阅读说明：本技术 一种柔性形变传感器 (Flexible deformation sensor ) 是由 王义娜 郑力玮 杨俊友 刘中亮 于 2020-04-30 设计创作，主要内容包括：一种柔性形变传感器,所述传感器包括形变体、基板、受光元件和发光元件；形变体、受光元件和发光元件设置在基板上,受光元件和发光元件设置在形变体内,受光元件的受光侧和发光元件的发光侧均垂直面向形变体(所谓垂直就是如图2所示的垂直于基板的方向),受光元件和发光元件之间的位置关系为：发光元件射出的光能够通过形变体反射回来,并能够由受光元件接收。本发明可根据传感器需要的精度添加发光元件及受光元件的个数。根据受光元件电压值与形变量的曲线关系图,可计算不同电压值所对应的变形量大小。(A flexible deformation sensor includes a deformation body, a substrate, a light receiving element, and a light emitting element; the shape-changing body, the light receiving element and the light emitting element are arranged on the substrate, the light receiving element and the light emitting element are arranged in the shape-changing body, the light receiving side of the light receiving element and the light emitting side of the light emitting element both face the shape-changing body vertically (the vertical direction is the direction vertical to the substrate as shown in fig. 2), and the position relationship between the light receiving element and the light emitting element is as follows: the light emitted from the light emitting element can be reflected by the deformation body and can be received by the light receiving element. The number of light emitting elements and light receiving elements can be increased according to the required accuracy of the sensor. According to the curve relation diagram of the voltage value and the deformation quantity of the light receiving element, the deformation quantity corresponding to different voltage values can be calculated.)

1. A flexible deformation sensor, characterized by: the sensor comprises a deformation body (1), a substrate (2), a light receiving element (3) and a light emitting element (4);

the shape-changing body (1), the light receiving element (3) and the light emitting element (4) are arranged on the substrate (2), the light receiving element (3) and the light emitting element (4) are arranged in the shape-changing body (1), the light receiving side of the light receiving element (3) and the light emitting side of the light emitting element (4) both face the shape-changing body vertically, and the position relation between the light receiving element (3) and the light emitting element (4) is as follows: the light emitted from the light emitting element can be reflected by the deformation body (1) and can be received by the light receiving element (3).

2. A flexible deformation sensor according to claim 1, wherein: the deformation body (1) is a soft skin-like material.

3. A flexible deformation sensor according to claim 1, wherein: the light receiving element (3) is connected with a voltage division resistor (11) in series and then is connected with a power supply (13); the light-emitting element (4) is connected with the power supply (13) after being connected with the current-limiting resistor (12) in series.

4. A flexible deformation sensor according to claim 3, wherein: the light receiving element (3) is connected with an A/D analog-to-digital converter (10).

5. A flexible deformation sensor according to claim 2, wherein: the spacing between the light receiving elements (3) is 20mm, and the light emitting elements (4) are distributed at the center positions of the four light receiving elements (3).

6. A method for measuring deformation by using a flexible deformation sensor is characterized in that:

when the deformation body (1) is extruded and deformed, light of the light-emitting element (4) is reflected to the light-receiving element (3) through the deformation body (1), the deformation body (1) is extruded by external force to deform, the density of the deformation body is increased, the intensity of received light is changed, the resistance value of the photosensitive resistor is increased due to less light received by the light-receiving element (3), and the voltage is changed correspondingly, so that the size of the deformation quantity is reflected.

7. The method of claim 6, wherein:

the voltage of the light-sensitive resistor can be obtained by the following formula:

wherein: u is the supply voltage, U_lIs the voltage of the photoresistor, R is the divider resistor, R_lIs a photo-resistor.

8. The method of claim 7, wherein: the relationship between the deformation quantity of the deformation body (1) and the voltage of the light receiving element (3) corresponding to the deformation quantity is obtained.

Technical Field

The invention relates to a soft deformation sensor which is used for detecting the deformation of an object.

Background

Since a robot for housekeeping or nursing purposes has many opportunities to come into close contact with the environment and humans, it is preferable that the robot has a soft touch function. Most of the traditional artificial limbs are controlled by electromyography sensors to acquire the intentions of people, but the electromyography sensors have low signal to noise ratio and more interference, and the electromyography signals mainly aim at the identification of the actions of the artificial limbs and cannot be continuously controlled.

Disclosure of Invention

The purpose of the invention is as follows:

the invention provides a flexible deformation sensor, and aims to solve the problems in the prior art.

The technical scheme is as follows:

a flexible deformation sensor includes a deformation body, a substrate, a light receiving element, and a light emitting element;

the shape-changing body, the light receiving element and the light emitting element are arranged on the substrate, the light receiving element and the light emitting element are arranged in the shape-changing body, the light receiving side of the light receiving element and the light emitting side of the light emitting element both face the shape-changing body vertically (the vertical direction is the direction vertical to the substrate as shown in fig. 2), and the position relationship between the light receiving element and the light emitting element is as follows: the light emitted from the light emitting element can be reflected by the deformation body and can be received by the light receiving element.

The morphic body is a soft skin-like material. (sponge, polyurethane, resin, ceramics, etc.)

The light receiving element is connected with a voltage dividing resistor in series and then is connected with a power supply; the light-emitting element is connected with the power supply after being connected with the current-limiting resistor in series.

The light receiving element is connected with the A/D analog-to-digital converter.

The interval between the light receiving elements was 20mm, and the light emitting elements were distributed at the center positions of the four light receiving elements.

A method for measuring deformation by using a flexible deformation sensor,

when the deformation body is pressed and deformed (as shown in fig. 3), light of the light-emitting element is reflected to the light-receiving element through the deformation body, the deformation body is pressed by external force to deform, the density of the deformation body is increased, the intensity of received light is changed, the light received by the light-receiving element is reduced, the resistance value of the photosensitive resistor is increased, and the voltage is correspondingly changed, so that the size of the deformation body is reflected.

The voltage of the light-sensitive resistor can be obtained by the following formula:

wherein: u is the supply voltage, U_lIs the voltage of the photoresistor, R is the divider resistor, R_lIs a photo-resistor.

The relationship between the amount of deformation and the voltage of the light receiving element corresponding to the change in the amount of deformation is obtained.

The elements on the substrate are arranged as shown in fig. 2, the interval between the light receiving elements (photoresistors) is 20mm, and the light emitting elements (light emitting diodes) are distributed at the center positions of the four light receiving elements (photoresistors) in order to ensure that the light receiving elements each receive the same illumination intensity in the initial state. The light-emitting element is arranged at the geometric center of the photoresistors (in this example, four photoresistors form a square, and the light-emitting diode is arranged at the intersection point of the diagonals of the square), so that the distance between each photoresistor and the diode is consistent, the diode uniformly emits light to the periphery, and the equal distance is ensured, namely the consistent intensity of received light is ensured.

The advantages and effects are as follows:

the shell of the traditional humanoid robot is hard, and when the traditional humanoid robot is in contact with a human body, the traditional humanoid robot can generate burden on the psychology and the physiology of the human body. The shell of the robot is packaged by a sensor made of a soft material, the soft material can be a skin-like material, and the purpose is that a person cannot have hard touch feeling during man-machine interaction, and the contact is more comfortable. The flexible sensor can enable the robot to have touch sense, and when the shell of the robot deforms, the robot can receive the deformation signal and make corresponding response.

Compared with the myoelectric signals with lower signal-to-noise ratio and more interference, the myoelectric artificial limb control system can control the artificial limb by detecting the deformation quantity of the muscle, has better continuity for the control of the artificial limb relative to the myoelectric sensor, and is better helpful for disabled people.

A deformation sensor of the present invention includes: a substrate; the substrate is provided with a light emitting element, a light receiving element and a resistor; and a deformable body which is made of a translucent elastic body, is placed on the substrate, and covers the light emitting element and the light receiving element.

The light-emitting device comprises a deformation body 1, a substrate 2, a light-receiving element 3, a light-emitting element 4, deformation body initial state density 5, light rays 6, an external force 7, deformation body deformation 8, deformation body stress state density 9, an A/D (analog-to-digital) converter 10, a voltage dividing resistor 11, a current limiting resistor 12 and a direct current power supply 13.

The light emitting elements and the light receiving elements are distributed on one side of the substrate and vertically face the deformation body. The light emitted from the light emitting element passes through the deformation body and is reflected back, and is received by the light receiving element. When the deformation body is deformed by an external force, the density of the deformation body is changed along with the deformation body, and the intensity of light received by the light receiving element is also changed along with the deformation body.

The resistor is connected with the light-emitting element and the light-receiving element in series, and the resistor connected with the light-emitting element in series plays a role in limiting current and protects the light-emitting element; the resistor connected in series with the light receiving element has a voltage division function, and when the resistance value of the light receiving element is changed due to the change of illumination, the voltage is correspondingly changed, so that the magnitude of the deformation quantity is reflected.

The voltage of the light-sensitive resistor can be obtained by the following formula:

wherein: u is the supply voltage, U_lIs the voltage of the photoresistor, R is the divider resistor, R_lIs a photo-resistor.

The A/D analog-to-digital converter converts the analog quantity of the photoresistor into digital quantity, and facilitates later-stage processing.

As described above, the light receiving element and the light emitting element of the present invention are both on the substrate, and complicated wiring is not required. Compared with the traditional pressure sensor, the flexible deformation body is arranged on the structure, so that the service robot can feel more comfortable to people, and the manufacturing cost is lower. The number of light emitting elements and light receiving elements can be increased according to the required accuracy of the sensor. According to the curve relation diagram of the voltage value and the deformation quantity of the light receiving element, the deformation quantity corresponding to different voltage values can be calculated.

Drawings

Fig. 1 is a schematic diagram of a sensor structure.

Fig. 2 is a layout diagram of light emitting elements and light receiving elements on a substrate.

Fig. 3(a) is a schematic diagram of an initial state of the sensor.

Fig. 3(b) is a schematic diagram of the operating state of the sensor.

Fig. 4 is an electrical schematic of the sensor.

Fig. 5 is a graph of the amount of deformation versus voltage.

Description of the main element symbols:

the light-emitting device comprises a deformation body 1, a substrate 2, a light-receiving element 3, a light-emitting element 4, deformation body initial state density 5, light rays 6, an external force 7, deformation body deformation 8, deformation body stress state density 9, an A/D (analog-to-digital) converter 10, a voltage dividing resistor 11, a current limiting resistor 12 and a direct current power supply 13.

Detailed Description

The technical scheme of the invention is clearly and completely described below by combining the attached drawings of the invention.

A flexible deformation sensor, characterized by: the sensor comprises a deformation body 1, a substrate 2, a light receiving element 3 and a light emitting element 4;

the shape-changing body 1, the light-receiving element 3 and the light-emitting element 4 are arranged on the substrate 2, the light-receiving element 3 and the light-emitting element 4 are arranged in the shape-changing body 1, the light-receiving side of the light-receiving element 3 and the light-emitting side of the light-emitting element 4 both face the shape-changing body vertically (so-called vertically is the direction perpendicular to the substrate 2 as shown in fig. 2), and the position relationship between the light-receiving element 3 and the light-emitting element 4 is as follows: the light emitted from the light emitting element can be reflected by the shape-changing body 1 and can be received by the light receiving element 3.

The morph 1 is a soft skin-like material.

The light receiving element 3 is connected with a voltage division resistor 11 in series and then is connected with a power supply 13; the light-emitting element 4 is connected in series with a current-limiting resistor 12 and then connected to a power supply 13.

The light receiving element 3 is connected to an a/D analog-to-digital converter 10.

The interval between the light receiving elements 3 is 20mm, and the light emitting elements 4 are distributed at the center positions of the four light receiving elements 3.

A method for measuring deformation by using a flexible deformation sensor,

when the deformation body 1 is deformed by extrusion (as shown in fig. 3), light from the light emitting element 4 is reflected to the light receiving element 3 through the deformation body 1, the deformation body 1 is deformed by external force extrusion, the density of the deformation body 1 is increased, the intensity of received light is changed, the resistance value of the photosensitive resistor is increased due to less light received by the light receiving element 3, and the voltage is changed correspondingly, so that the size of the deformation quantity is reflected.

The voltage of the light-sensitive resistor can be obtained by the following formula:

wherein: u is the supply voltage, U_lIs the voltage of the photoresistor, R is the divider resistor, R_lIs a photo-resistor.

The relationship between the amount of deformation of the deformation body 1 and the voltage of the light receiving element 3 corresponding to the change is obtained.

The elements on the substrate are arranged as shown in fig. 2, the light receiving elements 3 (photoresistors) are spaced at intervals of 20mm, and the light emitting elements 4 (light emitting diodes) are distributed at the central positions of the four light receiving elements 3 (photoresistors) in order to ensure that the light receiving elements each receive the same intensity of light in the initial state. The light-emitting element is arranged at the geometric center of the photoresistors (in this example, four photoresistors form a square, and the light-emitting diode is arranged at the intersection point of the diagonals of the square), so that the distance between each photoresistor and the diode is consistent, the diode uniformly emits light to the periphery, and the equal distance is ensured, namely the consistent intensity of received light is ensured.

The substrate is composed of a PCB board on which a circuit of a light emitting element, a light receiving element, and a resistor is printed. The PCB specification is 100mm 50 mm. The material of the deformation body can be sponge, and the specification is 90mm 42mm 21 mm. The positional relationship between the two elements is shown in fig. 1.

The elements on the substrate are arranged as shown in fig. 2, the interval between the photoresistors is 20mm, and the light emitting diodes are distributed at the center positions of the four photoresistors, so as to ensure that the illumination intensity received by each light receiving element is consistent in the initial state. The light emitting element is a 3mm light emitting diode and the light receiving element is a 5537 photo resistor. The resistance of the resistor connected in series with the diode is 1K omega, and the resistor plays a role in protection. The resistance of the resistor connected in series with the photoresistor is 10K omega, and the resistor plays a role in voltage division. The electrical principle of the power supply is connected as shown in figure 4, and the power supply adopts a 5v direct current power supply.

In the initial state of the sensor, as shown in fig. 3a, light emitted by the diode is reflected to the photoresistor through the sponge, and at the moment, the sponge has no external force action and has low density, and the resistance value of the photoresistor is low due to more light passing through, and the voltage of the photoresistor is low as shown in formula 1. When the sensor is acted by external force, as shown in fig. 3b, the sponge is deformed by the extrusion of the external force, the density of the sponge is increased, the light received by the photoresistor is reduced, the resistance value of the photoresistor is increased, and the voltage of the photoresistor is increased according to the formula 1. The relation between the sponge deformation quantity and the voltage of the photoresistor corresponding to the sponge deformation quantity is obtained through the change of the sponge deformation quantity. The sensor manufactured by the above specifications has the relation between the voltages of the single photoresistors corresponding to the deformation amount of 0-19 mm as shown in figure 5.