to one another. At least one first outer, at least partially electrically conductive sensor element, at least one at least partially electrically conductive central sensor element, an electrically insulating and compressible layer, and at least one second, at least partially electrically conductive sensor element are arranged one above the other, wherein the at least one first outer, at least partially electrically conductive sensor element and the at least one at least partially electrically conductive central sensor element are arranged one above the other in an electrically insulated manner. This means that the at least partially electrically conductive sensor elements can optionally be configured such that one of their surfaces, which borders an adjacent sensor element, is formed to be electrically insulating.

[0019] This provides a solution for testing the functionality of a capacitive measuring system. Testing this functionality checks whether the excitation signal or at least one measuring electrode (also referred to synonymously herein as a sensor element) has failed or been damaged. Such a failure of the sensor element can occur, for example, if at least one electrode or sensor element is partially broken, i.e., at least one completely broken point, such that the sensor element is split in two, or its connection to the measuring unit is severed, or if a short circuit occurs between at least two electrodes or sensor elements.

[0020] This solution requires no additional electrodes or sensor elements. One of the at least three electrodes or sensor elements, specifically the one that detects tactility, is monitored simultaneously or synchronously using a passive test circuit.

[0021] In a first embodiment, a sensor module for capacitively detecting the approach of an object to the sensor module and for capacitively detecting tactile events between an object and the sensor module comprises: at least three sensor elements, wherein the sensor elements are at least partially electrically conductive and are arranged one above the other and at a distance from each other such that a sensor element stack arrangement is formed and an electrical potential can be applied to each of the sensor elements and the sensor elements are electrically insulated from each other, and wherein the sensor element stack arrangement has at least a first and a second outer sensor element and at least one central sensor element arranged between the two outer sensor elements; at least one compressible layer arranged between two of the sensor elements;characterized in that the sensor module is configured to be operable with three different measurement configurations and at least one double-sided capacitive test configuration, wherein the measurement configurations comprise: a self-capacitive proximity configuration, a double-sided capacitive proximity configuration, and a double-sided capacitive tactility configuration, and wherein the proximity configuration and the double-sided capacitive tactility configuration are operable simultaneously.;

[0022] This arrangement allows for synchronous detection of approach and tactile events, and the functionality of the arrangement can be tested. Such a system has the advantage of being easy to implement.

[0023] In a further embodiment, the sensor module comprises a measuring unit which is configured to operate the sensor elements in the measuring and testing configurations.

[0024] This allows the approach and tactility events to be recorded and the functionality to be tested.

[0025] In a further embodiment, the measuring unit comprises two capacitance measuring devices: a first capacitance measuring device configured such that a proximity measurement can be carried out and a shielding potential can be generated, and a second capacitance measuring device configured such that a tactile measurement and a test measurement can be carried out.

[0026] This design of the measuring unit enables a synchronous measuring and testing configuration, which enables continuous recording of the approach and tactility events and testing of the functionality.

[0027] In a further embodiment, the measuring unit comprises an excitation signal generation unit, a first capacitance measuring device, and a second capacitance measuring device; wherein: in the self-capacitive approach configuration, at least one of the outer sensor elements is connected to both the excitation signal generation unit and the first capacitance measuring device, and wherein the central sensor element is operated with the shielding potential; in the double-sided capacitive approach configuration, the at least first outer sensor element is connected to the first capacitance measuring device, and wherein the central sensor element is operated with the shielding potential; and in the double-sided capacitive tactility configuration, the at least one second outer sensor element is connected to the second capacitance measuring device.

[0028] Through this combination of a sensor module and a measuring unit, at least one of the outer sensor elements is shielded by the central sensor element in the self-capacitive and double-sided capacitive proximity configuration, thus preventing influences from the rear side of the outer sensor element. Furthermore, tactility is detected synchronously via the second outer sensor element in double-sided capacitive mode without any interruption or switching.

[0029] In a further embodiment, the measuring unit is configured such that in the self-capacitive approach configuration, a capacitance or a change in the capacitance between at least one of the outer sensor elements and an object can be measured, wherein the measuring unit is configured such that in the double-sided capacitive approach configuration, a capacitance or a change in the capacitance between at least one of the outer sensor elements of the sensor module and one of the outer sensor elements of the sensor module can be measured, and wherein the measuring unit is configured such that in the double-sided capacitive tactility configuration, a capacitance or a change in the capacitance between the at least one central sensor element and one of the outer sensor elements can be measured.

[0030] The approach and tactility events cause a capacitance change. This combination of a sensor module and a measuring unit allows the capacitance change to be measured synchronously in self-capacitive and double-capacitive approach configurations and measurable in the double-capacitive tactility configuration, thus enabling continuous temporal recording of the approach and tactility events.

[0031] In a further embodiment, the measuring unit comprises an amplifier circuit for detecting the approach in the self-capacitive and double-sided capacitive approach configuration, and / or wherein the measuring unit comprises an amplifier circuit for detecting the tactility, and / or wherein the measuring unit comprises an amplifier circuit for the test measurement, and / or wherein the measuring unit comprises a voltage follower, wherein the voltage follower is electrically conductively coupled to the at least one central sensor element in the self-capacitive approach configuration and / or in the double-sided capacitive approach configuration.

[0032] The voltage follower enables shielding. This also provides the necessary electrical potential for the double-sided capacitive tactility configuration. There are three amplifier circuits for the respective measurement and test configurations. These are operated parabolically, enabling synchronous processing of the measurement and test signals.

[0033] In a further embodiment, a sensor system for capacitively detecting the approach of an object to the sensor module and for capacitively detecting tactile events between an object and the sensor module comprises a plurality of sensor modules according to one of the preceding embodiments.

[0034] This makes it possible to operate a large number of sensor modules in parallel, which allows the detection of approach and tactility events in a larger space / for larger bottles.

[0035] In a further embodiment, the sensor modules are arranged to form an array, and / or wherein the measuring units of the sensor modules are configured such that two adjacent clusters of first outer sensor elements of the plurality of sensor modules can be interconnected.

[0036] By interconnecting several first outer sensor elements, a new first outer sensor element with a larger area and a higher measuring range is created in the approach configuration.

[0037] In a further embodiment, a method for capacitively detecting the approach of an object and for capacitively detecting tactile events comprises the steps of: providing one or more sensor modules according to one of the preceding embodiments of sensor modules or providing a sensor system according to one of the preceding embodiments of sensor systems; operating the sensor elements in the self-capacitive approach configuration or the double-sided capacitive approach configuration and detecting approach measurement data; and / or operating the sensor elements in the double-sided capacitive tactility configuration and detecting tactility measurement data, characterized in that the sensor elements are operated in the double-sided capacitive test configuration.

[0038] In a further embodiment based on the previous embodiment, the sensor elements are alternately operated in the self-capacitive approach configuration.

[0039] This combines the advantages of self-capacitive and double-sided capacitive mode, enabling a wider range of applications.

[0040] The invention also encompasses the use of a sensor module or a sensor system according to one of the above-mentioned embodiments, ie as a tactile proximity sensor in functional surfaces, as a tactile proximity sensor in a lifting truck and / or for forming a sensor skin in robotics.

[0041] This enables the examples mentioned to detect the approach of objects, such as objects or people, and their contact with the sensor module. Localization of the object is then possible through further steps. For guided systems, alerts and / or warning signals can be generated accordingly, and for autonomous systems, actions such as turning off or approaching can be triggered. Furthermore, these surfaces serve as interaction interfaces. Short description of the characters

[0042] Further details and features of the present invention will become apparent from the following description of a preferred embodiment, particularly in conjunction with the dependent claims. The respective features can be implemented individually or in combination with one another. The invention is not limited to the embodiments or forms.

[0043] The exemplary embodiments or forms are illustrated schematically in the following figures. Identical reference numerals in the figures denote identical or functionally identical elements, or elements that correspond to one another in terms of their functions.

[0044] For illustrative and non-limiting purposes, further features and advantages of the invention will become apparent from the description of the accompanying drawings, in which: Fig. 1 a schematic representation of a first embodiment of a sensor module according to the invention; Fig. 2 a schematic representation of a further embodiment of a sensor module according to the invention; Fig. 3 a schematic representation of another embodiment of a sensor module according to the invention in simultaneous self-capacitive proximity configuration and double-sided capacitive tactility configuration; Fig. 4a schematic representation of another embodiment of a sensor module according to the invention in simultaneous self-capacitive proximity configuration and double-sided capacitive tactility configuration; Fig. 5 a schematic representation of a further embodiment of a measuring unit according to the invention in simultaneous self-capacitive proximity configuration and double-sided capacitive tactility configuration; and Fig. 6 a schematic representation of a further embodiment of a measuring unit according to the invention in simultaneous double-sided capacitive proximity configuration and double-sided capacitive tactility configuration. Detailed description

[0045] Fig. 1 shows a schematic representation of a first embodiment of a sensor module according to the invention 100 comprising five sensor elements, three of which are at least partially electrically conductive sensor elements 13, 8a and 8band an electrically insulating element or an electrically insulating layer 12 and an electrically insulating and compressible sensor element 10. In an optional embodiment, the sensor elements 13 and 8a arranged in an approach configuration, wherein the at least one outer sensor element 13 is applied with an excitation signal and the resulting potential is applied to the central sensor element 8a, which acts as an active shielding element. At the same time, the at least one second outer sensor element 8b connected to at least one capacitance measuring device and the capacitive coupling is established between the at least one first outer sensor element 8a and at least one central sensor element 8b evaluated in the tactility and test configuration.

[0046] In Figure 2shows a schematic representation of another embodiment of a sensor module according to the invention. Fig. 2 schematically represents an extended implementation of the sensor module described above 100 Here the sensor module 100 an additional electrically insulating element or an additional electrically insulating layer 11, which is / are attached to the outer side of an external sensor element 13 and / or 8b The insulating sensor elements 11a and / or 11b can, depending on the application, be used as a protective element against operating conditions or as mounting layers on the sensor element 100 For example, before attaching the sensor element 100to at least partially electrically conductive surfaces, such as a robot arm or a vehicle, an outer sensor element can be provided with a self-adhesive electrical insulation layer. Furthermore, the sensor module can 100 an additional at least partially electrically conductive sensor element 14, which is grounded. Such a sensor element can influence the characteristic curve of a measurement, in particular improve it, ie, enable the detection of lower signal strengths due to a lower signal-to-noise ratio. Sensor elements 11a, 11b and 14 are optional, but for the basic, i.e. inventive functionality of the sensor module 100 not essential.

[0047] Fig. 3shows a schematic representation of another embodiment of a sensor module according to the invention with a self-capacitive proximity configuration and a double-sided capacitive tactility configuration, wherein the two configurations, ie, the proximity and tactility configuration, are operated synchronously or simultaneously. The proximity configuration can be implemented in two modes. Fig. 3 schematically represents an approach configuration in self-capacitive mode. For this purpose, an excitation signal generation unit or alternating voltage source 20 an alternating voltage on one of the external sensor elements e.g. sensor element 13 The alternating voltage creates an electric field around the outer sensor element 13 built or formed around objects 1 or other sensor modules or sensor elements in the environment influence the electric field 2.The electrical current is measured in a capacitance measuring device 30 measured or recorded. The central sensor element 8a serves as active shielding to prevent influences from the back of the sensor module 100 Since the sensor elements 13 and 8a have the same potential, no electric field forms between them.

[0048] In the tactility configuration, the tactile measurement is carried out by measuring the capacitance between an inner sensor element or the central sensor element 8a and at least one second outer sensor element 8b The above-mentioned sensor elements are connected via an electrically non-conductive or electrically insulating, compressible sensor element 10 separated from each other. A force exerted on the sensor module causes at least a portion of this force to compress the electrically insulating sensor element10 This compression leads to a change in the distance between the central sensor element 8a and the at least one second outer sensor element 8b and thus to a measurable change in capacity.

[0049] In the test configuration, the sensor element 8b capacitively coupled potential from a capacitance measuring device 40 monitored and evaluated. Any disturbance of this coupling, e.g. due to damage to at least one sensor element or the occurrence of short circuits between the sensor elements, is detected by the capacitance measuring device 40 recorded.

[0050] Fig. 4 shows a schematic representation of another embodiment of a sensor module according to the invention in simultaneous self-capacitive approach configuration and double-sided capacitive tactility configuration. Fig. 4schematically shows the proximity and tactility configuration in the double-sided capacitive measurement mode. Two identical versions of the sensor module 100 as a transmitter sensor module 100.1 and as a receiver sensor module 100.2 operated. The outer sensor element 13 from the transmitter sensor module 100.1 is generated by means of an excitation signal generating unit or alternating voltage source 20 an alternating voltage is applied. The outer sensor element 13 of the transmitter sensor module 100.2 is measured on a capacity measuring device 30 electrically conductively connected or electrically conductively coupled to it, which determines the capacitance between the sensor element 13 of the transmitter sensor module 100.1 and the sensor element 13 from the transmitter sensor module 100.2 In the tactility configuration, the tactile measurement is carried out by measuring the capacitance between the at least one central sensor element8a of the sensor module 100.1 and the at least one second outer sensor element 8b of the sensor module 100.1 In the test configuration, the sensor element 8b capacitively coupled potential from a capacitance measuring device 40 monitored and evaluated. A disruption of this coupling, e.g. due to damage to at least one sensor element of the sensor module 100.1 or the occurrence of short circuits between the sensor elements in the sensor module 100.1, is measured by the capacity measuring device 40 recorded.

[0051] Fig. 5 shows a schematic representation of a further embodiment of a measuring unit according to the invention with a self-capacitive approach configuration and a double-sided capacitive tactility configuration, wherein the two configurations, ie approach and tactility configuration, are operated synchronously or simultaneously. Fig. 5This schematically shows the components of the capacity measuring device 30 and 40 In the capacitance measuring device, the active shielding is operated by measuring the potential of at least one central sensor element 8a using a voltage follower 31, which has an amplification factor of 1 to the potential of the at least one first external sensor element 13 adjusted. An amplifier circuit 32 and a demodulator 33 detect the capacitance between the outer sensor element 13 and the object 1 in the self-capacitive proximity configuration and transmit this as a proximity signal 61 Simultaneously or synchronously, an amplifier circuit 34 and a demodulator 35 the capacitance between the at least one central sensor element 8a and the at least one second outer sensor element 8bin the double-sided capacitive tactility configuration and output this as a tactility signal 62 In the test configuration, an amplifier circuit 41 and a demodulator 42 the capacitive coupling between the at least one central sensor element 8a and the at least one second outer sensor element 8b and pass a corresponding signal to a comparator / sound signal 43 The comparator / sound signal 43 evaluates the signal and outputs a test / switching signal 64 / 63, when predefined or previously determined threshold values ​​are exceeded / undershot, which indicates a malfunction. In this case, the demodulator 42 and the comparator / sound signal 43 an optional embodiment of the signal evaluation in the test configuration.

[0052] Fig. 6shows a schematic representation of another embodiment of a measuring unit according to the invention with a double-sided capacitive proximity configuration and a double-sided capacitive tactility configuration, wherein the two configurations, ie, proximity and tactility configuration, are operated synchronously or simultaneously. An amplifier circuit 36 and a demodulator 33 detect the capacitance between the outer sensor element 13 of the sensor module 100.2 and the sensor element of the sensor module 100.1 in the double-sided capacitive proximity configuration and transmit this as a proximity signal 61 At the same time, an amplifier circuit 34 and a demodulator 35 the capacity between the at least one central sensor element 8a and the at least one second outer sensor element 8b of the sensor module 100.2in the double-sided capacitive tactility configuration and output this as a tactility signal 62 In the test configuration, an amplifier circuit 41 and a demodulator 42 the capacitive coupling between the at least one first outer sensor element 13 and the at least one second outer sensor element 8b of the sensor module 100.2 and send a corresponding signal to a comparator / sound signal 43 The comparator / sound signal 43 evaluates the signal and outputs a test / switching signal 64 / 63, if predefined or previously determined threshold values ​​are exceeded / undershot, which indicates a malfunction. In this case, the demodulator 42 and the comparator / sound signal 43 an optional embodiment of the signal evaluation in the test configuration. Literature list

[0053] [1] EP 0 341 576 B1 [2] DE 10 2016 109 800 B3 List of reference symbols

[0054] 1........ An object / item 2........ Electric field lines in the self-capacitive approach configuration 3........ Electric field lines in the double-sided capacitive tactility configuration 4........ Electric field lines in the two-sided capacitive proximity configuration between the sensor modules 5........ Electric field lines in the two-sided capacitive approach configuration between the object 1 and the sensor module 100.1 6........ Electric field lines in the double-sided capacitive tactility configuration in the sensor module 100.1 100...... A sensor module consisting of three electrically conductive sensor elements and one electrically insulating element or an electrically insulating layer and one electrically insulating and compressible sensor element 100.1....an identical version of 100 as a transmitter sensor module in double-sided capacitive measuring mode 100.2.... an identical version of 100 as a receiver sensor module in double-sided capacitive measuring mode 110...... An extended sensor module consisting of four electrically conductive sensor elements and two electrically insulating sensor elements and one electrically insulating and compressible element or an electrically insulating layer 11a...... an external at least partially electrically insulating sensor element 11b...... an inner electrically insulating sensor element 13....... a first outer at least partially electrically conductive sensor element for proximity configuration 12....... an electrically insulating element or an electrically insulating layer 10....... an electrically insulating and compressible sensor element 8a....... an at least partially electrically conductive central sensor element for shielding 8b.......a second outer at least partially electrically conductive sensor element for the tactility configuration and test configuration 14....... an additional second outer at least partially electrically conductive sensor element for shielding 20....... a signal generator 30....... a capacitance measuring device for the proximity and tactility configuration 31....... an amplifier 32....... an amplifier circuit for the self-capacitive proximity configuration 33....... a demodulator for the approach configuration 34 ....... an amplifier circuit for the tactility configuration 35....... a demodulator for the tactility configuration 36....... an amplifier circuit for the double-sided capacitive proximity configuration 40....... a capacitance measuring device for the test configuration 41....... an amplifier circuit for the test configuration 42....... a demodulator for the test configuration 43.......a comparator / switching signal generator for the test configuration 61....... Approach signal 62....... Tactility signal 63....... test signal 64....... switching signal

Claims

1. Detection module (100) for capacitive detection of the approach of an object (1) to the detection module (100) and for capacitive detection of tactile events between an object (1) and the detection module (100), comprising: a. at least three detection elements (13, 8a, 8b), i. the sensor elements (13, 8a, 8b) being at least partially electrically conductive and arranged one above the other and at a distance from one another such that a stack of sensor elements is formed and an electrical potential is applicable to each of the sensor elements (13, 8a, 8b) and the sensor elements are electrically insulated from one another, and ii. the stack of sensing elements comprising at least a first and a second outer sensing element (13, 8b), and at least one central sensing element (8a) arranged between the two outer sensing elements; b. at least one compressible layer (10) placed between two of the sensing elements (8a, 8b); whereby c. the sensor module (100) is configured to be operable in three different measurement configurations and at least one bilateral capacitive control configuration, i. measurement configurations comprising:

1. a self-capacitive approach configuration 2. a bilateral capacitive approach configuration, and 3. a bilateral capacitive tactility configuration; and ii. the approach and bilateral capacitive tactile configurations being operable simultaneously.

2. Detection module (100) according to claim 1, comprising a measurement unit configured to operate the detection elements (13, 8a, 8b) in the measurement and control configurations.

3. Detection module (100) according to claim 2, a. wherein the measuring module comprises two capacitance measuring devices (40) comprising: i. a first capacitance measuring device, configured so that an approach measurement can be performed and a shielding potential generated, and ii. a second capacitance measurement device, configured so that a tactile measurement and a control measurement can be performed.

4. Detection module (100) according to claim 2 or 3, wherein the measuring unit comprises an excitation signal generating unit (20), a first capacitance measuring device and a second capacitance measuring device (40): a. in the self-capacitive approach configuration, at least one of the outer sensing elements (13, 8b) being connected both to the excitation signal generating unit and to the first capacitance measuring device, and wherein the central sensing element (8a) operates at shield potential; b. in the bilateral capacitive approach configuration, at least one of the first external sensing elements (13) being connected to the first capacitance measuring device, and wherein the central sensing element (8a) operates at shield potential; and c. in the bilateral capacitive tactility configuration, at least one of the first external sensing elements (13) being connected to the excitation signal generating unit and the central sensing element (8a) operating at shield potential, and at least one of the second external sensing elements (8b) being connected to the second capacitance measuring device.

5. Detection module (100) according to one of the preceding claims 2 to 4, a. wherein the measuring unit is configured such that, in the self-capacitive approach configuration, a capacitance or a change in capacitance between at least one of the external sensing elements (13, 8b) and an object (1) is measurable, b. the measuring unit being configured such that, in the bilateral capacitive approach configuration, a capacitance or a change in capacitance between at least one of the outer sensing elements (13, 8b) of the sensing module (100.1) and one of the outer sensing elements (13, 8b) of the measuring module (100.2) is measurable, and c. wherein the measuring unit is configured such that, in the bilateral capacitive tactility configuration, a capacitance or a change in capacitance between at least one of the central sensor elements (8a) and one of the outer sensor elements (13, 8b) is measurable.

6. Detection module (100) according to one of the preceding claims 2 to 5, a. the measurement module comprising an amplifier circuit (32) for detecting the approach in the auto-capacitive approach configuration and an amplifier circuit (36) for detecting the approach in the bilateral capacitive approach configuration, and / or b. the measuring unit comprising an amplifier circuit (34) for the tactility detection, and / or c. the measuring unit comprising an amplifier circuit (41) for the control measurement, and / or d. the measuring unit comprising a voltage follower (31), i. the voltage follower (31) being electrically conductively coupled to the at least one central sensing element (8a) in the auto-capacitive approach configuration and / or in the bilateral capacitive approach configuration.

7. A sensor system for capacitive detection of the approach of an object to the sensor module (100) and for capacitive detection of tactile events between an object (1) and the sensor module (100), comprising a plurality of sensor modules (100) according to one of the preceding claims 1 to 6.

8. Detection system according to claim 7, a. the sensor modules (100) being arranged in an array, and / or b. the measuring units of the sensor modules (100) being configured in such a way that respectively two adjacent clusters of first outer sensor elements (13) of the plurality of sensor modules (100) can be interconnected.

9. A method of capacitive detection of the approach of an object and capacitive detection of tactile events, comprising the steps: a. providing one or more detection modules (100) according to one of the claims 1 to 6 or providing a detection system according to claim 7 or 8; b. operating the detection elements (100) in the self-capacitive approach configuration or in the bilateral capacitive approach configuration and detecting the approach of an object, and / or c. operating the sensing elements (100) in the bilateral capacitive tactility configuration and detecting tactility, characterized in that, d. the sensing elements (100) operate in the bilateral capacitive control configuration.

10. A method according to claim 9, a. wherein the sensing elements (100) operate alternately in the self-capacitive approach configuration, in the bilateral capacitive approach configuration.

11. Use of a detection module (100) according to one of claims 1 to 6 or of a detection system according to claim 7 or 8. a. as a tactile proximity sensor in functional surfaces, b. as a tactile proximity sensor in a lift truck and / or c. to form a sensor skin in robotics.