CN113146660A - Mechanical claw for tactile perception by depth vision - Google Patents
Mechanical claw for tactile perception by depth vision Download PDFInfo
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- CN113146660A CN113146660A CN202110377431.XA CN202110377431A CN113146660A CN 113146660 A CN113146660 A CN 113146660A CN 202110377431 A CN202110377431 A CN 202110377431A CN 113146660 A CN113146660 A CN 113146660A
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- 210000000078 claw Anatomy 0.000 title claims abstract description 45
- 230000008447 perception Effects 0.000 title claims abstract description 24
- 239000013307 optical fiber Substances 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims abstract description 5
- 239000011521 glass Substances 0.000 claims description 9
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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Abstract
The invention discloses a mechanical claw for tactile perception by depth vision, which comprises: the device comprises a flexible finger, a support body, a first air pipe, an elastic film and a depth camera; the flexible finger is in a tooth shape and is arranged on one side of the support body, the bottom of the flexible finger is connected with the first air pipe, and a flexible finger air chamber is formed inside the flexible finger; the supporting body is integrally columnar, and the side surface of the supporting body is provided with an installation interface for installing the flexible finger; the top of the elastic film is provided with the elastic film which is hemispherical; the bottom is provided with the depth camera which corresponds to the elastic film. According to the invention, the deformation of the elastic film is acquired by the depth camera, so that the mechanical claw can sense an object through touch without external vision, and the sensing problems of the shape and texture of a target object in a dark environment and the sensing problems of difficult detection of transparent objects such as a laser radar and an infrared camera are solved; meanwhile, the state of the flexible finger is sensed through the optical fiber, the grabbing strength of the flexible finger is controlled by a motor or air pressure drive, and the fragile object can be grabbed.
Description
Technical Field
The invention relates to the field of robots, in particular to a mechanical claw for performing touch perception by using depth vision.
Background
With the rapid development of scientific technology, robots have not only been applied to the industrial field, but also have begun to enter the production life of people, and the robots become human collaborators, which pose great challenges to the perception capability and flexibility of the robots. The robot executing structure has great requirements for families and catering industry.
The mechanical claw mainly comprises a structure, a material and a sensor, wherein the structure determines the working mode of the mechanical claw, the material determines the performance and the application of the mechanical claw, and the sensor determines the operation precision and the sensing capability of the mechanical claw. From the structure of use, current gripper can be divided into rack and pinion, parallel connecting rod, bionics etc. structure. From the viewpoint of the materials used, the mechanical gripper can be divided into a rigid mechanical gripper, a flexible mechanical gripper and a rigid-flexible composite mechanical gripper. The rigid mechanical claw has high stability and strong load capacity, but has low degree of freedom and poor flexibility; the flexible mechanical claw has higher extensibility, can better perform man-machine interaction, but has poor stress capability and poor controllability; although the rigid-flexible composite mechanical claw makes up the defects of the rigid-flexible composite mechanical claw, the manufacturing process is complex, the cost is high, and the rigid-flexible composite mechanical claw is difficult to popularize and apply. From the view point of the used sensor, the sensor adopted by the mechanical claw with the flexible structure mainly comprises piezoresistance, optical fiber and the like; the piezoresistive sensor has low cost, poor integration level and low sensing density; the optical fiber sensor is sensitive, can determine the position of deformation on the optical fiber, is suitable for being used as a line sensor, and needs to acquire information such as pressure, friction force, sliding trend and the like generated by robot contact when the robot interacts.
The existing touch sensor research has broad and narrow meanings. The touch sense in a broad sense comprises touch sense, pressure sense, force sense, slip sense, cold and heat sense and the like; the touch in the narrow sense includes a force sense on the contact surface of the manipulator with the object. From the viewpoint of function, the tactile sensors are roughly classified into a contact sensor, a force-moment sensor, a pressure sensor, a slip sensor, and the like. The current mechanical claw sensing technology mainly comprises the following steps: (1) a capacitive touch array sensor; the principle is that external force changes the relative displacement between the polar plates, so that the capacitance changes, and the touch force is measured by detecting the capacitance change amount; the advantages are large measuring range, good linearity, low manufacturing cost, and the disadvantages of large physical size, difficult integration, easy influence of noise and poor stability; (2) an inductive tactile sensor; the pressure action is converted into the change of self inductance and mutual inductance of a coil by utilizing the electromagnetic induction principle, and then the change is converted into the variable quantity of voltage or current by a circuit to be output; the advantages are low manufacturing cost, large measuring range, difficult control of magnetic field distribution, low resolution and poor consistency of different contact points; (3) an electro-optical tactile sensor; it was developed based on the principle of total internal reflection and is usually composed of a light source and a photodetector. When the pressure applied on the interface changes, the reflection intensity of the sensitive element of the sensor and the frequency of the light source correspondingly change; the method has the advantages of high sensitivity, quick response, higher spatial resolution, smaller electromagnetic interference influence, and the defects of poorer linearity, poor data real-time property and difficult calibration under the combined action of multiple forces; (4) a piezoresistive tactile sensor; the sensor is a device manufactured according to the piezoresistive effect of semiconductor materials, a substrate of the sensor can be directly used as a measuring sensing element, and a diffusion resistor is connected in the substrate in a bridge mode; when the substrate is deformed under the action of external force, each resistance value changes, and the bridge generates corresponding unbalanced output; the high-sensitivity voltage-sensitive resistor has the advantages of high sensitivity and strong overload bearing capacity, and has the defects of poor stability of leakage current of the voltage-sensitive resistor, large volume, difficulty in realizing miniaturization, high power consumption, easiness in being influenced by noise and fragile contact surface; (5) a piezoelectric tactile sensor; potential difference appears between two end faces of the piezoelectric material under the action of pressure; on the contrary, mechanical stress is generated by applying voltage; its advantages are wide dynamic range, high durability and high thermal response.
The above background disclosure is only for the purpose of assisting understanding of the concept and technical solution of the present invention and does not necessarily belong to the prior art of the present patent application, and should not be used for evaluating the novelty and inventive step of the present application in the case that there is no clear evidence that the above content is disclosed at the filing date of the present patent application.
Disclosure of Invention
In order to make up for the defects of low grabbing performance, weak environmental perception feedback and the like in the prior art, the invention provides a mechanical claw for performing touch perception by using depth vision.
The technical problem of the invention is solved by the following technical scheme:
the invention provides a mechanical claw for performing tactile perception by using depth vision, which comprises: the device comprises a flexible finger, a support body, a first air pipe, an elastic film and a depth camera; the flexible finger is in a tooth shape and is arranged on one side of the support body, the sawtooth faces away from the longitudinal axis of the support body, the bottom of the flexible finger is connected with the first air pipe, and a flexible finger air chamber is formed inside the flexible finger; the supporting body is integrally columnar, and the side surface of the supporting body is provided with an installation interface for installing the flexible finger; the top of the elastic film is provided with the elastic film which is hemispherical; the bottom is provided with the depth camera which corresponds to the elastic film.
In some embodiments, the flexible finger includes a plurality of serrated segments.
In some embodiments, the system further comprises transparent glass, a micro air pump, a second air pipe and an air pressure sensor, wherein the transparent glass is installed in the middle area of the elastic film and the depth camera, the elastic film and the transparent glass form an elastic film air chamber, and the elastic film air chamber is connected with the micro air pump through the second air pipe; the air pressure sensor is installed in the second air pipe.
In some embodiments, the flexible finger flexes to one side of the support as the micro air pump is pressurized.
In some embodiments, the elastic film air chamber is inflated by a miniature air pump and a second air pipe, and the air pressure in the elastic film air chamber is detected and stabilized by an air pressure sensor; when an object is in contact with the elastic film, the elastic film deforms, the depth camera detects a deformation image of the elastic film, and the deformation image is processed to obtain pressure or sliding friction force generated by the contact of the object and the elastic film.
In some embodiments, the depth camera detects the deformation image of the elastic film, including slip detection, detects the position shift between two frames by a frame difference method, performs gradient analysis according to the position shift, and calculates the position and speed of generating the slip.
In some embodiments, the device further comprises a motor, wherein the motor is mounted on the mounting interface of the support body, the axis of the motor is perpendicular to the axis of the support body, and the motor is connected with the flexible finger.
In some embodiments, the device further comprises a motor and a control box, and the flexible finger is externally connected with the motor and the control box.
In some embodiments, the magnitude of the flexible finger initialization angle varies as the motor rotates.
In some embodiments, a grid fiber is also included; the grid optical fibers are arranged inside the flexible fingers; and the grid optical fiber detects the bending degree of the flexible finger and determines the state of the flexible finger and the grasping force.
Compared with the prior art, the invention has the advantages that: the gripper support is provided with a depth camera and an elastic film, which is equivalent to a novel gripper structure with a palm sensor, and the depth camera is used for detecting information such as pressure, sliding friction and the like of a gripped object, so that the gripped object can be sensed in a tactile manner without using external vision, and the problems of sensing the shape and texture of a target object in a dark environment and sensing that a laser radar, an infrared camera and the like are difficult to detect a transparent object are solved; meanwhile, the state of the flexible finger of the mechanical claw is sensed through the optical fiber detection device, and the grabbing strength of the flexible finger of the mechanical claw is controlled by utilizing the motor or air pressure drive, so that a fragile object can be grabbed.
Drawings
Fig. 1 is an overall composition diagram of a gripper for tactile perception using depth vision according to an embodiment of the present invention.
Fig. 2 is an internal structural view of a gripper for tactile sensing using depth vision according to an embodiment of the present invention.
FIG. 3 is a graph of the change in air pump pressurization for a gripper flexible finger tactile with depth vision according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating motor rotation variation of a flexible finger of a gripper for tactile perception using depth vision, in accordance with an embodiment of the present invention.
FIG. 5 is a diagram of a gripper flexible finger configuration for tactile perception using depth vision in accordance with an embodiment of the present invention.
FIG. 6 is a diagram of an internal structure of a flexible finger of a mechanical gripper for tactile perception using depth vision according to an embodiment of the present invention.
FIG. 7 is a diagram illustrating the use of a mechanical gripper for tactile perception using depth vision, in accordance with an embodiment of the present invention.
Fig. 8 is a functional diagram of a structural module of a mechanical claw for tactile perception by depth vision according to an embodiment of the present invention.
FIG. 9 is a flowchart illustrating operation of a gripper for tactile perception using depth vision, in accordance with an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and preferred embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In the structural design of the existing mechanical claw, a sensor is mostly arranged at the finger end of the mechanical claw, and the force of the finger end is used for reacting the gripping force of an object; the sensor is arranged at the finger end of the mechanical claw, so that the clamping force can be better felt for the parallel mechanical claw, but for the bionic finger, the stress of the palm center is easy to ignore, and the grabbing performance of the mechanical claw is greatly reduced.
The mechanical claw adopts a flexible composite structure and is mainly oriented to human-computer interaction scenes such as families, restaurants and the like; the method comprises the steps of providing a touch perception technology based on vision, acquiring stress information of a mechanical claw through a depth camera, and detecting the bending degree of a flexible finger of the mechanical claw by using an optical fiber sensor; according to the structure of a palm of a person, a novel mechanical claw structure with finger tip sensing and palm center sensing is designed, wherein the finger sensing is responsible for acquiring the shape of a finger, the size of stress is acquired by the shape of the finger, and the palm center sensing is responsible for acquiring information such as friction force, oblique force and sliding force when the mechanical claw grabs an object.
The mechanical claw structure part mainly comprises a palm and fingers, and the whole structure is shown in figure 1; the gripper includes: the device comprises a flexible finger, a support body, a first air pipe, an elastic film, a flexible finger air chamber, a miniature air pump, a second air pipe, an air pressure sensor, a motor and a control box.
Wherein the palm includes deformation sensing module and atmospheric pressure control module, and the finger includes finger control module and optic fibre detection module. The support corresponds to the "palm". The deformation sensing module comprises a depth camera and an elastic film, when an object is in contact with the elastic film, the elastic film can deform, the larger the force applied to the object is, the more serious the deformation of the object on the surface of the elastic film is, the deformation of the elastic film is detected through the depth camera, and the variation trend of the object can be determined according to the information, so that the magnitude of the contact force is determined. The support body is provided with an elastic film and a depth camera which jointly form a palm sensor structure.
The air pressure control module comprises a micro air pump, an elastic film air chamber, an air pressure sensor and a controller, the elastic film air chamber is inflated through the micro air pump, and the air pressure in the elastic film air chamber is kept stable through the air pressure sensor.
The finger control module comprises a micro air pump, a flexible finger, a motor and a controller, the bending degree of the flexible finger of the mechanical claw is changed through the micro air pump, the object can be grabbed, the initial angle of the finger is changed through the motor, and the flexibility of the finger and the grabbing force are improved.
The optical fiber detection module comprises a grid optical fiber, a modulator and a demodulator, wherein the grid optical fiber is arranged inside the flexible finger, and the state of the finger is determined according to the bending degree of the finger.
The internal structure of the gripper is shown in fig. 2, and the gripper comprises: the device comprises a flexible finger, a support body, a first air pipe, an elastic film and a depth camera; the flexible finger is in a tooth shape and comprises a plurality of sawtooth blocks, the sawtooth blocks are arranged on one side of the support body, the sawtooth blocks face away from the longitudinal axis of the support body, the bottom of the flexible finger is connected with the first air pipe, and a flexible finger air chamber is formed in the flexible finger; the supporting body is integrally columnar, and the side surface of the supporting body is provided with an installation interface for installing the flexible finger; the top of the elastic film is provided with the elastic film which is hemispherical; the bottom is provided with the depth camera which corresponds to the elastic film.
The gripper also comprises transparent glass, a miniature air pump, a second air pipe and an air pressure sensor, wherein the transparent glass is arranged in the middle area of the elastic film and the depth camera, the elastic film and the transparent glass form an elastic film air chamber, and the elastic film air chamber is connected with the miniature air pump through the second air pipe; the air pressure sensor is installed in the second air pipe.
The mechanical claw further comprises a motor, the motor is mounted on the mounting interface of the support body, the axis of the motor is perpendicular to the axis of the support body, and the motor is connected with the flexible fingers.
The mechanical claw further comprises a motor and a control box, and the outside of the flexible finger is connected with the motor and the control box.
The gripper further comprises a grid optical fiber; the grid optical fibers are arranged inside the flexible fingers; and the grid optical fiber detects the bending degree of the flexible finger and determines the state of the flexible finger and the grasping force.
The elastic film air chamber is inflated through the miniature air pump and the second air pipe, and the air pressure in the elastic film air chamber is detected and stabilized through the air pressure sensor; when an object is in contact with the elastic film, the elastic film deforms, the depth camera detects a deformation image of the elastic film, and the deformation image is processed to obtain pressure or sliding friction force generated by the contact of the object and the elastic film.
The depth camera detects the deformation image of the elastic film, the sliding sense detection is carried out, the position deviation between two frames is detected through a frame difference method, gradient analysis is carried out according to the position deviation, and the position and the speed of sliding are calculated.
The flexible fingers of the gripper bend toward the support as the micro air pump is pressurized, as shown in FIG. 3.
The magnitude of the mechanical claw flexible finger initialization angle changes as the motor rotates, as shown in fig. 4.
The flexible finger of the mechanical claw is externally connected with a motor and an air pipe, as shown in figure 5.
The flexible finger of the mechanical claw is in a sawtooth shape and comprises a plurality of sawtooth blocks, an elastic shell, a flexible finger air chamber and a grid optical fiber, and the internal structure of the flexible finger is shown in figure 6.
Gripper application is shown in figure 7.
The function of each module is shown in fig. 8. The air pressure control module is used for detecting the air pressure in the air chamber through the pressure sensor and controlling the pressure in the air chamber to reach a certain level so as to ensure the stability of the air pressure in the air chamber; the deformation sensing module mainly comprises touch sense and slip sense detection, wherein the touch sense detection senses whether the object is contacted with a target or not according to the deformation of the object on the surface of the elastic film, senses the pressure according to the depth of the object embedded into the elastic film, and the slip sense detection detects the position deviation between two frames by a frame difference method and performs gradient analysis according to the position deviation to calculate the position and the speed of sliding; the device is used for detecting whether the mechanical claw is in contact with an object or not, and the pressure and the sliding friction force generated by the contact; the optical fiber detection module detects the bending degree of the fingers to determine the grasping force of the fingers. The finger control module realizes the stable grabbing of the object by utilizing the position feedback of the optical fiber and the touch and slide feedback of the air cavity, and adjusts the grabbing force of each flexible finger according to the detected touch information.
The mechanical claw working process is as shown in fig. 9, starting, then stabilizing the air pressure in the air chamber through the air pressure control device, inflating the elastic film air chamber through the air pipe by using the miniature air pump, and detecting the air chamber pressure until the specified pressure is judged to be reached; then, acquiring a deformation condition image of the elastic film through a depth camera, processing image data, and acquiring information such as pressure, sliding friction force and the like generated by an object on the elastic film during grabbing according to the deformation condition of the elastic film; and then the flexible finger is controlled by air pressure or motor drive to complete grabbing, the state information of the finger is obtained by utilizing the optical fiber, the grabbing strength of the flexible finger is controlled, closed-loop control is realized, and therefore the specified task is completed.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications can be made without departing from the spirit of the invention, and all the properties or uses are considered to be within the scope of the invention.
Claims (10)
1. A gripper for tactile perception using depth vision, comprising: the device comprises a flexible finger (1), a support body (2), a first air pipe (3), an elastic film (4) and a depth camera (5);
the flexible finger (1) is in a tooth shape and is arranged on one side of the support body (2), the saw teeth face away from the longitudinal axis of the support body (2), the bottom of the flexible finger (1) is connected with the first air pipe (3), and a flexible finger air chamber (6) is formed inside the flexible finger (1);
the supporting body (2) is integrally columnar, and the side surface of the supporting body is provided with an installation interface for installing the flexible finger (1); the top of the elastic film (4) is provided with a hemisphere shape; the bottom is provided with the depth camera (5) which corresponds to the elastic film (4).
2. The mechanical claw with depth vision for tactile perception according to claim 1, characterized in that the flexible finger (1) comprises a plurality of saw-tooth segments (7).
3. The gripper utilizing depth vision for tactile perception according to claim 1, further comprising a transparent glass (8), a micro air pump (9), a second air tube (10), and an air pressure sensor (11), wherein the transparent glass (8) is installed in the middle area between the elastic film (4) and the depth camera (5), the elastic film (4) and the transparent glass (8) form an elastic film air chamber (12), and the elastic film air chamber (12) is connected with the micro air pump (9) through the second air tube (10); the air pressure sensor (11) is arranged in the second air pipe (10).
4. The mechanical claw for tactile sensation using depth vision according to claim 3, wherein the flexible finger (1) is bent toward the support (2) side in accordance with pressurization of the micro air pump (9).
5. The gripper using depth vision for tactile perception according to claim 3, wherein the elastic film air chamber (12) is inflated by a micro air pump (9) and a second air tube (10), and the air pressure in the elastic film air chamber (12) is detected and stabilized by an air pressure sensor (11); when an object is in contact with the elastic film (4), the elastic film (4) deforms, the depth camera (5) detects a deformation image of the elastic film (4), and the deformation image is processed to obtain pressure or sliding friction force generated by the contact of the object and the elastic film (4).
6. The gripper using depth vision for tactile perception according to claim 5, wherein the depth camera (5) further detects a deformation image of the elastic film (4) including a slip detection, detects a position shift between two frames by a frame difference method, performs a gradient analysis based on the position shift, and calculates a position and a velocity at which the slip is generated.
7. The mechanical claw for sensing the sense of touch by using the depth vision as claimed in claim 1, further comprising a motor (13), wherein the motor (13) is installed on the installation interface of the support body (2), the axis of the motor (13) is perpendicular to the axis of the support body (2), and the motor (13) is connected with the flexible finger (1).
8. The mechanical claw for performing tactile perception by using depth vision according to claim 1, further comprising a motor (13) and a control box (14), wherein the flexible finger (1) is externally connected with the motor (13) and the control box (14).
9. The mechanical claw using depth vision for tactile perception according to claim 7 or 8, wherein the size of the initialization angle of the flexible finger (1) is changed as the motor (13) rotates.
10. The gripper with depth vision for tactile perception according to claims 1-9, further comprising a grid fiber (15); the grid optical fiber (15) is arranged inside the flexible finger (1); the grid optical fiber (15) detects the bending degree of the flexible finger (1) and determines the state and the holding power of the flexible finger (1).
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113733137A (en) * | 2021-09-22 | 2021-12-03 | 清华大学深圳国际研究生院 | Variable-rigidity flexible clamping jaw with artificial touch sense |
| CN114043506A (en) * | 2021-10-27 | 2022-02-15 | 南昌大学 | Multi-mode tactile sensing device and application method thereof |
| CN114383765A (en) * | 2021-12-11 | 2022-04-22 | 上海精密计量测试研究所 | Infrared touch sensor |
| CN114770490A (en) * | 2022-05-11 | 2022-07-22 | 广东工业大学 | Software operating arm based on cross-mode touch sensor and bubble driver |
| CN114872072A (en) * | 2022-03-30 | 2022-08-09 | 浙江清华柔性电子技术研究院 | Flexible clamping jaw and control system of flexible clamping jaw |
| CN114888811A (en) * | 2022-06-16 | 2022-08-12 | 清华大学深圳国际研究生院 | Swab sampling actuator, swab sampling mechanical arm, robot and sampling method |
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