CN113414763A - Overlapped optical signal touch sensing system based on soft body arm and touch detection method thereof - Google Patents
Overlapped optical signal touch sensing system based on soft body arm and touch detection method thereof Download PDFInfo
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- CN113414763A CN113414763A CN202110685249.0A CN202110685249A CN113414763A CN 113414763 A CN113414763 A CN 113414763A CN 202110685249 A CN202110685249 A CN 202110685249A CN 113414763 A CN113414763 A CN 113414763A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a soft-body-arm-based overlapped optical signal touch sensing system and a touch detection method thereof. The invention comprises a soft body arm actuating mechanism, a flexible circuit layer, a light emitting diode, a light sensor and an elastic light reflecting layer. The flexible circuit layer is sleeved outside the soft arm executing mechanism. The elastic light reflecting layer is sleeved on the outer side of the flexible circuit layer. And a gap is reserved between the elastic light reflecting layer and the flexible circuit layer. The flexible circuit layer and the elastic light reflecting layer are both elastic. And a plurality of light emitting diodes and a plurality of light sensors are arranged on the outer side wall of the flexible circuit layer. The optical signal network is formed on the inner side of the soft robot, and the deformation of the soft robot when touching an external object changes the optical signal network, so that the touched position is detected. In addition, the invention is matched with the pressure sensor, and after the contact position is acquired, the force applied to the contact position is calculated by using a terminal computer according to a mechanical principle.
Description
Technical Field
The invention belongs to the technical field of sensing equipment of a soft robot, and particularly relates to a method for wrapping a flexible circuit and a waveguide layer with a plurality of light emitting diodes and optical sensors outside a soft actuating mechanism, which can realize the touch sensing of the soft actuating mechanism with high precision.
Background
With the development of software robots and software execution mechanisms, software robots or software execution mechanisms are increasingly used in practical engineering practice in the future. However, due to the scalability and high degree of freedom of the soft robot, the soft robot has a great limitation in sensing applications such as touch sensing. Therefore, a soft-body-arm-based overlapped optical signal sensing system is proposed and designed to solve the limitations and deficiencies of the soft-body robot in touch sensing.
Disclosure of Invention
The invention aims to provide a soft body arm-based overlapped optical signal touch sensing system and a touch detection method thereof.
The invention relates to a soft-arm-based overlapped optical signal touch sensing system which comprises a soft-arm executing mechanism, a flexible circuit layer, a light emitting diode, an optical sensor and an elastic light reflecting layer. The flexible circuit layer is sleeved outside the soft arm executing mechanism. The elastic light reflecting layer is sleeved on the outer side of the flexible circuit layer. And a gap is reserved between the elastic light reflecting layer and the flexible circuit layer. The flexible circuit layer and the elastic light reflecting layer are both elastic. And a plurality of light emitting diodes and a plurality of light sensors are arranged on the outer side wall of the flexible circuit layer.
Preferably, the inner end of the flexible arm actuator is fixed to the pressure sensor.
Preferably, the soft arm actuator is a pneumatic telescopic or bending soft actuator. The inner end of the soft arm actuating mechanism is provided with a ventilation interface. The ventilation interface is led out to an external air pressure source through a ventilation pipe.
Preferably, a wire hole is formed at each position on the flexible circuit layer where the light emitting diode or the light sensor is mounted. And power supply wires and signal wires of the light-emitting diode and the light sensor are led to the space between the flexible circuit layer and the soft arm actuating mechanism through corresponding wire holes and are led out from the inner end of the flexible circuit layer.
Preferably, a plurality of positioning holes are formed around the position where the light-emitting diode or the light sensor is mounted on the flexible circuit layer. Each positioning hole corresponds to an elastic wire. The inner end of the elastic wire is fixed with the edge of the corresponding light-emitting diode or the corresponding light sensor, and the outer end of the elastic wire penetrates through the corresponding positioning hole and is provided with a ball joint. The ball joint is clamped on the inner side of the positioning hole.
Preferably, the outer side wall of the elastic light reflection layer is opaque.
The haptic detection method of the soft-body-arm-based overlapped optical signal haptic sensing system comprises the following specific steps of:
step one, electrifying the optical sensor, the light-emitting diode and the pressure sensor. A haptic cruise mode of operation is entered. In the tactile cruise mode of operation, all of the light emitting diodes emit light of the same spectrum.
And step two, when an external object touches the elastic light reflecting layer, the touched area of the elastic light reflecting layer is inwards sunken. The shape change of the elastic light reflecting layer causes the conduction of the optical signal inside the elastic light reflecting layer to change, and the optical signal received by a part of the optical sensor is influenced to change correspondingly. And determining a suspected area containing the position of the contact point according to the change of the optical signals received by each optical sensor. Then, each light-emitting diode in the suspected area respectively emits light rays with different spectrums; and calculating the position of the contact point according to the intensity of the optical signals of different spectrums received by each optical sensor. Meanwhile, the pressure magnitude and the contact point position detected by the pressure sensor are combined, and the pressure magnitude received by the contact point is calculated.
Preferably, the method for determining the suspected region is as follows: the optical sensor with the largest change in light intensity among the optical sensors is taken as a pseudo center. And taking a range with a preset size taking the suspected center as a central point as a suspected area.
Preferably, the suspected area is determined based on a trained neural network. The neural network takes the light intensity difference detected by each light sensor as input.
Preferably, the determination of the position of the contact point in the suspect region is performed by a neural network. The neural network specifically adopts a multi-task neural network with five hidden layers. Each hidden layer uses batch normalization and a ReLU activation function. The first three hidden layers are shared between the two tasks. The last two hidden layers are output layers. The multitask neural network uses the mean square error as a loss function, and 400 stages of training are carried out under ADAM optimizer, the batch size is 128, the initial learning rate is 0.001, and the initial learning rate is reduced to 0.0001 after 200 stages.
The invention has the beneficial effects that:
1. the invention forms an optical signal network on the inner side of the soft robot, and the optical signal network is changed through the deformation of the soft robot when touching an external object, thereby detecting the touched position, forming a touch sensing system which can be applied to the soft robot, overcoming the limitation of the scalability of the soft robot in sensor application, and the like.
2. The invention is matched with the pressure sensor, and after the contact position is acquired, the pressure applied to the contact position is calculated by using the terminal computer according to the mechanics principle.
3. The invention provides a method for overlapping optical signals for tactile sensing, namely, a single optical sensor receives the optical signals of a single light-emitting diode as a signal unit, so that n exists2The signal unit can effectively improve the precision of the touch sensor.
4. The invention provides an elastic wire design method, which still limits the relative movement between electronic components under the condition that a flexible circuit layer is deformed, and improves the feasibility and sensing precision of touch sensing on a soft robot.
5. The invention respectively utilizes the change of the light quantity of the same spectrum overlapping light signal and different spectrum overlapping light signals to carry out twice positioning, so that the positioning is more accurate, the too wide positioning range caused by the change of the light quantity of the same spectrum overlapping light signal is avoided, and the spectrum identification error of the optical sensor in the identification of the large-range different spectrum overlapping light signals is also avoided.
Drawings
FIG. 1 is a sectional view of the entire system of the present invention;
FIG. 2 is a schematic diagram of the principle of the present invention in which electronic components are mounted on a flexible circuit layer;
FIG. 3 is a conceptual diagram of overlapping optical signals according to the present invention;
FIG. 4 is a schematic diagram of the superimposed optical signal transmission of the present invention;
FIG. 5 is a flow chart of the detection of the present invention;
FIG. 6 is a schematic overall workflow of the present invention.
Detailed Description
It is an object of the present invention to provide a method of implementing a high precision haptic sensing system on a soft body arm.
As shown in fig. 1, 2 and 6, a soft-body arm based overlapped optical signal touch sensing system comprises a soft-body arm actuator 1, a flexible circuit layer 2, a light emitting diode 3, an optical sensor 4, an elastic light reflecting layer 5, a conducting wire 6, a pressure sensor 7 and an elastic wire 8. The soft arm actuating mechanism 1 is a pneumatic telescopic or bending soft actuator and is cylindrical, the inner end surface is a circular plane, and the outer end part is spherical. The inner end of the soft arm actuating mechanism 1 is provided with a ventilation interface. The ventilation interface is led out to an external air pressure source through a ventilation pipe 1-1. When the external air pressure source starts to be pressurized, the soft arm actuating mechanism 1 is extended and lengthened. The inner end of the flexible arm actuator 1 is fixed to the pressure sensor 7. The pressure sensor 7 can measure a pressure value for the pressure sensor, and is integrally in a round table shape. The axis of the pressure sensor 7 is coincident with the axis of the inner end of the soft-arm actuator 1. The signal of the pressure sensor 7 is transmitted to a computer terminal.
The shapes of the soft body arm actuating mechanism 1, the flexible circuit layer 2 and the elastic light reflecting layer 5 correspond to each other. The flexible circuit layer 2 is sleeved outside the soft arm actuator 1. The elastic light reflecting layer 5 is sleeved outside the flexible circuit layer 2. A gap is left between the elastic light reflecting layer 5 and the flexible circuit layer 2. The flexible circuit layer 2 and the elastic light reflecting layer 5 both have elasticity and can be deformed along with the extension and contraction of the soft arm actuating mechanism 1. The flexible circuit layer 2 is a thin wall made of a flexible material, and a gap is reserved between the thin wall and the soft arm executing mechanism 1.
As shown in fig. 1, 2 and 3, the flexible circuit layer 2 has 2n wire holes 2-2 at different positions on its outer side wall. Four positioning holes 2-1 are uniformly arranged around each wire guide hole 2-2, and n is more than or equal to 5. Wherein, the outer sides of the n wire holes are provided with light emitting diodes 3. And the outer sides of the other n wire holes are provided with optical sensors 4. The four corners of the light emitting diode 3 or the light sensor 4 are connected with the corresponding four positioning holes 2-1 through the elastic wires 8 respectively. The outer end of the elastic wire 8 penetrates through the corresponding positioning hole 2-1 and is provided with a spherical ball joint 8-1. The diameter of the ball joint 8-1 is larger than that of the positioning hole 2-1. The ball joint 8-1 is clamped at the inner side of the positioning hole 2-1, so that the limiting of the elastic rope 8 is realized. Four elastic cords 8 fix the corresponding light emitting diodes 3 or light sensors 4 on the outer side of the flexible circuit layer 2. The elastic wire 8 is a flexible thin wire with good elastic performance, and when the flexible circuit layer 2 deforms along with the soft arm executing mechanism 1, the light-emitting diode 3 and the optical sensor 4 are ensured to be continuously attached to the outer side of the flexible circuit layer 2 through the stretching of the elastic wire 8. The power supply wires and the signal wires of the light emitting diode 3 and the light sensor 4 are led out between the flexible circuit layer and the soft arm actuating mechanism 1 through corresponding wire holes and are led out from the inner end of the flexible circuit layer 2. The light emitting diode 3 is used to emit a light signal. The optical sensor 4 is used for receiving the optical signal reflected by the elastic light reflecting layer 5, and accordingly, the stress deformation condition of the elastic light reflecting layer 5 is judged, and the effect of simulating touch is achieved.
As shown in fig. 3 and 4, the elastic light reflection layer 5 is made of elastic material which can be stretched. The inner wall of the elastic light reflection layer 5 can reflect light wave signals, and the outer wall is light-tight. Any single light sensor 4 can receive the light signals transmitted by all the light emitting diodes 3 to form a superposed light signal. The light signal received by the single light sensor 4 to the single light emitting diode 3 is a signal unit, so that n is present2A signal unit. In the engineering, the light emitting diodes 3 and the optical sensors 4 are required to be arranged at a higher density at a position where the sensor sensitivity is high.
As shown in fig. 5, the light emitting diodes uniformly emit light of a white spectrum when an external object is not in contact with the sensor. When an object contacts the sensor, light propagation in the area near the contact point is affected due to the depression of the elastic light-reflecting layer at the contact position. Therefore, the light quantity of the superimposed optical signal of the same spectrum is influenced to change. At this time, the change in the light quantity of the superimposed optical signal of the same spectrum is fed back to the computer terminal, and the computer terminal calculates an approximate area of the contact point. The computer terminal controls the light emitting diodes in the area to emit light sources of different spectra, and then calculates a more accurate contact point position using the overlapping light signals of different spectra.
All the light emitting diodes 3 and the light sensors 4 are connected to the computer terminal by corresponding wires 6. The change in the light signal received by each light sensor 4 is analyzed by a computer. The shape of the elastic light reflecting layer 5 is the shape of the soft arm actuator 1 after being fully pressurized, and the size of each position of the elastic light reflecting layer 5 is larger than that of each position of the soft arm actuator after being fully pressurized.
The optical signal detected by each photosensor has a data point, and thus has n2A data point, n2Of the data points, data points that did not change before and after contact were discarded without further processing, and then m useful data points remained. And processing the data by using a feedforward neural network structure. The neural network architecture is customized to support the application of the system. Followed by a neural network for multi-touch detection. For localization and force prediction, we used a five-layer hidden layer multitasking neural network. Each hidden layer uses batch normalization and a ReLU activation function. The first three hidden layers are shared between the two tasks. Each output then has two separate hidden layers. We use the mean square error as a loss function. The neural network was trained in 400 stages under an ADAM optimizer with a batch size of 128, an initial learning rate of 0.001, and dropped to 0.0001 after 200 stages. For location prediction, the training data set is filtered to use only positive depths.
As shown in fig. 5, the specific method of the operation mode of the sensing system is as follows:
step one, an external air pressure source is used for pressurizing the soft arm actuating mechanism 1, and the soft arm actuating mechanism 1 extends and deforms to reach a required shape. At this time, the light emitting diode 3 and the photosensor 4 fixed to the outer wall of the flexible circuit layer 2 are each fixed by four elastic wires 8, and the elastic wires 8 are stretched. The positions of the light emitting diodes 3 and the light sensors 4 relative to the flexible circuit layer 2 do not change. The leads 6 for connecting the electronic components are left with a sufficient length.
And step two, electrifying the optical sensors 4, the light-emitting diodes 3 and the pressure sensors 7, and transmitting signals to the computer terminal by all the optical sensors 4. The change in the light signal received by each light sensor 4 is analyzed by a computer. At the same time the signal of the pressure sensor 7 is also transmitted to the computer terminal. A haptic cruise mode of operation is entered. In the cruise working mode, when the light emitting diodes do not contact with the sensor, the light sources are unified into a light source with a white spectrum.
And step three, when an external object touches the elastic light reflecting layer 5, the elastic light reflecting layer 5 changes in the touch area and is recessed inwards. The shape change of the elastic light reflecting layer 5 causes the conduction of the optical signal inside the elastic light reflecting layer to change, thereby affecting a part of the optical sensor 4 to receive the optical signal to generate corresponding change. At this time, the change of the light quantity of the overlapped light signals with the same spectrum is fed back to the computer terminal; the computer terminal takes the optical sensor 4 with the largest change in light intensity detected by each optical sensor 4 as a pseudo center through calculation. And taking a range with a preset size taking the suspected center as a central point as a suspected area. Further, the suspected area may also be determined from a trained neural network.
At the moment, the computer terminal controls each light-emitting diode in the suspected area to respectively emit light rays with different spectrums; the contact point position is calculated according to the intensity of the optical signals of different spectra received by each optical sensor 4. The contact point position calculation is implemented by a trained neural network. At the same time, the pressure sensor 7 receives a force signal. But the force signal is not the amount of force applied to the soft arm by an external contact. The computer terminal calculates the magnitude of the external contact applied force according to the mechanics principle and the obtained contact point position and the force signal of the pressure sensor 7.
Claims (10)
1. The soft arm-based overlapped optical signal touch sensing system comprises a soft arm execution mechanism (1); the method is characterized in that: the LED light source also comprises a flexible circuit layer (2), a light emitting diode (3), a light sensor (4) and an elastic light reflecting layer (5); the flexible circuit layer (2) is sleeved outside the soft arm actuating mechanism (1); the elastic light reflecting layer (5) is sleeved on the outer side of the flexible circuit layer (2); a gap is reserved between the elastic light reflecting layer (5) and the flexible circuit layer (2); the flexible circuit layer (2) and the elastic light reflection layer (5) both have elasticity; the outer side wall of the flexible circuit layer (2) is provided with a plurality of light emitting diodes (3) and a plurality of light sensors (4).
2. The soft-arm based overlapping optical signal haptic sensing system of claim 1, wherein: the inner end of the soft arm actuating mechanism (1) is fixed on the pressure sensor (7).
3. The soft-arm based overlapping optical signal haptic sensing system of claim 1, wherein: the soft arm actuating mechanism (1) is a pneumatic telescopic or bending soft actuator; the inner end of the soft arm actuating mechanism (1) is provided with a ventilation interface; the ventilation interface is led out to an external air pressure source through a ventilation pipe (1-1).
4. The soft-arm based overlapping optical signal haptic sensing system of claim 1, wherein: each position of the flexible circuit layer (2) where the light-emitting diode (3) or the optical sensor (4) is arranged is provided with a wire guide hole (2-2); the power supply wires and the signal wires of the light emitting diode (3) and the optical sensor (4) are led to the space between the flexible circuit layer and the soft arm actuating mechanism (1) through corresponding wire holes and are led out from the inner end of the flexible circuit layer (2).
5. The soft-arm based overlapping optical signal haptic sensing system of claim 1, wherein: a plurality of positioning holes (2-1) are formed around the position of each flexible circuit layer (2) where the light-emitting diode (3) or the light sensor (4) is arranged; each positioning hole (2-1) corresponds to one elastic thread (8); the inner end of each elastic wire (8) is fixed with the edge of the corresponding light-emitting diode (3) or the corresponding light sensor (4), and the outer end of each elastic wire penetrates through the corresponding positioning hole (2-1) and is provided with a ball joint (8-1); the ball joint (8-1) is clamped at the inner side of the positioning hole (2-1).
6. The soft-arm based overlapping optical signal haptic sensing system of claim 1, wherein: the outer side wall of the elastic light reflecting layer (5) is light-tight.
7. A haptic detection method in a soft-body arm based overlay optical signal haptic sensing system as claimed in claim 1, wherein: step one, electrifying an optical sensor (4), a light-emitting diode (3) and a pressure sensor (7); entering a haptic cruise mode of operation; in the tactile cruise working mode, all the light emitting diodes emit light rays with the same spectrum;
secondly, when an external object touches the elastic light reflecting layer (5), the touched area of the elastic light reflecting layer (5) is inwards sunken; the shape change of the elastic light reflecting layer (5) causes the conduction of the optical signal inside the elastic light reflecting layer to change, and the influence on the optical signal received by a part of the optical sensors (4) is correspondingly changed; determining a suspected area containing the position of the contact point according to the change of the optical signals received by each optical sensor (4); then, each light-emitting diode in the suspected area respectively emits light rays with different spectrums; calculating the position of a contact point according to the intensity of optical signals of different spectrums received by each optical sensor (4); meanwhile, the pressure applied to the contact point is calculated by combining the pressure detected by the pressure sensor (7) and the position of the contact point.
8. The haptic detection method of the soft-body arm based overlapped light signal haptic sensing system according to claim 1, wherein: the method for determining the suspected area comprises the following steps: the optical sensor (4) with the largest light intensity change detected in each optical sensor (4) is taken as a suspected center; and taking a range with a preset size taking the suspected center as a central point as a suspected area.
9. The haptic detection method of the soft-body arm based overlapped light signal haptic sensing system according to claim 1, wherein: the suspected area is determined according to a trained neural network; the neural network takes the light intensity difference detected by each light sensor as input.
10. The haptic detection method of the soft-body arm based overlapped light signal haptic sensing system according to claim 1, wherein: the contact point position is determined in the suspected area through a neural network; the neural network specifically adopts a multi-task neural network with five hidden layers; each hidden layer uses batch normalization and a ReLU activation function; the first three hidden layers are shared between the two tasks; the last two hidden layers are output layers; the multitask neural network uses the mean square error as a loss function, and 400 stages of training are carried out under ADAM optimizer, the batch size is 128, the initial learning rate is 0.001, and the initial learning rate is reduced to 0.0001 after 200 stages.
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