CN110834343A - Robot finger, touch sensing device and robot for robot - Google Patents
Robot finger, touch sensing device and robot for robot Download PDFInfo
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- CN110834343A CN110834343A CN201810942593.1A CN201810942593A CN110834343A CN 110834343 A CN110834343 A CN 110834343A CN 201810942593 A CN201810942593 A CN 201810942593A CN 110834343 A CN110834343 A CN 110834343A
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- robot
- finger
- touch screen
- touch
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
Abstract
The embodiment of the invention provides a robot finger, a touch sensing device and a robot. Wherein, the machine finger includes: a finger body; and the touch screen is arranged on one side of the finger body and used for detecting the position of the contact point. According to the robot finger for the robot, the position of the contact point can be detected through the touch screen, and the accuracy of sensing the position information of the contact point by the robot finger is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot finger, a touch sensing device and a robot.
Background
A robot hand is an important functional component of a robotic system. When the robot performs a task, especially when the robot directly grabs or touches an object, the tactile signal becomes an important information source of the robot.
In the related art, when a robot grabs an object, pressure is generally detected through a pressure sensor, and when pressure values of contact points are different, signal values fed back are different, so that touch information is obtained, and then grabbing strength and the like of a robot finger are adjusted according to the touch information, so that grabbing of the robot is realized. However, the robot finger is adjusted only according to the pressure value, which is difficult to meet the requirement of the robot hand on the tactile information when performing a complex task, and the accuracy of the robot finger in perceiving the tactile information in the related technical solutions needs to be improved.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a robot finger for a robot, which can detect the position of a contact point through a touch screen, and improve the accuracy of sensing the position information of the contact point by the robot finger.
A second object of the invention is to propose a robot.
A third object of the present invention is to provide a touch sensing apparatus for a robot.
A fourth object of the present invention is to provide a touch sensing method for a robot.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a robot finger for a robot, including:
a finger body; and
the touch screen is arranged on one side of the finger body and used for detecting the position of a contact point when the robot finger is in contact with an object.
According to the robot finger for the robot, the touch screen is arranged on one side of the finger body, and the position of the contact point when the robot finger is in contact with an object is detected according to the touch screen, so that the precision of sensing the position information of the contact point by the robot finger is improved, and the grabbing accuracy of the robot is further improved.
In addition, the robot finger for the robot according to the above embodiment of the present invention may further have the following additional technical features:
optionally, the robot finger further comprises: a first pressure sensor for detecting a pressure value of the contact point; wherein: the first pressure sensor is positioned between the finger body and the touch screen; or the touch screen is positioned between the finger body and the first pressure sensor. The accuracy of the machine finger for sensing the touch information is further improved by detecting the pressure value of the contact point through the first pressure sensor.
Optionally, the robot finger further comprises: a spacer disposed between the touch screen and the first pressure sensor.
Optionally, the robot finger further comprises: and the second pressure sensor is arranged at the top of the finger body. The pressure value of the fingertip is detected by the second pressure sensor when the machine finger presses, and the accuracy of sensing the touch information by the machine finger is further improved.
Optionally, the first and second pressure sensors are pressure membrane sensors.
Optionally, the robot finger further comprises a cushion pad disposed outside the robot finger.
Optionally, the cushion pad is wrapped around the outside of the robot finger.
Optionally, the touch screen is a resistive touch screen.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a robot, including at least one robot finger for a robot as described in any one of the foregoing.
To achieve the above object, a third embodiment of the present invention provides a touch sensing device for a robot, including:
the robot finger comprises a finger body and a touch screen arranged on one side of the finger body, wherein the touch screen is used for detecting the position of a contact point when the robot finger is in contact with an object; and
and the controller is connected with the touch screen, generates touch perception information according to the position of the contact point, and controls the robot according to the touch perception information.
According to the touch sensing device for the robot, the touch screen and the pressure sensor are used for respectively detecting the position information and the pressure value of the contact point, so that the accuracy of the robot sensing the touch information is improved, and the grabbing accuracy of the robot can be improved.
In addition, the touch sensing apparatus for a robot according to the above embodiment of the present invention may further have the following additional technical features:
optionally, the touch sensing apparatus further comprises: a first pressure sensor for detecting a pressure value of the contact point; wherein: the first pressure sensor is positioned between the finger body and the touch screen; or the touch screen is positioned between the finger body and the first pressure sensor; the controller is also connected with the first pressure sensor, and the controller is further used for: and generating touch perception information according to the pressure value of the contact point.
Optionally, the touch sensing apparatus further comprises: the second pressure sensor is arranged at the top of the finger body and used for detecting the pressure value of the fingertip when the robot finger presses; the controller is also connected with the second pressure sensor, and the controller is further configured to: and generating touch perception information according to the pressure value of the fingertip.
Optionally, the touch sensing apparatus further comprises: a cushion pad disposed outside the robot finger; wherein the buffer pad is wrapped on the outer side of the machine finger; and/or a spacer disposed between the first pressure sensor and the touch screen.
Optionally, the touch screen is a resistive touch screen.
To achieve the above object, a fourth aspect of the present invention provides a touch sensing method for a robot, where the robot includes at least one robot finger, the robot finger includes a finger body, and a touch screen disposed on one side of the finger body, and the touch screen is configured to detect a position of a contact point when the robot finger contacts an object, and the method includes:
receiving the position of a contact point when the robot finger is in contact with an object, which is detected by a touch screen;
generating touch perception information according to the position of the contact point;
and controlling the robot according to the touch perception information.
In addition, the touch sensing method for the robot according to the above embodiment of the present invention may further have the following additional technical features:
optionally, the method further comprises: receiving a pressure value of the contact point detected by a first pressure sensor, wherein the first pressure sensor is located between the finger body and the touch screen, or the touch screen is located between the finger body and the first pressure sensor; generating touch perception information according to the position of the contact point, further comprising: and generating touch perception information according to the pressure value of the contact point.
Optionally, the method further comprises: receiving a pressure value of a fingertip when the machine finger is pressed, which is detected by a second pressure sensor, wherein the second pressure sensor is arranged at the top of the finger body; generating touch perception information according to the position of the contact point, further comprising: and generating touch perception information according to the pressure value of the fingertip.
Additional aspects and advantages of the 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.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a robot finger for a robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another robot finger for use in a robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a touch sensing device for a robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another touch sensing device for a robot according to an embodiment of the present invention;
fig. 5 is a functional schematic diagram of a robot finger for a robot according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The robot finger, the touch sensing apparatus and method, and the robot according to the embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a robot finger for a robot according to an embodiment of the present invention, and as shown in fig. 1, the robot finger includes: finger body 10, touch-sensitive screen 20.
The touch screen 20 is disposed on one side of the finger body 10 and is used for detecting a position of a contact point when the robot finger contacts an object.
As an example, the touch screen 20 may be used to detect the location of a point of contact. For example, when a rectangular coordinate system (X-axis, Y-axis) is established on the plane where the touch panel 20 is located, and the robot finger makes contact with another object on the finger body side, the touch panel 20 provided on the finger body side can detect the occurrence of contact and can detect the position coordinates of the contact point.
In one embodiment of the present invention, the touch screen 20 may be a resistive touch screen. For example, a four wire resistive touch screen. The position of the contact point can be detected more accurately through the resistance-type touch screen, and the precision can reach a submillimeter level.
In one embodiment of the present invention, the side of the finger body 10 is the side of the robot finger adjacent to other robot fingers. When the robot hand is used for clamping an object, the object can be grabbed by contacting the object through one side of the finger body, for example, when the object is grabbed, the robot fingers are contacted with the object through one side adjacent to another robot finger respectively, then the positions of contact points are detected according to a touch screen arranged on one side of the finger body, and grabbing compensation is performed through a related grabbing compensation algorithm according to position information, so that the object is grabbed.
It should be noted that the position of the touch screen 20 is merely an example, and the touch screen 20 may be disposed at other positions for detecting the position of the contact point, and may be specifically disposed according to practical situations, and is not limited herein.
It can be understood that there are many uncertainties in practical applications, so the model used when the robot grasps is usually not accurate enough, and the robot needs to acquire accurate sensing information to complete more elaborate tasks. For example, when the robot grips a cup, receives water, and pours water into another cup, since the cup is continuously connected with the robot, the robot first needs to accurately sense the position information of the contact point between the cup and the robot finger after gripping the cup, and then compensates through an algorithm, so that the subsequent connection is accurate and reasonable, otherwise, as the movement of the robot progresses, an increasingly large error is caused, and the task fails.
In one embodiment of the present invention, the robot finger further includes a cushion pad covering the touch screen 20 to protect the touch screen 20.
As an example, the cushion may be a rubber cushion.
As an example, the cushion pad wraps around the outermost layer of the robot finger to protect the components inside it. For example, when the mechanical hand has too large grabbing force, the buffer pad can isolate the internal sensor from the object and buffer the pressure generated by grabbing, so as to avoid crushing, scratching and the like caused by direct contact between the devices such as the touch screen 20 and the object. The cushion pad can also contact and extrude with an external object, and transmits the tactile information such as pressure generated by deformation to the internal sensor.
The robot finger for the robot comprises a finger body and a touch screen arranged on one side of the finger body. Through set up the touch-sensitive screen on one side of the finger body to detect the position of contact point according to the touch-sensitive screen, improved the precision of machine finger perception contact point positional information, thereby further improved the accuracy that the robot snatched.
Based on the above embodiment, further, the robot finger for the robot according to the embodiment of the invention can sense the pressure of the contact between the robot finger and the object and the position of the contact point at the same time, thereby further improving the accuracy of the robot finger in sensing the tactile information.
Fig. 2 is a schematic structural diagram of another robot finger for a robot according to an embodiment of the present invention, and as shown in fig. 2, the robot finger includes: the finger body 10, the touch screen 20 and the first pressure sensor 30.
Wherein the first pressure sensor 30 is used to detect the pressure value of the contact point.
It should be noted that the first pressure sensor 30 may be disposed between the touch screen 20 and the finger body 10, or the touch screen 20 may be disposed between the first pressure sensor 30 and the finger body 10, that is, the positions of the structures of the first pressure sensor 30 and the touch screen 20 may be interchanged, which is not limited herein.
In one embodiment of the present invention, a spacer 40 may also be disposed between the first pressure sensor 30 and the touch screen 20. For example, the spacer 40 may be a rubber spacer.
In this embodiment, the spacer is used to protect the touch screen 20 and the first pressure sensor 30. That is, the deformation of the upper touch screen 20 when pressed down can be buffered by the spacer 40, so as to protect the touch screen 20 and the first pressure sensor 30. In addition, the isolation pad 40 can isolate the first pressure sensor 30 in the lower layer, thereby improving the interference resistance during pressing.
In one embodiment of the present invention, a second pressure sensor 31 may be further disposed on the top of the finger body 10 to detect the pressure value of the fingertip when the robot finger presses the object.
As an example, the first pressure sensor 30 and the second pressure sensor 31 may be pressure film sensors. For example, an RFP-602 model pressure diaphragm sensor may be used.
In one embodiment of the invention, the robot finger further comprises a cushion 50 arranged outside said robot finger. As an example, the cushion 50 may be a rubber cushion.
As an example, if the first pressure sensor 30 is located between the finger body 10 and the touch screen 20, the cushion pad 50 covers the touch screen 20. Alternatively, if the touch screen 20 is located between the finger body 10 and the first pressure sensor 30, the cushion pad 50 covers the first pressure sensor 30.
As an example, the cushion 50 may wrap around the outermost layer of the robot finger to protect the device. For example, when the mechanical hand has too large grabbing force, the buffer pad can isolate the internal sensor from the object and buffer the pressure generated by grabbing, so as to avoid crushing, scratching and the like caused by direct contact between the devices such as the touch screen 20 and the object. The cushion 50 can also contact and press with an external object, and transmit tactile information such as pressure generated by deformation to the internal sensor.
In this embodiment, this machine finger not only can detect the position of contact point, can also detect the pressure size of contact point, has improved the precision of machine hand perception touch information. And then according to the position information and the pressure, carrying out grabbing compensation through a related grabbing compensation algorithm to adjust the grabbing force and the depth position of the fingers of the robot, so that the object can be grabbed accurately.
According to the robot finger for the robot, the touch screen and the pressure sensor are arranged on one side of the finger body, so that the position and the pressure value of the contact point can be detected at the same time, the pressure value when the robot finger presses is detected through the fingertip pressure sensor, the accuracy of sensing touch information by the robot hand is further improved, the robot hand can complete a task with higher requirement on the accuracy by combining the touch information and a related algorithm, and the grabbing accuracy of the robot can be improved.
In order to implement the above embodiments, the present invention further provides a touch sensing device for a robot.
Fig. 3 is a schematic structural diagram of a touch sensing device for a robot according to an embodiment of the present invention, and as shown in fig. 3, the touch sensing device includes: at least one robot finger, a controller 60.
Wherein, the machine finger comprises a finger body 10 and a touch screen 20. The touch screen 20 is disposed at one side of the finger body 10 for detecting a position of a contact point when a robot finger is in contact with an object. For example, the touch screen 20 may be a resistive touch screen.
The controller 60 is connected to the touch screen 20 for generating touch sensing information according to the position of the contact point.
Further, the controller 60 transmits the touch sensing information to the PC in a specific format. And performing subsequent processing by the PC according to the touch perception information.
In this embodiment, the touch sensing information may be position coordinate information of the contact point. As an example, the position of the contact point may be detected through a touch screen, and the position coordinate information of the contact point may be obtained through data collection and filtering. Furthermore, when the robot hand performs grabbing action, compensation is performed through an algorithm according to the position coordinate information of the contact point so as to adjust the grabbing depth position of the robot finger, and the grabbing accuracy of the robot hand is improved.
On the basis of fig. 3, the touch sensing apparatus for a robot shown in fig. 4 further includes: a first pressure sensor 30, a spacer 40, a cushion 50.
In one embodiment of the present invention, the touch sensing apparatus may further include a first pressure sensor 30. The first pressure sensor 30 is used to detect the pressure value of the contact point. The first pressure sensor 30 may be disposed between the touch screen 20 and the finger body 10, or the touch screen 20 may be disposed between the first pressure sensor 30 and the finger body 10, which is not limited herein.
In this embodiment, the controller 60 is connected to the touch screen 20 and the first pressure sensor 30 to generate touch sensing information according to the position and pressure value of the contact point. As a possible implementation, the connection means is an electrical connection.
In this embodiment, the touch sensing information may further include a pressure magnitude of the contact point. For example, the pressure value of the contact point may be detected by a pressure sensor, and the pressure value of the contact point may be obtained through AD conversion and filtering processing. And then when the robot hand snatchs the action, compensate through the algorithm according to the position coordinate information and the pressure size of contact point to the adjustment robot finger snatchs dynamics and depth position, thereby improves the accuracy that the robot hand snatchs.
In one embodiment of the present invention, the touch sensing apparatus may further include a second pressure sensor 31. The second pressure sensor 31 is arranged on the top of the finger body 10 and is used for detecting the pressure value of the fingertip when the robot finger presses.
In this embodiment, the controller 60 is further connected to the second pressure sensor 31 to generate touch sensing information according to the pressure value of the fingertip.
In one embodiment of the present invention, the touch sensing apparatus may further include: and an insulating mat 40. Wherein the spacer 40 is disposed between the touch screen 20 and the first pressure sensor 30.
In one embodiment of the present invention, the touch sensing apparatus may further include: a cushion 50. Wherein the cushion pad 50 is disposed outside the robot fingers. As an example, the cushion 50 may wrap around the outermost layer of the robot finger.
It should be noted that the explanation of the robot finger in the foregoing embodiment is also applicable to the touch sensing apparatus in this embodiment, and is not repeated here.
According to the touch sensing device for the robot, the touch screen and the pressure sensor are used for respectively detecting the position information and the pressure value of the contact point, so that the accuracy of the robot sensing the touch information is improved, and the grabbing accuracy of the robot can be improved.
In order to explain the present invention more clearly, the following description is given in conjunction with practical applications.
As shown in fig. 5, the following is described with respect to the sensor module and the data acquisition and processing module.
The sensor module includes: and the two pressure film sensors are respectively positioned at the finger tips and the inner sides of the fingers of the robot and are used for respectively sensing and detecting the pressure of the two positions when the robot grips. Firstly, signals of two pressure film sensors are converted by corresponding AD (digital-to-analog) acquisition channels on a microprocessor to obtain sensor digital signals, and then the sensor digital signals are subjected to filtering processing, and the information after the filtering processing is sent to a Personal Computer (PC) through a serial port 2.
The resistance-type touch screen is positioned on the inner side of the finger and is mainly used for detecting the position coordinates of a contact point. Firstly, a data acquisition card acquires signals of a touch screen to obtain original coordinate information, then the coordinate information is sent to a microprocessor through a serial port 1 and then is subjected to filtering processing, and finally, the information after the filtering processing is sent to a PC through a serial port 2 in a unified mode.
The data acquisition processing module comprises: microcontroller and data acquisition card. The microcontroller is used for collecting data signals of pressure film sensors at the finger tips and the inner sides of fingers of the machine, and then AD inside the microcontroller converts the signals into digital signals. For example, a microcontroller of the ATmega328 type may be used for signal acquisition and conversion. The data acquisition card acquires signals of the touch screen, preprocesses the data, acquires coordinate information of a contact point, and sends the coordinate information to the microcontroller for further processing through the serial port 1. The microcontroller filters the acquired data and sends the data to the PC through the serial port 2 according to a specific format.
The invention also provides a touch sensing method for a robot, wherein the robot comprises at least one robot finger, the robot finger comprises a finger body and a touch screen arranged on one side of the finger body, and the touch screen is used for detecting the position of a contact point when the robot finger is in contact with an object, and the method comprises the following steps:
and S101, receiving the position of a contact point when the robot finger is in contact with the object, which is detected by the touch screen.
And S102, generating touch perception information according to the position of the contact point.
And S103, controlling the robot according to the touch perception information.
In the embodiment of the invention, the execution main body is a controller.
Optionally, the controller may further receive a pressure value of the contact point detected by the first pressure sensor, generate touch sensing information according to the pressure value of the contact point, and further control the robot according to the touch sensing information. The first pressure sensor is located between the finger body and the touch screen, or the touch screen is located between the finger body and the first pressure sensor.
Optionally, the controller may further receive a pressure value of a fingertip when the robot finger is pressed, which is detected by the second pressure sensor, and then generate touch sensing information according to the pressure value of the fingertip, and further control the robot according to the touch sensing information. Wherein, the second pressure sensor is arranged at the top of the finger body.
According to the touch sensing method for the robot, the touch screen and the pressure sensor are used for respectively detecting the position information and the pressure value of the contact point, so that the accuracy of the robot for sensing the touch information is improved. And then generate touch perception information to control the robot, and improve the accuracy of robot grabbing.
The invention also proposes a robot comprising at least one robot finger as described in the previous embodiments.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A robot finger for a robot, comprising:
a finger body; and
the touch screen is arranged on one side of the finger body and used for detecting the position of a contact point when the robot finger is in contact with an object.
2. A robot finger for a robot as claimed in claim 1, further comprising: a first pressure sensor for detecting a pressure value of the contact point; wherein:
the first pressure sensor is positioned between the finger body and the touch screen; or
The touch screen is located between the finger body and the first pressure sensor.
3. A robot finger for a robot as claimed in claim 2, further comprising:
a spacer disposed between the touch screen and the first pressure sensor.
4. A robot finger for a robot as claimed in claim 2 or 3, further comprising:
and the second pressure sensor is arranged at the top of the finger body.
5. A robot finger for a robot according to claim 4, characterised in that said first and second pressure sensors are pressure film sensors.
6. A robot finger for a robot as claimed in claim 1, further comprising a cushion pad disposed outside the robot finger.
7. A robot finger as claimed in claim 6, wherein the cushion pad is wrapped around the outside of the robot finger.
8. A robot finger for a robot as claimed in claim 1, wherein the touch screen is a resistive touch screen.
9. A robot, characterized in that it comprises at least one robot finger according to any of claims 1-8.
10. A touch sensing apparatus for a robot, comprising:
the robot finger comprises a finger body and a touch screen arranged on one side of the finger body, wherein the touch screen is used for detecting the position of a contact point when the robot finger is in contact with an object; and
and the controller is connected with the touch screen, generates touch perception information according to the position of the contact point, and controls the robot according to the touch perception information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810942593.1A CN110834343A (en) | 2018-08-17 | 2018-08-17 | Robot finger, touch sensing device and robot for robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810942593.1A CN110834343A (en) | 2018-08-17 | 2018-08-17 | Robot finger, touch sensing device and robot for robot |
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| CN110834343A true CN110834343A (en) | 2020-02-25 |
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Application publication date: 20200225 |
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