CN110749393A - Force sensor, force sensing device, method for measuring and calculating force, and storage medium - Google Patents
Force sensor, force sensing device, method for measuring and calculating force, and storage medium Download PDFInfo
- Publication number
- CN110749393A CN110749393A CN201911067275.6A CN201911067275A CN110749393A CN 110749393 A CN110749393 A CN 110749393A CN 201911067275 A CN201911067275 A CN 201911067275A CN 110749393 A CN110749393 A CN 110749393A
- Authority
- CN
- China
- Prior art keywords
- force
- plane module
- application plane
- sensing
- sensing units
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a force sensor, a force sensing device, a method for measuring and calculating force and a storage medium, comprising the following steps: force application plane module, a plurality of sensing unit, atress plane module, wherein: the sensing units are positioned between the force application plane module and the stress plane module and are respectively connected with the force application plane module and the stress plane module; the force application plane module is used for dispersedly transmitting the force applied to the force application plane module to the plurality of sensing units; the sensing units are used for sensing and acquiring the force which is dispersedly transmitted by the force application plane module. According to the embodiment of the invention, the force sensor is modularized, a larger sensing area is covered by a smaller number of sensing units, the structure is simple, the cost is lower, the cost of the force sensor is greatly reduced, and the popularization of the force sensor is promoted.
Description
Technical Field
The present invention relates to the field of force sensing units, and more particularly, to a force sensor, a force sensing apparatus, a method of measuring and calculating a force, and a storage medium.
Background
At present, the force sensor is always a more critical component in academia and industry, and can provide feedback for the robot through the force sensor to complete more operation tasks.
Force sensors in the market generally mainly use a single point or a single force bearing point, can sense the magnitude and direction of force and moment, but cannot sense the spatial position of the force, and the information that can be provided is limited. In some complex application scenarios, the six-dimensional force sensor is also applied. For scientific research scenes, some complex force sensors have the ability of sensing spatial positions of force, for example, the specific positions and directions of force application points can be sensed through multiple contacts, but the force sensors are complex in structure, cannot accurately feed back the force, are too high in overall cost, and cannot push the popularization of the force sensors.
Disclosure of Invention
In view of this, the force sensor, the force sensing device, the method for measuring and calculating the force and the storage medium provided by the embodiment of the invention cover a larger sensing area with a smaller number of sensing units through modularization of the force sensor, have simple structure and lower cost, greatly reduce the cost of the force sensor, and promote the popularization of the force sensor.
The technical scheme adopted by the invention for solving the technical problems is as follows:
according to an aspect of an embodiment of the present invention, there is provided a force sensor including: force application plane module, a plurality of sensing unit, atress plane module, wherein: the sensing units are positioned between the force application plane module and the stress plane module and are respectively connected with the force application plane module and the stress plane module;
the force application plane module is used for dispersedly transmitting the force applied to the force application plane module to the plurality of sensing units;
the sensing units are used for sensing and acquiring the force which is dispersedly transmitted by the force application plane module.
In one possible design, the force sensor further comprises a plurality of force-receiving structures, wherein the force-receiving structures are located below the force application plane module, are respectively connected with the force application plane module and the plurality of sensing units, and are used for transmitting and distributing force applied to the force application plane module to the plurality of sensing units.
In one possible design, the force-bearing structure is a rigid raised cylinder which is not easily deformed and can maintain the force transfer effect.
In one possible design, the force sensor further comprises a calculation module, and the calculation module is respectively connected with the plurality of sensing units and is used for calculating the force applied to the force application plane module and/or the force application position and/or the surface moving speed according to the positions of the plurality of sensing units and the sensing force.
According to another aspect of the present invention, there is provided a force sensing apparatus comprising a force sensor as described in the embodiments of the present invention.
According to another aspect of the present invention, there is provided a force sensor for measuring a force, the force sensor comprising: force application plane module, a plurality of sensing unit, atress plane module, wherein: the sensing units are positioned between the force application plane module and the stress plane module and are respectively connected with the force application plane module and the stress plane module; the method comprises the following steps:
the force application plane module transmits the force applied to the force application plane module to the sensing units in a dispersing way;
the sensing units sense and acquire the force which is dispersedly transmitted by the force application plane module.
In one possible design, the force sensor further includes a plurality of force-receiving structures, the force-receiving structures are located below the force application plane module and respectively connected to the force application plane module and the plurality of sensing units, and the method further includes: the force-bearing structures transmit and distribute the force applied to the force application plane module to the sensing units.
In one possible design, the force sensor further includes a calculation module, and the calculation module is respectively connected to the plurality of sensing units, and the method further includes: and the calculation module calculates and calculates the force applied to the force application plane module and/or the force application position and/or the surface moving speed according to the positions of the sensing units and the sensing force.
According to another aspect of the present invention, there is provided a force sensing apparatus comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method for measuring and calculating a force provided by an embodiment of the invention.
According to another aspect of the present invention, a storage medium is provided, on which a program of a force sensor estimation method is stored, which when executed by a processor implements the steps of the method provided by the embodiments of the present invention.
Compared with the related art, the force sensor, the force sensing equipment, the method for measuring and calculating the force and the storage medium provided by the embodiment of the invention comprise the following steps: force application plane module, a plurality of sensing unit, atress plane module, wherein: the sensing units are positioned between the force application plane module and the stress plane module and are respectively connected with the force application plane module and the stress plane module; the force application plane module is used for dispersedly transmitting the force applied to the force application plane module to the plurality of sensing units; the sensing units are used for sensing and acquiring the force which is dispersedly transmitted by the force application plane module. By adopting the embodiment of the invention, the force application plane module can ensure that the force applied to the force application plane module can be completely transmitted and distributed to the sensing points of each sensing unit, and the accurate sensing and obtaining of the resultant force are ensured, so that the force applied to the force application plane module can be sensed through the force feedback of a plurality of sensing units, and the position, the size and the surface moving speed of the applied force can be measured and calculated according to the force distribution characteristics. Through the force sensor modularization, a large sensing area is covered by a small number of sensing units, the structure is simple, the cost is low, the cost of the sensing units is greatly reduced, and the popularization of the sensing units is promoted. Because the force sensor adopts a plurality of sensing units which can sense dynamic information of force, the force sensor can sense the moving speed of the force on the surface of the sensing units.
Drawings
Fig. 1 is a schematic structural diagram of a force sensor according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another force sensor according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another force sensor according to an embodiment of the present invention;
fig. 4 is a schematic diagram of 2 sensing units built in a force sensor according to an embodiment of the present invention;
fig. 5 is a schematic diagram of 3 built-in sensing units of a force sensor according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a force sensor with 4 built-in sensing units according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a force sensing device according to an embodiment of the present invention;
fig. 8 is a flowchart of a method for measuring a force by a force sensor according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a force sensing device according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In one embodiment, as shown in FIG. 1, the present invention provides a force sensor 100 comprising: force application plane module 10, a plurality of sensing units 20, atress plane module 30, wherein:
the sensing units 20 are located between the force application plane module 10 and the force receiving plane module 30, and are respectively connected with the force application plane module 10 and the force receiving plane module 30, and the positions of the sensing units 20 are fixed relative to the force application plane module 10 and/or the force receiving and applying plane module 30;
the force application plane module 10 is used for dispersedly transmitting the force applied to the force application plane module 10 to the plurality of sensing units 20;
the sensing units 20 are configured to sense and acquire the force dispersedly transmitted through the force application plane module 10.
In this embodiment, the sensing units are located between the force application plane module and the force receiving plane module, and are respectively connected to the force application plane module and the force receiving plane module, and the positions of the sensing units are fixed relative to the force application plane module and/or the force receiving and applying plane module, and the force applied to the force application plane module is transmitted by the force application plane module, distributed to the sensing units, and sensed by the sensing units. In this embodiment, the force application plane module is adopted to ensure that the force applied to the force application plane module can be completely transmitted and distributed to the sensing points of the sensing units, and ensure accurate sensing and acquisition of resultant force, so that the force applied to the force application plane module can be sensed through force feedback of the sensing units, and then the position and the size of the applied force and the surface moving speed can be measured and calculated according to the force distribution characteristics. Through force sensor modularization, a large sensing area is covered by a small number of sensing units, the structure is simple, the cost is low, the cost of the force sensor is greatly reduced, and the popularization of the force sensor is promoted. Because the force sensor adopts a plurality of sensing units which can sense dynamic information of force, the force sensor can sense the moving speed of the force on the surface of the sensing units.
Preferably, the force application plane module is a rigid force application plane module.
In one embodiment, as shown in fig. 2, the force sensor further includes a plurality of force-receiving structures 40, and the plurality of force-receiving structures 40 are located below the force application plane module, and are respectively connected to the force application plane module 10 and the plurality of sensing units 20, and are configured to transmit and distribute the force applied to the force application plane module 10 to the plurality of sensing units 20.
Preferably, the force-bearing structure 40 is a rigid protruding cylinder, and further, an elastic pad is further disposed on one side of the rigid protruding cylinder close to the sensing unit, and the surface area of the elastic pad is slightly larger than that of the rigid protruding cylinder, so that the sensing unit and the rigid protruding cylinder are in full contact, and the contact plane of the sensing unit is stable and consistent; on the other hand, the cushion can also provide the pretightning force for force sensing unit is whole can not too not hard up, does not receive the external force under the condition of exerting pressure promptly, and the cushion itself reduces the structure and rocks for the preloading force that sensing unit provided.
In this embodiment, the rigid force application plane module is adopted to ensure that the force applied to the force application plane module can be completely transmitted and distributed to the sensing points of the sensing units, the force is distributed to the sensing points of the sensing units through the force bearing structure, and the accurate sensing and obtaining of resultant force are ensured, so that the force applied to the force application plane module can be sensed through the force feedback of the sensing units, and the position, the size and the surface moving speed of the applied force can be measured and calculated according to the force distribution characteristics. Through force sensor modularization, a large sensing area is covered by a small number of sensing units, the structure is simple, the cost is low, the cost of the force sensor is greatly reduced, and the popularization of the force sensor is promoted.
In one embodiment, as shown in fig. 3, the force sensor further includes a calculating module 50, and the calculating module 50 is connected to the sensing units 20 respectively and is used for calculating the force applied to the force application plane module 10 and the force application position according to the positions of the sensing units 20 and the sensing force. Preferably, the calculation module 50 is located below the force application plane module 10 or above the force receiving plane module 30.
The force application plane module comprises a force application plane module, a force receiving plane module, a force application plane module and a surface moving speed, wherein the force application plane module and the force application plane module are connected in series, and the force application plane module and the force receiving plane module are connected in series. And because the force sensor adopts a plurality of sensing units which can sense the dynamic information of the force, the force sensor can sense the moving speed of the force on the surface of the sensing units.
F＝f1+f2
x＝(f1/F)*Lx
The above formula is based on 2 sensing units, wherein F is the resultant force applied to the force application plane module; f1 and f2 are respectively 2 sensing units for sensing and acquiring the component force dispersedly transmitted by the force application plane module; lx is the length of the force application plane module on the x axis, and x is the position of the resultant force applied to the force application plane module; vx is the moving speed of the sensing force on the surface of the force sensor;
the first derivative of x, i.e. the rate of change of the force component and the resultant force at point x.
F＝f1+f2+f3+f4
x＝[(f1+f2)/F]*Lx
y＝[(f1+f3)/F]*Ly
The above formula is based on 4 sensing units, wherein F is the resultant force applied to the force application plane module; f1, f2, f3 and f4 are respectively used for sensing 4 sensing unitsAcquiring the component force dispersedly transmitted by the force application plane module, wherein the sensing units of f1 and f2 are at the same level on the x axis, and the sensing units of f1 and f3 are at the same level on the y axis; x is the position of the resultant force applied to the force application plane module on the x axis, and y is the position of the resultant force applied to the force application plane module on the y axis; lx is the length of the force application plane module on the x axis, Ly is the length of the force application plane module on the y direction, Vx is the moving speed of the sensing force on the surface of the force sensor on the x axis, and Yy is the moving speed of the sensing force on the surface of the force sensor on the y axis;
is the first derivative of x which is the rate of change of the force component and the resultant force at point x,
the first derivative of y, i.e. the rate of change of the force component and the resultant force at point y.
In this embodiment, the rigid force application plane module can ensure that the force applied to the force application plane module can be completely transmitted and distributed to each sensing unit sensing point, the force can be distributed to each sensing unit sensing point through the force bearing structure, and the accurate sensing and obtaining of resultant force are ensured, so that the force applied to the force application plane module can be sensed through the force feedback of a plurality of sensing units; based on the position of the sensing unit relative to the force application plane module and/or the force receiving and applying plane module and the sensing force feedback, the magnitude of the resultant force applied to the force application plane module, the force application position and the surface moving speed can be measured and calculated through the formula. Through force sensor modularization, a large sensing area is covered by a small number of sensing units, the structure is simple, the cost is low, the cost of the force sensor is greatly reduced, and the popularization of the force sensor is promoted. And because the force sensor adopts a plurality of sensing units which can sense dynamic information of force, the force sensor can sense the moving speed of the force on the surface of the sensing units.
In the present invention, the sensing unit built in the force sensor comprises a plurality of different sensing unit schemes.
For example:
in one embodiment, as shown in fig. 4, there are 2 sensing units, and 2 sensing units are respectively located between the force application plane module and the force receiving plane module, and are respectively connected to the force application plane module and the force receiving plane module, and the positions of the sensing units are fixed relative to the force application plane module and/or the force receiving and applying plane module; the force application plane module is used for dispersedly transmitting the force applied to the force application plane module to the 2 sensing units; and the sensing unit is used for sensing and acquiring the force dispersedly transmitted by the force application plane module.
In one embodiment, as shown in fig. 5, there are 3 sensing units, and the 3 sensing units are respectively located between the force application plane module and the force receiving plane module, distributed in a triangle, and respectively connected to the force application plane module and the force receiving plane module, and the positions of the sensing units are fixed relative to the force application plane module and/or the force receiving and applying plane module; the force application plane module is used for dispersedly transmitting the force applied to the force application plane module to the 3 sensing units; and the sensing unit is used for sensing and acquiring the force dispersedly transmitted by the force application plane module.
In one embodiment, as shown in fig. 6, there are 4 sensing units, where the 4 sensing units are respectively located between the force application plane module and the force receiving plane module, distributed in a rectangular or parallelogram shape, and respectively connected to the force application plane module and the force receiving plane module, and the positions of the sensing units are fixed relative to the force application plane module and/or the force receiving and applying plane module; the force application plane module is used for dispersedly transmitting the force applied to the force application plane module to the 4 sensing units; and the sensing unit is used for sensing and acquiring the force dispersedly transmitted by the force application plane module.
In one embodiment, as shown in FIG. 7, the present invention provides a force sensing device 200 comprising the force sensor 100 of any of the above embodiments.
Preferably, the force sensing equipment is arranged in the fingers of the dexterous hand, and the dexterous hand can adjust the rotation control and/or the grabbing force of the fingers of the dexterous hand according to the stress condition of the surfaces of the fingers of the dexterous hand obtained by the force sensing equipment to realize the accurate grabbing of the object.
The dexterous hand finger comprises a plurality of finger sections, a power mechanism for driving the finger sections to rotate relatively and a control circuit board; the knuckles are provided with a force sensor 100 as described in any of the above embodiments; the control circuit board is electrically connected with the force sensor and the power mechanism and is used for receiving and processing data information acquired by the force sensor and controlling the power mechanism. The force sensors 100 are arranged on a plurality of finger joints of the dexterous hand fingers and used for detecting the stress condition of the finger surface. The one end of dexterous hand finger is provided with electrical interface, electrical interface and control circuit board electric connection for peg graft dexterous hand main part with dexterous hand finger, so that control circuit board and dexterous hand main part switch on or communicate. Specifically, each dexterous hand finger includes first knuckle, second knuckle and third knuckle in proper order, and the one end that the second knuckle was kept away from to first knuckle is provided with electrical interface, can correspond the grafting and install on the corresponding finger mounting groove of dexterous hand main part, and the second knuckle carries out hinged joint with first knuckle, and the third knuckle carries out hinged joint with the second knuckle. A first force sensor device is disposed on the third knuckle. The second knuckle is provided with a control circuit board, a second force sensor device and a first power mechanism. The first power mechanism is arranged on the first knuckle, the control circuit board is electrically connected with the first force sensor device, the second force sensor device, the first power mechanism and the second power mechanism respectively, so that the third knuckle is driven to rotate relative to the second knuckle through the first power mechanism according to the surface stress condition of the third knuckle detected by the first force sensor device and the surface stress condition of the second knuckle detected by the second force sensor device, and the second power mechanism is driven to rotate relative to the first knuckle. Therefore, each dexterous hand finger is provided with the control circuit board to independently control the finger, namely each dexterous hand finger is provided with the force sensor equipment and the control unit, the functions of closed-loop control, sensor information processing, communication and the like of the finger can be realized, the control unit in the finger can realize the real-time control of the finger joint with higher efficiency, the control with higher precision can be realized, and the high-degree-of-modularity characteristic is realized. In addition, the third knuckle is driven to rotate relative to the second knuckle by the first power mechanism, and the second knuckle is driven to rotate relative to the first knuckle by the second power mechanism, namely, each finger of the dexterous hand adopts a full-drive scheme, so that the motion of each joint can be accurately controlled, and the motion requirements of each joint are met. It should be noted that the embodiments of the force sensing device and the embodiments of the force sensor belong to the same concept, and specific implementation processes thereof are described in detail in the embodiments of the force sensor, and technical features in the embodiments of the force sensor are applicable to the embodiments of the force sensing device, and are not described herein again.
In one embodiment, as shown in fig. 8, the present invention provides a method of measuring a force by a force sensor, the force sensor comprising: force application plane module, a plurality of sensing unit, atress plane module, wherein: the sensing units are positioned between the force application plane module and the force bearing plane module and are respectively connected with the force application plane module and the force bearing plane module, and the positions of the sensing units are fixed relative to the force application plane module and/or the force bearing plane module; the method comprises the following steps:
step S1, the force application plane module transmits the force applied to the force application plane module to a plurality of sensing units in a dispersing way;
and step S2, the sensing units sense and acquire the force dispersedly transmitted by the force application plane module.
In one embodiment, the force sensor further includes a plurality of force-receiving structures, the force-receiving structures are located below the force application plane module and respectively connected to the force application plane module and the plurality of sensing units, and the method further includes: the force-bearing structures transmit and distribute the force applied to the force application plane module to the sensing units.
In one embodiment, the force sensor further includes a calculation module, and the calculation module is respectively connected to the plurality of sensing units, and the method further includes: and the calculation module calculates and calculates the force and the force application position applied to the force application plane module according to the positions of the sensing units and the sensing force.
The force application plane module comprises a force application plane module, a force receiving plane module, a force application plane module and a surface moving speed, wherein the force application plane module and the force application plane module are connected in series, and the force application plane module and the force receiving plane module are connected in series. And because the force sensor adopts a plurality of sensing units which can sense the dynamic information of the force, the force sensor can sense the moving speed of the force on the surface of the sensing units.
F＝f1+f2
x＝(f1/F)*Lx
The above formula is based on 2 sensing units, wherein F is the resultant force applied to the force application plane module; f1 and f2 are respectively 2 sensing units for sensing and acquiring the component force dispersedly transmitted by the force application plane module; lx is the length of the force application plane module on the x axis, and x is the position of the resultant force applied to the force application plane module; vx is the moving speed of the sensing force on the surface of the force sensor;the first derivative of x, i.e. the rate of change of the force component and the resultant force at point x.
F＝f1+f2+f3+f4
x＝[(f1+f2)/F]*Lx
y＝[(f1+f3)/F]*Ly
The above formula is based on 4 sensing units, wherein F is applied to the force application planeThe resultant force of the face modules; f1, f2, f3 and f4 are respectively used for sensing and acquiring component forces which are dispersedly transmitted by the force application plane module for 4 sensing units, the sensing units of f1 and f2 are at the same level on the x axis, and the sensing units of f1 and f3 are at the same level on the y axis; x is the position of the resultant force applied to the force application plane module on the x axis, and y is the position of the resultant force applied to the force application plane module on the y axis; lx is the length of the force application plane module on the x axis, Ly is the length of the force application plane module on the y direction, Vx is the moving speed of the sensing force on the surface of the force sensor on the x axis, and Yy is the moving speed of the sensing force on the surface of the force sensor on the y axis;
is the first derivative of x which is the rate of change of the force component and the resultant force at point x,
the first derivative of y, i.e. the rate of change of the force component and the resultant force at point y.
It should be noted that the above method embodiment and the force sensor embodiment belong to the same concept, and specific implementation processes thereof are described in detail in the force sensor embodiment, and technical features in the force sensor embodiment are correspondingly applicable in the method embodiment, and are not described herein again.
In addition, an embodiment of the present invention further provides a force sensing apparatus, as shown in fig. 9, including: memory, a processor, and one or more computer programs stored in the memory and executable on the processor, the one or more computer programs when executed by the processor implementing the following steps of a method of force sensor estimation provided by an embodiment of the invention:
step S1, the force application plane module transmits the force applied to the force application plane module to a plurality of sensing units in a dispersing way;
and step S2, the sensing units sense and acquire the force dispersedly transmitted by the force application plane module.
In one embodiment, the force sensor further includes a plurality of force-receiving structures, the force-receiving structures are located below the force application plane module and respectively connected to the force application plane module and the plurality of sensing units, and the method further includes: the force-bearing structures transmit and distribute the force applied to the force application plane module to the sensing units.
In one embodiment, the force sensor further includes a calculation module, and the calculation module is respectively connected to the plurality of sensing units, and the method further includes: and the calculation module calculates and calculates the force and the force application position applied to the force application plane module according to the positions of the sensing units and the sensing force.
The force application plane module comprises a force application plane module, a force receiving plane module, a force application plane module and a surface moving speed, wherein the force application plane module and the force application plane module are connected in series, and the force application plane module and the force receiving plane module are connected in series. And because the force sensor adopts a plurality of sensing units which can sense the dynamic information of the force, the force sensor can sense the moving speed of the force on the surface of the sensing units.
F＝f1+f2
x＝(f1/F)*Lx
The above formula is based on 2 sensing units, wherein F is the resultant force applied to the force application plane module; f1 and f2 are respectively 2 sensing units for sensing and acquiring the component force dispersedly transmitted by the force application plane module; lx is the length of the force application plane module on the x axis, and x is the position of the resultant force applied to the force application plane module; vx is the moving speed of the sensing force on the surface of the force sensor;the first derivative of x, i.e. the rate of change of the force component and the resultant force at point x.
F＝f1+f2+f3+f4
x＝[(f1+f2)/F]*Lx
y＝[(f1+f3)/F]*Ly
The above formula is based on 4 sensing units, wherein F is the resultant force applied to the force application plane module; f1, f2, f3 and f4 are respectively used for sensing and acquiring component forces which are dispersedly transmitted by the force application plane module for 4 sensing units, the sensing units of f1 and f2 are at the same level on the x axis, and the sensing units of f1 and f3 are at the same level on the y axis; x is the position of the resultant force applied to the force application plane module on the x axis, and y is the position of the resultant force applied to the force application plane module on the y axis; lx is the length of the force application plane module on the x axis, Ly is the length of the force application plane module on the y direction, Vx is the moving speed of the sensing force on the surface of the force sensor on the x axis, and Yy is the moving speed of the sensing force on the surface of the force sensor on the y axis;
is the first derivative of x which is the rate of change of the force component and the resultant force at point x,
the first derivative of y, i.e. the rate of change of the force component and the resultant force at point y.
The method disclosed in the above embodiments of the present invention may be applied to the processor 901, or implemented by the processor 901. The processor 901 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be implemented by an integrated logic circuit of hardware or an instruction in the form of software in the processor 901. The processor 901 may be a general purpose processor, a DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 901 may implement or perform the methods, steps and logic blocks disclosed in the embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 902, and the processor 901 reads the information in the memory 902 and performs the steps of the foregoing method in combination with the hardware thereof.
It is to be understood that the memory 902 of embodiments of the present invention may be either volatile memory or nonvolatile memory, and may include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic Random Access Memory (FRAM), a magnetic Random Access Memory (Flash Memory) or other Memory technologies, a Compact disc Read-Only Memory (CD-ROM), a Digital Versatile Disc (DVD), or other optical disc storage, magnetic cartridge, magnetic tape, magnetic Disk storage, or other magnetic storage devices; volatile Memory can be Random Access Memory (RAM), and by way of exemplary and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Double Data Rate Synchronous Random Access Memory (ESDRAM), Synchronous Link Dynamic Random Access Memory (SLDRAM), Direct Memory bus Random Access Memory (DRRAM). The described memory for embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.
It should be noted that the embodiments of the force sensing device and the embodiments of the method belong to the same concept, and specific implementation processes thereof are described in the embodiments of the method, and technical features in the embodiments of the method are applicable to the embodiments of the force sensing device, which are not described herein again.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a program for measuring a force by a force sensor is stored on the computer-readable storage medium, and when the program for measuring the force by the force sensor is executed by a processor, the method for measuring the force by the force sensor provided by the embodiment of the present invention is implemented by the following steps:
step S1, the force application plane module transmits the force applied to the force application plane module to a plurality of sensing units in a dispersing way;
and step S2, the sensing units sense and acquire the force dispersedly transmitted by the force application plane module.
In one embodiment, the force sensor further includes a plurality of force-receiving structures, the force-receiving structures are located below the force application plane module and respectively connected to the force application plane module and the plurality of sensing units, and the method further includes: the force-bearing structures transmit and distribute the force applied to the force application plane module to the sensing units.
In one embodiment, the force sensor further includes a calculation module, and the calculation module is respectively connected to the plurality of sensing units, and the method further includes: and the calculation module calculates and calculates the force and the force application position applied to the force application plane module according to the positions of the sensing units and the sensing force.
The force application plane module comprises a force application plane module, a force receiving plane module, a force application plane module and a surface moving speed, wherein the force application plane module and the force application plane module are connected in series, and the force application plane module and the force receiving plane module are connected in series. And because the force sensor adopts a plurality of sensing units which can sense the dynamic information of the force, the force sensor can sense the moving speed of the force on the surface of the sensing units.
F＝f1+f2
x＝(f1/F)*Lx
The above formula is based on 2 sensing units, wherein F is the resultant force applied to the force application plane module; f1 and f2 are respectively 2 sensing units for sensing and acquiring the component force dispersedly transmitted by the force application plane module; lx is the length of the force application plane module on the x axis, and x is the position of the resultant force applied to the force application plane module; vx is the moving speed of the sensing force on the surface of the force sensor;the first derivative of x, i.e. the rate of change of the force component and the resultant force at point x.
F＝f1+f2+f3+f4
x＝[(f1+f2)/F]*Lx
y＝[(f1+f3)/F]*Ly
The above formula is based on 4 sensing units, wherein F is the resultant force applied to the force application plane module; f1, f2, f3 and f4 are respectively used for sensing and acquiring component forces which are dispersedly transmitted by the force application plane module for 4 sensing units, the sensing units of f1 and f2 are at the same level on the x axis, and the sensing units of f1 and f3 are at the same level on the y axis; x is the position of the resultant force applied to the force application plane module on the x axis, and y is the position of the resultant force applied to the force application plane module on the y axis; lx is the length of the force application plane module on the x axis, and Ly is the length of the force application plane module on the x axisLength in y direction, Vx is the moving speed of the sensing force on the surface of the force sensor on the x axis, Yy is the moving speed of the sensing force on the surface of the force sensor on the y axis;
is the first derivative of x which is the rate of change of the force component and the resultant force at point x,
the first derivative of y, i.e. the rate of change of the force component and the resultant force at point y.
It should be noted that, the embodiment of the method for measuring and calculating force by a force sensor on the computer-readable storage medium and the embodiment of the method belong to the same concept, and specific implementation processes thereof are described in detail in the embodiment of the method, and technical features in the embodiment of the method are applicable to the embodiment of the computer-readable storage medium, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A force sensor, comprising: force application plane module, a plurality of sensing unit, atress plane module, wherein: the sensing units are positioned between the force application plane module and the stress plane module and are respectively connected with the force application plane module and the stress plane module;
the force application plane module is used for dispersedly transmitting the force applied to the force application plane module to the plurality of sensing units;
the sensing units are used for sensing and acquiring the force which is dispersedly transmitted by the force application plane module.
2. The force sensor of claim 1, further comprising a plurality of force-receiving structures located below the force-application plane module and connected to the force-application plane module and the plurality of sensing units, respectively, for transmitting and distributing the force applied to the force-application plane module to the plurality of sensing units.
3. The force sensor of claim 2, wherein the force-receiving structure is a rigid raised post.
4. The force sensor according to claim 1, further comprising a calculating module, wherein the calculating module is connected to the sensing units respectively, and is configured to calculate the force applied to the force application plane module and/or the force application position and/or the surface moving speed according to the positions of the sensing units and the sensing force.
5. A force sensing device, characterized in that the sensing device comprises a force sensor according to any of claims 1-4.
6. A method of measuring a force with a force sensor, the force sensor comprising: force application plane module, a plurality of sensing unit, atress plane module, wherein: the sensing units are positioned between the force application plane module and the stress plane module and are respectively connected with the force application plane module and the stress plane module; the method comprises the following steps:
the force application plane module transmits the force applied to the force application plane module to the sensing units in a dispersing way;
the sensing units sense and acquire the force which is dispersedly transmitted by the force application plane module.
7. The method of claim 6, wherein the force sensor further comprises a plurality of force-bearing structures located below the force application plane module and connected to the force application plane module and the plurality of sensing units, respectively, the method further comprising: the force-bearing structures transmit and distribute the force applied to the force application plane module to the sensing units.
8. The method of claim 6, wherein the force sensor further comprises a computation module respectively connected to the plurality of sensing units, the method further comprising: and the calculation module calculates and calculates the force applied to the force application plane module and/or the force application position and/or the surface moving speed according to the positions of the sensing units and the sensing force.
9. A force sensing device, comprising: memory, processor and computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of a method of force sensor estimation as claimed in any one of claims 6 to 8.
10. A storage medium, on which a program of a force sensor measurement method is stored, which program, when executed by a processor, carries out the steps of a force sensor measurement method according to any one of claims 6 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911067275.6A CN110749393A (en) | 2019-11-04 | 2019-11-04 | Force sensor, force sensing device, method for measuring and calculating force, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911067275.6A CN110749393A (en) | 2019-11-04 | 2019-11-04 | Force sensor, force sensing device, method for measuring and calculating force, and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110749393A true CN110749393A (en) | 2020-02-04 |
Family
ID=69282035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911067275.6A Pending CN110749393A (en) | 2019-11-04 | 2019-11-04 | Force sensor, force sensing device, method for measuring and calculating force, and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110749393A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103776578A (en) * | 2014-02-20 | 2014-05-07 | 哈尔滨工业大学（威海） | Section internal force measurement sensor and calibration method |
| CN203772473U (en) * | 2014-02-18 | 2014-08-13 | 吉林大学 | Suspension K (kinematics) & C (compliance) test bed six-component sensor |
| CN104677543A (en) * | 2015-01-29 | 2015-06-03 | 重庆大学 | Piezoelectric type six-dimensional force/torque sensor adopting six groups of force-measuring sensitive units |
| CN107655392A (en) * | 2017-07-31 | 2018-02-02 | 东南大学 | A kind of three-dimensional Whisker Sensor for being accurately positioned terminal position |
| CN110023730A (en) * | 2016-11-24 | 2019-07-16 | 昆士兰大学 | Power sensing device |
-
2019
- 2019-11-04 CN CN201911067275.6A patent/CN110749393A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203772473U (en) * | 2014-02-18 | 2014-08-13 | 吉林大学 | Suspension K (kinematics) & C (compliance) test bed six-component sensor |
| CN103776578A (en) * | 2014-02-20 | 2014-05-07 | 哈尔滨工业大学（威海） | Section internal force measurement sensor and calibration method |
| CN104677543A (en) * | 2015-01-29 | 2015-06-03 | 重庆大学 | Piezoelectric type six-dimensional force/torque sensor adopting six groups of force-measuring sensitive units |
| CN110023730A (en) * | 2016-11-24 | 2019-07-16 | 昆士兰大学 | Power sensing device |
| CN107655392A (en) * | 2017-07-31 | 2018-02-02 | 东南大学 | A kind of three-dimensional Whisker Sensor for being accurately positioned terminal position |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11045945B2 (en) | Method for controlling walking of robot and robot | |
| Cirillo et al. | A conformable force/tactile skin for physical human–robot interaction | |
| US20200147787A1 (en) | Working robot and control method for working robot | |
| US20230264765A1 (en) | Method for estimating pose of humanoid robot, humanoid robot and computer-readable storage medium | |
| EP2271465A1 (en) | Robot parts assembly on a workpiece moving on an assembly line | |
| US20180345492A1 (en) | Direct teaching method of robot | |
| US20210197379A1 (en) | Method and device for controlling arm of robot | |
| CN111208809B (en) | Robot gait planning method and terminal equipment | |
| JPH09319420A (en) | Assembly robot | |
| CN113510698A (en) | Mechanical arm control method and device, mechanical arm and readable storage medium | |
| US20230398684A1 (en) | Method for foot/ground contact detection for robot, robot and computer-readable medium | |
| CN111360851B (en) | Hybrid servo control device and method for robot integrating touch and vision | |
| CN113352345A (en) | System, method and device for replacing quick-change device, electronic equipment and storage medium | |
| CN110749393A (en) | Force sensor, force sensing device, method for measuring and calculating force, and storage medium | |
| EP3802016B1 (en) | Apparatus, system, and method of docking for autonomous robot navigation | |
| CN113654747B (en) | Method and device for detecting joint stiffness of robot and robot | |
| US20190001502A1 (en) | Robot control device and robot system | |
| US11325268B2 (en) | Electronic device and method for calculating at least one parameter for measuring external force | |
| US20230182307A1 (en) | Jumping motion control method for biped robot, biped robot and computer-readable storage medium | |
| Sanders | Perception in robotics | |
| JP6546616B2 (en) | External device connection adapter for SSD | |
| JP2005028567A (en) | Walking control method of biped walking device | |
| Vertechy et al. | Real-time direct position analysis of parallel spherical wrists by using extra sensors | |
| US11691284B2 (en) | Robot control method, computer-readable storage medium and robot | |
| WO2003079190A3 (en) | Method, computer program product, computer program, storage medium comprising a computer program that is stored thereon, and computer system for safety-critical applications in machines, devices, and/or installations |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200204 |
|
| RJ01 | Rejection of invention patent application after publication |