Sensor Device with a Combined Force and Capacitance Sensor

Abstract

A sensor device with a combined sensor to detect a force applied to the sensor by an object made of a material, a position of the force, and a capacitive coupling of the sensor with the object, including: a database to provide relationships Z.sub.n of a capacitive coupling C.sub.SEN-OBJ-MATn of the sensor with an object OBJ made of a material MAT.sub.n for a number N of materials MAT.sub.n, the relationships depending on a force F.sub.ext,OBJ of the object OBJ applied to the sensor, wherein n=1, 2, . . . , N and N≥1; a detection unit to determine force F.sub.ext(t), position POS.sub.Fext (t), and capacitive coupling C.sub.SEN-OBJ(t) from sensor data of the sensor; an evaluation unit to determine a material MAT* of the object OBJ applying the force F.sub.ext(t) to the sensor based on the relationships Z.sub.n, wherein MAT* ϵ MAT.sub.n; and an output unit to output the material MAT*.

Claims

1. A sensor device with a combined sensor configured to simultaneously detect a mechanical force F.sub.ext applied to the sensor by an object OBJ made of a material MAT, a position POS.sub.Fext of the mechanical force F.sub.ext applied to the sensor and an electrical capacitive coupling C.sub.SEN-OBJ of the sensor with the object OBJ made of the material MAT, the sensor device comprising: a database configured to provide relationships Z.sub.n of a capacitive coupling C.sub.SEN-OBJ-MATn of the sensor with the object OBJ made of a material MAT.sub.n for a number N of specified materials MAT.sub.n as a function of a mechanical force F.sub.ext,OBJ that the object OBJ applies to the sensor, wherein n=1, 2, . . . , N and N≥1; a detection unit configured to detect current values: force F.sub.ext(t), position POS.sub.Fext(t) and capacitive coupling C.sub.SEN-OBJ(t) from sensor data of the sensor; an evaluation unit configured to determine a material MAT* of the object OBJ that applies the force F.sub.ext(t) to the sensor based on the relationships Z.sub.n, wherein MAT* ϵ MAT.sub.n; and an output unit configured to output the material MAT*.

2. The sensor device according to claim 1, wherein the relationships Z.sub.n provided by the database include a dependency of the capacitive coupling C.sub.SEN-OBJ-MATn on a frequency Fu of a measurement voltage of the sensor: Z.sub.n=Z.sub.n(F.sub.u), and the output unit is configured to determine and output the capacitive coupling C.sub.SEN-OBJ(t) for different frequencies Fu.

3. A gripping device with a sensor device according to claim 1.

4. The gripping device according to claim 3, wherein the gripping device comprises at least one gripper jaw having a gripping surface configured to grip the OBJ, wherein the combined sensor is arranged on the gripping surface.

5. A robot comprising a robot manipulator with the gripping device according to claim 3.

6. A machine configured to be manipulated by a human, the machine having the sensor device according to claim 1.

7. A method of operating a sensor device with a combined sensor and configured to simultaneously detect a mechanical force F.sub.ext applied to the sensor by an object OBJ made of a material MAT, a position POS.sub.Fext of the mechanical force F.sub.ext applied to the sensor, and an electrical capacitive coupling C.sub.SEN-OBJ of the sensor with the object OBJ made of the material MAT, the method comprising: providing relationships Z.sub.n of a capacitive coupling C.sub.SEN-OBJ-MATn of the sensor with the object OBJ made of a material MAT.sub.n for a number N of specified materials MAT.sub.n as a function of a mechanical force F.sub.ext,OBJ that the object OBJ applies to the sensor, wherein n=1, 2, . . . , N and N≥1; detecting current values: force F.sub.ext(t), position POS.sub.Fext(t) and capacitive coupling C.sub.SEN-OBJ(t) with the sensor, determining a material MAT* of the object OBJ that applies the force F.sub.ext(t) on the sensor, wherein MAT* ϵ MAT.sub.n, based on the relationships Z.sub.n; and outputting the material MAT*.

8. The method according to claim 7, wherein the method comprises outputting the force F.sub.ext(t) and/or the position POS.sub.Fext(t) of the force F.sub.ext(t).

9. The method according to claim 7, wherein the relationships Z.sub.n include a dependency of the capacitive coupling C.sub.SEN-OBJ-MATn on a frequency Fu of a measurement voltage of the sensor Z.sub.n=Z.sub.n(F.sub.u), and the method comprises determining and outputting C.sub.SEN-OBJ,Fu(t) for different frequencies Fu.

10. The method according to claim 7, wherein the method comprises: specifying a material MAT″; and generating a signal if MAT*=MAT″, wherein the signal is capable of being used to control a machine.

11. The sensor device according to claim 1, wherein the output unit is configured to output the force F.sub.ext(t) and/or the position POS.sub.Fext(t) of the force F.sub.ext(t).

12. The sensor device according to claim 1, wherein a material MAT″ is specified, and the output unit is configured to generate a signal if MAT*=MAT″, wherein the signal is capable of being used to control a machine.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In the drawings:

[0026] FIG. 1 shows a highly schematic structure of a sensor device according to the invention; and

[0027] FIG. 2 shows a highly schematized flowchart of a method according to the invention.

DETAILED DESCRIPTION

[0028] FIG. 1 shows a highly schematic structure of a sensor device according to the invention. In particular, there is provided a sensor device with a combined sensor (101) adapted and configured for simultaneously detecting a mechanical force F.sub.ext applied to the combined sensor (101) by an object OBJ made of a material MAT, a position POS.sub.Fext of the force input F.sub.ext to the sensor (101), and an electrical capacitive coupling C.sub.SEN-OBJ of the sensor (101) with the object OBJ made of the material MAT, the sensor device including: a database (102) to provide relationships Z.sub.n of the capacitive coupling C.sub.SEN-OBJ-MATn of the sensor (101) with an object OBJ made of a material MAT.sub.n for a number N of specified materials MAT.sub.n as a function of a mechanical force F.sub.ext,OBJ that the object OBJ applies to the sensor (101), wherein n=1, 2, . . . , N and N≥1; a detection unit (103) to detect the current values: force F.sub.ext (t), position POS.sub.Fext (t), and capacitive coupling C.sub.SEN-OBJ(t) from sensor data of the sensor (101); an evaluation unit (104) to determine a material MAT* of the object OBJ that applies the force F.sub.ext (t) to the sensor (101) based on the relationships Z.sub.n, wherein MAT* ϵ MAT.sub.n; and an output unit (105) to output the determined material MAT*. The force F.sub.ext(t) and the position POS.sub.Fext(t) of the force can also be output.

[0029] FIG. 2 shows a highly schematized flowchart of a method according to the invention. In particular, there is provided a method of operating a sensor device with a combined sensor (101) which is adapted and configured for simultaneously detecting a mechanical force F.sub.ext applied to the sensor (101) by an object OBJ made of a material MAT, a position POS.sub.Fext of the force input F.sub.ext to the sensor (101), and an electrical capacitive coupling C.sub.SEN-OBJ of the sensor (101) with the object OBJ made of the material MAT, the method including: providing (201) relationships Z.sub.n of the capacitive coupling C.sub.SEN-OBJ-MATn of the sensor (101) with an object OBJ made of a material MAT.sub.n for a number N of specified materials MAT.sub.n as a function of a mechanical force F.sub.ext,OBJ that the object OBJ applies to the sensor (101), wherein n=1, 2, . . . , N and N≥1; detecting (202) current values: force F.sub.ext(t), position POS.sub.Fext(t), and capacitive coupling C.sub.SEN-OBJ(t) with the sensor (101); determining (203) a material MAT* of the object OBJ that applies the force F.sub.ext(t) on the sensor (101), wherein MAT* ϵ MAT.sub.n, based on the relationships Z.sub.n; and outputting (204) the determined material MAT*. The force F.sub.ext(t) and the position POS.sub.Fext(t) of the force can also be output.

[0030] Although the invention has been further illustrated and described in detail by way of preferred example embodiments, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by a person skilled in the art without departing from the scope of the invention. It is therefore clear that there is a multitude of possible variations. It is also clear that example embodiments are really only examples, which are not to be construed in any way as limiting the scope, applicability, or configuration of the invention. Rather, the foregoing description and description of the figures enable a person skilled in the art to implement the example embodiments, and such person may make various changes knowing the disclosed inventive concept, for example, with respect to the function or arrangement of individual elements cited in an example embodiment, without departing from the scope as defined by the claims and their legal equivalents, such as a more extensive explanation in the description.

LIST OF REFERENCE NUMERALS

[0031] 101 combined sensor [0032] 102 database [0033] 103 detection unit [0034] 104 evaluation unit [0035] 105 output unit [0036] 201-204 method steps