(Report Producer Author: Tianfeng**, Zhu Ye).
The importance of sensors in humanoid robots has increased significantly
The sensor ensures the sensitivity of the robot and promotes the intelligent upgrade: the sensor gives the robot a variety of perception capabilities such as vision, force, touch, smell, taste, etc., which can not only endow the robot with perception function from the outside, but also can be used to detect the internal working state of the robot itself, and effectively ensure and improve the accuracy and sensitivity of the robot's own actions by detecting and understanding the position, speed, temperature, load, voltage and other information of each jointIt also promotes the intelligent and informatization upgrade of robots.
The policy supports humanoid robots, focusing on key components such as sensors
Policy blessing humanoid robots, enabling the development of sensors: The Ministry of Industry and Information Technology released a list of "unveiling the leader" tasks for humanoid robots in September 23, of which 5 core foundations, 3 are about sensors, respectively, emphasizing key components such as force sensors, MEMS attitude sensors and tactile sensors.
The sensor is the second generation of Optimus with the largest marginal change
The main highlights of Tesla's second-generation Optimus humanoid robot are tactile sensors, force sensors, and more powerful balance perception. The second-generation Optimus is equipped with Tesla-designed actuators and sensors, a 2-DOF drive neck, a faster 11-DOF dexterous hand, a tactile sensor (10 fingers), an actuator with integrated electronics and wiring harnesses, a foot force torque sensor, and an articulated toe. With a weight reduction of 10kg, balance and total body control are improved, allowing for more focus on movement and control.
Humanoid robots significantly increase the demand for sensors
Humanoid robots increase the demand for sensors: Among the core components of robots, sensors, as an important part of robots, are the core of force-controlled swing and stable control, which can accurately measure randomly varying forces, and the value may be second only to key modules. Humanoid robots for the demand for sensors increases, torque sensors, there are currently micro pressure sensors, tensile pressure sensors, joint torque sensors, six-dimensional force sensors, etc., with the gradual mass production of humanoid robots, is expected to promote the expansion of the sensor industry. Tesla humanoid robot: According to the information disclosed by AI Day 2022, its first-generation Optimus has a total of 28 degrees of freedom on its body, and each rotating joint needs 1 torque sensor, and each linear joint needs 1 tension sensor and 1 position sensorAccording to the second-generation Optimus**, a number of Tesla's self-developed sensors (foot torque sensor, finger tactile sensor) have been added. UBTECH humanoid robot: According to the schematic diagram on the official website, a single robot needs 4 six-dimensional torque sensors (2 for hands and 2 for feet) and 1 high-precision inertial navigation sensor.
The market for humanoid robots is broad, and the penetration of intelligent service robots is accelerating
Accelerated penetration of global intelligent service robots: With the continuous decline of robots and the increasing application scenarios of solutions, the willingness of downstream customers to accept them has gradually increased, accelerating the rapid penetration of global intelligent service robot products and solutions. According to Frost & Sullivan, the global market for intelligent service robot products and solutions is expected to reach $62.8 billion in 2028, with a CAGR of 178% 。The penetration rate of China's intelligent service robots is expected to increase: At present, the penetration rate of China's intelligent service robot products and solutions is still low, and it is expected that cutting-edge artificial intelligence technology will greatly affect the development of China's intelligent robot products and solutions market in the next few years. According to Frost & Sullivan, China's intelligent service robot products and solutions market is expected to reach 183.2 billion yuan in 2028, with a CAGR of 23 during 2022-20285%。
Terminal force sensor: The six-dimensional force sensor is accurate in sensing, and technology + mass production is expected to promote cost reduction
According to the classification of measurement dimensions, force transducers can be divided into one-dimensional and multi-dimensional. The one-dimensional force sensor only detects the force in one direction, which is mostly hundreds of yuan, and is widely used in industrial scenesMulti-dimensional force transducers are capable of measuring forces in multiple dimensions, commonly three-dimensional and six-dimensional. The six-dimensional force sensor can measure the axial force of XYZ and the moment around the axis at the same time, and the internal algorithm can decouple the interference of force and torque in all directions, giving the most comprehensive force sensing information, with high technical barriers and difficult application.
Multi-dimensional force sensors are mainly composed of force-sensitive components, signal acquisition circuits, signal conditioning circuits, multi-dimensional signal decoupling systems (hardware software), host computers or embedded system information processing software, etc. The performance of the force sensitive element directly determines the sensitivity, range, resolution, rigidity and other performance indicators of the multi-dimensional force sensor. For example, the ATI strain gauge six-dimensional force sensor has three beams with four silicon strain gauges on each beam, which work in pairs to form a half-bridge circuit.
According to the data of ** platform products such as Ai Purchasing and Jingdong and Mi Rui Industry, the imported ATI six-dimensional force sensor ** is about 80,000 yuan, and the average price of a foreign-funded product is about 40,000 yuan;Domestic six-dimensional force sensor** is between 6,000-40,000 yuan, and the average price is more than 20,000 yuan. Foreign brand HBM strain gauge** is about 800-3000 yuan. Based on the use of 12 strain gauges for ATI six-dimensional force transducers, the cost of strain gauges will reach 096-3.60,000 yuan. According to the research data of MIR Rui Industry, the cost of domestic six-dimensional force sensors is only a few thousand yuan, and the profit margin is high, and a single product is expected to drop to about 5,000 yuan within two years.
Six-dimensional force sensor: robots leverage the market space, and mass production of high-quality production capacity is scarce
In terms of sales: In 2022, the sales volume of six-dimensional torque sensors in the Chinese market will be 8,360 sets, a year-on-year increase of 5797%, of which the robot industry sold 4,840 sets, a year-on-year increase of 6258%。GGII predicts that by 2027, the sales volume of six-dimensional torque sensors in the Chinese market is expected to exceed 84,000 sets, with a compound growth rate of more than 60%, of which the sales volume of the robot industry is expected to exceed 42,000 sets
In terms of space: the market size of China's six-dimensional torque sensor in 2022 will be 23.9 billion yuan, a year-on-year increase of 5204%, of which the six-dimensional torque sensor market size of the robot industry is 15.6 billion yuan, a year-on-year increase of 54 35%。GGII predicts that the market size of China's six-dimensional torque sensor will exceed 1.5 billion yuan in 2027, with a compound growth rate of more than 45%.
The market size is expected to grow rapidly: Six-dimensional force measurement technology is a platform technology, which is mainly used in robotics, automobiles, aerospace and other fields. At present, the market base of six-dimensional torque sensor is still small, and no obvious scale effect has been formedWith the expansion of application fields, six-dimensional force and torque sensors are expected to enter a period of high-speed growth, during which they may be accompanied by the improvement of the product matrix of multi-technology routes, the decline of product quality and the improvement of localization rate.
Humanoid robots: focus on joint + end solutions, and the market potential is broad
According to Miri's research, it is generally believed in the industry that a humanoid robot needs at least four six-dimensional force sensors and dozens of joint torque sensors. We calculated the application scheme and market size of the terminal six-dimensional force + joint torque sensor corresponding to the shipment volume of different humanoid robots, and the main assumptions are as follows: Number of sensors: Taking Optimus as an example, 4 six-dimensional force sensors are required at the end of the limbs, and the body part has a total of 28 joints, including 14 rotary joints, and a maximum of 14 joint torque sensors are requiredSensor**: The unit price of the current terminal six-dimensional force and joint torque sensor is about yuan, assuming that the shipment of millions of robots** is yuan.
Touch is an important way for robots to perceive, and the market for flexible sensors is broad
Multi-dimensional haptics is an important form of perception for robots, which plays a central role in many scenarios1) Multi-dimensional haptics enable the robot to perceive multi-dimensional information such as hardness, roughness, and shape of the object, so that the robot can more accurately perceive and understand the characteristics of the object in the environment, which is the basis for the robot to realize the precise operation of the object and perform complex tasks. 2) Ensure that the robot can still function in complex environments (vision system failure), and enhance the reliability of robots in complex environments. 3) Enables the robot to control the force exerted on the object, so as to achieve a more refined and intelligent force control operation.
Pressure detection is an important aspect of tactile perception: Tactile perception is an important way for robots to obtain information about the external environment, among which pressure detection is an important aspect of tactile perception. The so-called "flexibility" refers to the fact that the tactile sensor has physical characteristics similar to that of human beings, that is, it has a certain degree of flexibility to cover the surface of the carrier to measure the force information, so as to perceive the characteristic information of the target object. Therefore, the development of flexible pressure sensing technology is crucial in the field of machine tactile perception.
Flexible Pressure Sensors: Piezoresistive sensors may become mainstream
According to the sensing principle, flexible pressure sensors can be mainly divided into: piezoresistive (resistive), capacitive, inductive, piezoelectric, photoelectric, etc.: capacitive type: under the action of external force, the relative position between the two electrode plates changes, resulting in the change of capacitance between the two stages, and the detection is realized by detecting the change of capacitance. The advantages are large measurement range, good linearity, low manufacturing cost and high real-time performanceThe disadvantages are large physical size, not easy to integrate, easy to be affected by noise, and poor stability. Inductive type: The principle of electromagnetic induction is used to convert the pressure into the change of the self-inductance coefficient and mutual inductance coefficient of the coil, and the change of the magnetic field is converted into an electrical signal through the magnetic circuit system, so as to detect the pressure signal on the contact surface. The advantages are low manufacturing costs and a large test range;The disadvantages are that the magnetic field distribution is difficult to control and the resolution is low;Poor consistency. Piezoelectric: A sensor based on the piezoelectric effect, which is a self-generating and electromechanical conversion sensor. The advantage is a wide dynamic range and good durability;The disadvantage is that it is susceptible to thermal effects.
Flexible MEMS pressure sensor: high spatial resolution and sensitivity
MEMS technology is used in most tactile sensors: Most commonly used tactile sensors are more or less MEMS technology, and such sensors have high spatial resolution, but MEMS haptic devices are easily damaged. Flexible MEMS pressure sensor: The MEMS pressure sensor made of flexible materials can sense the force by directly detecting the deformation of the material surface, compared with the traditional silicon-based MEMS pressure sensor, the flexible MEMS sensor has lower requirements for the structure and internal space structure of other parts of the system, has stronger adaptability, and has a wide range of applications. Conventional MEMS pressure sensors: Pressure is measured primarily by measuring changes in the distance between the panel and the fixed position, resulting in a squeeze on the MEMS contactsBecause it is necessary to detect the change of panel spacing, it needs to be tightly supported, the dependence on the structure is high, and it is easy to be affected by the change of external structure, which also makes it have higher requirements for other component structure and internal structure on its deployment, and the assembly is more complex, and the adaptability and application range are relatively narrow.
Hanwei Technology: Nengstar is based on flexible micro-nano sensing and creates a new future for the soft knowledge industry
Hanwei Technology has a comprehensive layout of sensor business: the company's sensor business integrates R&D, production and sales, and masters core processes such as thick film, thin film, MEMS, ceramics, etc., and its products cover gas, pressure, flow, temperature, humidity, optoelectronics, acceleration and other categories, which is one of the core business segments with the most growth and value. The business of this sector is mainly carried out by the company's subsidiaries Weisheng Technology, Shanxi Tengxing, Shenzhen Hanwei, Suzhou Nengsida, etc.
In 2013, the layout of flexible sensors began: Suzhou Nengstar (a holding subsidiary), a member of Hanwei Sensor Industry Cluster, has overcome key technical problems such as low sensitivity, poor stability and large-scale manufacturing difficulties of flexible micro-nano sensors, and established a stable nano-sensitive material system. It has mastered the five core technologies of flexible piezoresistive, flexible piezoelectric, flexible temperature and humidity, flexible capacitor and flexible sweat, and has eight product series of flexible pressure sensors, flexible piezoelectric sensors, flexible fabrics, flexible strain sensors, flexible temperature and humidity sensors, flexible thermal sensors, flexible capacitive sensors, and flexible sweat sensors, with more than 100 core patents, and also has an ultra-clean printing line and assembly line with an annual output of 10 million flexible sensors. Strategic emerging industries such as IoT have been applied to the Internet, and they are at the international leading level in the industrialization of flexible sensors.
Keli Sensing: the leading strain sensor in China, expanding the six-dimensional force + torque sensor
Humanoid robots lead the new trend of sensing and closely track development opportunities: Humanoid robots "embodied intelligence + AI" open up imagination space for the development of the sensor industry and lead a new round of development trend of the intelligent sensor industry. Keli Sensing launched the overall sensor market research plan, tracked the market changes in the robot industry and sensor demand and competition analysis every month, focused on the customer demand of tactile sensors, sensor competitors and new products, and provided support for product research and development direction and system construction.
Innovative sensors are beginning to take shape, and R&D + investment has entered the fast lane: On the basis of the existing high-end force sensors such as miniature, torque, two-dimensional and three-dimensional six-dimensional force, Keli Sensing has accelerated independent research and development, actively sought cooperation with major robot manufacturers, and has realized the sampling and trial production of a variety of torque sensors and multi-dimensional force sensor products as of the first half of 2023. The company actively promotes multi-dimensional force and robot sensor investment projects, integrates micro sensor investment projects, and negotiates investment projects with relevant enterprises across the country. The company has built a new R&D center in Shenzhen, making full use of local resources to build a miniature sensor production line and promote the landing of Keli Sensing Valley. Accelerate the development of robot sensors to 100 million revenues.
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