Capacitive touch sensor, electronic skin and intelligent robot

Abstract

The invention relates to a capacitive touch sensor and an intelligent robot. The touch sensor comprises a plurality of sensor units, each sensor unit comprises a plurality of multifunctional layers, and each multifunctional layer comprises a corresponding area; an upper electrode electrically connected with the multifunctional layer is arranged in each multifunctional layer, a lower electrode corresponding to the upper electrode is arranged below the upper electrode, and an insulating layer is arranged between the upper electrode and the lower electrode; the upper electrode is connected with an excitation signal, and the lower electrode is connected with an analog-to-digital conversion circuit; the upper electrode is a curved surface elastic electrode, and the lower electrode is a planar electrode or a curved surface electrode. The capacitive touch sensor has the beneficial effects that not only can the contact sense function requirement be completely realized, but also the requirements of high sensitivity and wide detection range can be considered.

Description

technical field [0001] The invention relates to a capacitive touch sensor, an electronic skin and an intelligent robot, and is suitable for the technical field of artificial intelligence. Background technique [0002] In recent years, intelligent robots have developed to a large-scale practical stage in the industrial field. The interaction between intelligent robots and the outside world requires intelligent sensors that imitate various sensory functions of humans, mainly including: visual sensors, auditory sensors, tactile sensors and olfactory sensors. . So far, visual sensors and auditory sensors have been developed and widely used in the field of industrial robots. However, with the in-depth expansion of intelligent robots into various fields of human activities, especially in the fields of agricultural robots, household service robots, medical service robots, and hotel and catering industry service robots, robots are required to be able to complete more flexible and c...

AI Technical Summary

Problems solved by technology

Its advantages are: it can realize the perception of pressure, that is, the three-dimensional force, the manufacturing process is simple, the cost is low, the anti-interference ability is strong, and it is convenient for mass production; but the disadvantage is: it is almost impossible to realize the requirements of touch sense, and it is impossible to classify the objects in contact Recognition, when you are about to touch an external object, you cannot judge the approaching speed and distance, the sensitivity is low, and the product consistency is difficult to control

[0011] First, all the requirements of the touch sensor cannot be realized: touch sense, including the classification and recognition of external objects and the judgment of the proximity of external objects; pressure and slip, that is, the measurement of the magnitude and direction of three-dimensional force; temperature sense and humidity sense

[0012] Second, the anti-interference ability is poor, and it is easy to be affected by environmental temperature, humidity, and electromagnetic interference. When measuring three-dimensional forces, the differential method is usually used to eliminate the influence of environmental temperature and humidity, and the electromagnetic shielding method is used to improve the ability to resist electromagnetic field interference.

Once the electromagnetic shielding measures are adopted, although the ability to resist electromagnetic interference is effectively improved, at the same time, the ability to classify and identify external objects and judge the approaching speed and distance is lost, that is, the function of tactile sensation cannot be realized.

[0013] Third, when forming a sensor matrix, the electric field crosstalk of adjacent sensor units cannot be avoided

[0016] The application number is CN201410245030, which discloses a fully flexible capacitive touch sensor. The patent uses the upper plate of the parallel plate capacitor as the shielding layer. Although the anti-interference ability is improved, the electric field lines inside the shielding layer cannot pass through the shielding layer. As a result, the function of classifying, identifying and approaching external objects is lost, and the sense of touch cannot be realized.

[0017] Publication No. US2008 / 0174321A1 discloses a capacitive sensor that can simultaneously measure object proximity and slippery sensation. The sensor can work in two modes. The capacitive electrode of this patent adopts an upper and lower two-layer structure, and the upper layer consists of two electrodes to form a plane Capacitance can realize the function of tactile sense to classify and recognize external objects, but it cannot realize the measurement of the proximity of external objects by tactile sense, and its upper electrode and lower electrode can form a parallel plate capacitance, which can realize the normal direction of pressure sense Force measurement, but can not achieve the measurement of tangential force, the patent can not achieve any anti-interference measures such as shielding or differential

It is also impossible to achieve any anti-crosstalk measures when forming a matrix

[0018] The Chinese invention patent with the application number CN201810093946.5 discloses a capacitive touch sensor, which includes multiple sensor units, each sensor unit includes an area contained by 4 multifunctional layers, and the 4 multifunctional layers are used to distinguish external objects Two capacitors C1 and C2 for identification and proximity; each multifunctional layer is equipped with two layers of electrodes inside, and the two layers of electrodes constitute four parallel plate capacitors for measuring the magnitude and direction of three-dimensional forces. This patent can realize All the functions of touch sense; but the detection range of this patent is limited, and it is impossible to realize the multi-level sensory mechanism similar to fingers

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