CN102288126A - Non-contact finger deformation measuring device and measuring method - Google Patents
Non-contact finger deformation measuring device and measuring method Download PDFInfo
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- CN102288126A CN102288126A CN 201110213061 CN201110213061A CN102288126A CN 102288126 A CN102288126 A CN 102288126A CN 201110213061 CN201110213061 CN 201110213061 CN 201110213061 A CN201110213061 A CN 201110213061A CN 102288126 A CN102288126 A CN 102288126A
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Abstract
The invention discloses a non-contact finger deformation measuring device and a non-contact finger deformation measuring method. The device comprises a horizontal movable platform part, a height adjustment part and a pressure control part, wherein the horizontal movable platform part comprises X and Y direction stepping motors, X and Y direction movable platforms, a sensor bracket and a laser displacement sensor; the height adjustment part comprises a base, a ruler, a sliding block, a locking nut, a transparent organic glass plate and a screw; and the pressure control part comprises a pressure meter, a two-position electromagnetic valve and a proportional pressure valve. By the non-contact measuring method, the dynamic change process of finger deformation and the profile of the finger deformation are measured, and the distance between a finger and a nozzle and pressure in the nozzle can be conveniently adjusted to change the deformation of the finger.
Description
Technical field
The present invention relates to a kind of fingers deformed measurement mechanism, particularly a kind of non-contact type finger deformation measuring device and measuring method.
Background technology
When the people touched object and obtains tactile data, finger skin can stress deformation.Behind the finger skin stress deformation, can influence the mechanical sense neuronal cell of finger interior, thereby produce tactilely-perceptible, that is to say that the tactile data that obtains when touching object is relevant with distortion with the stressed of finger skin.Power suffered during the finger touch object is generally distribution pressure, and owing to present measurement means and precision for distribution pressure all is restricted, therefore when the research tactile sense reproduction, study the relation between tactilely-perceptible and the haptic stimulus and the degree true to nature of tactile sense reproduction with the distortion on finger skin surface.The distortion on finger skin surface is included in deformable contour and the change procedure under dynamic load under the static load.
Document 1:Vincent Levesque. Measurement of Skin Deformation Using Fingerprint Feature Tracking and document 2:Kiran Dandekar. Role of Mechanics in Tactile Sensing of Shape have proposed respectively to utilize image process method to measure the distortion of finger skin based on fingerprint characteristic and gauge point.Adopt image process method when calculating fingers deformed, complex disposal process, and profile that can only the static measurement fingers deformed, the not dynamic changing process of energy measurement fingers deformed.
Summary of the invention
The object of the present invention is to provide a kind of device and the measuring method that can measure fingers deformed, this device has the characteristics of non-cpntact measurement, do not influence the distortion of finger in the measuring process, not only can measure the deformable contour of finger, and can measure the dynamic changing process of fingers deformed.
Realize the technical solution of the object of the invention: a kind of non-contact type finger deformation measuring device, comprise the horizontal shifting platform part, highly regulate part and pressure control part, described horizontal shifting platform comprises that partly X is to horizontal shifting platform, Y is to horizontal shifting platform, sensor stand and laser displacement sensor, this Y is positioned at X on horizontal shifting platform to horizontal shifting platform, and it is vertical to horizontal shifting platform with X, this X comprises that to horizontal shifting platform X is to stepper motor, X is to mobile platform, X connects X to mobile platform to stepper motor by shaft coupling, Y comprises that to horizontal shifting platform Y is to stepper motor, Y is to mobile platform, Y connects Y to mobile platform to stepper motor by shaft coupling, described sensor stand is fixed on Y on mobile platform, and laser displacement sensor is fixed on the sensor stand; Described height adjusting portion branch comprises pedestal, scale, slide block, set nut, transparent plexiglass plate and screw, the center section of described pedestal upper surface is that the inclined-plane is used for placing finger, with center section join about two end surfaces be the plane, scale is vertically mounted on the right-hand member plane of pedestal, slide block along scale Z to moving, and can be locked on the scale by set nut, transparent plexiglass plate is connected with slide block by screw, this transparent plexiglass plate is vertical with scale, and parallel with pedestal; Described pressure control partly comprises source of the gas, proportional pressure valve, two solenoid valves and tensimeter, described source of the gas, proportional pressure valve, two solenoid valves are connected by tracheae with tensimeter, this tracheae also is connected with air intake opening on the transparent plexiglass plate, this air intake opening communicates with nozzle, this nozzle is positioned at the top of finger, and the industrial computer that matlab6.5/simulink software is housed is connected with tensimeter with laser displacement sensor; The pedestal of highly regulating part is parallel to mobile platform with the X of horizontal shifting platform part, the laser beam that laser displacement sensor sends passes transparent plexiglass plate and nozzle arrives finger surface, measure the distortion of finger, change the acting force that acts on the finger by the distance of regulating between proportional pressure valve pressure and nozzle and the finger, thereby change the distortion of finger.
The present invention compared with prior art, its remarkable advantage: (1) measurement mechanism is simple in structure, and the fingers deformed measuring process is simply rapid; (2) measurement mechanism adopts laser displacement sensor to measure the distortion of finger, belongs to non-cpntact measurement, and measuring process can not influence the distortion of finger; (3) can measure easily the dynamic changing process of finger certain point deformation under dynamic pressure and under constant pressure the profile of fingers deformed.
The present invention is described in further detail below in conjunction with accompanying drawing.
Description of drawings
Fig. 1 is the measuring principle figure of measurement mechanism of the present invention.
Fig. 2 is the overall construction drawing of measurement mechanism of the present invention.
Fig. 3 is the structural drawing of transparent plexiglass plate in the measurement mechanism of the present invention.
Fig. 4 measures the dynamic changing curve of fingers deformed for the present invention.
Fig. 5 measures the contour curve of fingers deformed for the present invention.
Embodiment
In conjunction with Fig. 1 and Fig. 2, non-contact type finger deformation measuring device of the present invention comprises the horizontal shifting platform part, highly regulate part and pressure control part, described horizontal shifting platform comprises that partly X is to horizontal shifting platform, Y is to horizontal shifting platform, sensor stand 8 and laser displacement sensor 9, this Y is positioned at X on horizontal shifting platform to horizontal shifting platform, and it is vertical to horizontal shifting platform with X, this X comprises that to horizontal shifting platform X is to stepper motor 4, X is to mobile platform 5, X connects X to mobile platform 5 to stepper motor 4 by shaft coupling, Y comprises that to horizontal shifting platform Y is to stepper motor 6, Y is to mobile platform 7, Y connects Y to mobile platform 7 to stepper motor 6 by shaft coupling, described sensor stand 8 is fixed on Y on mobile platform 7, and laser displacement sensor 9 is fixed on the sensor stand 8; Described height adjusting portion branch comprises pedestal 1, scale 10, slide block 11, set nut 12, transparent plexiglass plate 3 and screw 13, and the center section of described pedestal 1 upper surface is that the inclined-plane is used for placing finger 2, and the pitch angle on this inclined-plane is the 20-30 degree.With center section join about two end surfaces be the plane, scale 10 is vertically mounted on the right-hand member plane of pedestal 1, slide block 11 along scale 10Z to moving, and can be locked on the scale 10 by set nut 12, transparent plexiglass plate 3 is connected with slide block 11 by screw 13, this transparent plexiglass plate 3 is vertical with scale 10, and parallel with pedestal 1; Described pressure control partly comprises source of the gas 17, proportional pressure valve 16, two solenoid valves 15 and tensimeters 14, described source of the gas 17, proportional pressure valve 16, two solenoid valves 15 and tensimeter 14 are connected by tracheae, this tracheae also is connected with air intake opening 20 on the transparent plexiglass plate 3, this air intake opening 20 communicates with nozzle 21, this nozzle 21 is positioned at the top (nozzle 21 and finger 2 surfaces can keep the distance of 1-4mm) of finger 2, and the industrial computer that matlab6.5/simulink software is housed is connected with tensimeter 14 with laser displacement sensor 9;
Described height is regulated the front that part is positioned at the horizontal shifting platform part, and the pedestal 1 of highly regulating part is parallel to mobile platform 5 with the X of horizontal shifting platform part, the laser beam that laser displacement sensor 9 sends passes transparent plexiglass plate 3 and nozzle 21 arrives finger 2 surfaces, the distortion of measuring finger.Change the acting force that acts on the finger by the distance of regulating between proportional pressure valve 16 pressure and nozzle 21 and the finger 2, thereby change the distortion of finger.
Make the laser beam of laser displacement sensor 9 vertical with transparent plexiglass plate 3.X can make Y move to mobile platform 5 all around directions to mobile platform 7, X to stepper motor 4, Y to stepper motor 6 by control, thereby the laser beam of adjusting laser displacement sensor 9 sees through the position of transparent plexiglass plate 3, and the laser beam that laser displacement sensor 9 sends sees through transparent plexiglass plate 3 can be measured finger after the finger surface reflection deflection.Described slide block 11 to moving, is regulated nozzle 21 that is positioned on the transparent plexiglass plate 3 and the distance of pointing 2 surfaces along scale 10Z, after the distance between nozzle 21 and the finger 2 is determined, can be locked on the scale 10 by set nut 12.Described pressure control part provides pressurized air for the fingers deformed contour outline measuring set, and regulates compressed-air actuated pressure.
In conjunction with Fig. 3, the transparent plexiglass plate 3 of non-contact type finger deformation measuring device of the present invention is made up of transparent upper plate 18 and lower plate 19, air intake opening 20 on the described lower plate 19 is perpendicular to side 22, nozzle 21 on the described lower plate 19 is a through hole, bottom surface 23 perpendicular to lower plate 19, and communicate with air intake opening 20, described upper plate 18 is connected sealing with lower plate 19 by glass cement, can guarantee that pressurized air is by nozzle 21 ejections, affacting finger surface makes finger produce distortion, the laser beam that described laser displacement sensor 9 sends passes upper plate 18 and nozzle 21 arrives finger 2 surfaces, the distortion of measuring finger.
Utilize above-mentioned non-contact type finger deformation measuring device can realize the finger feature measurement of two kinds of forms: the one, measure the dynamic changing process of pointing certain point deformation under dynamic pressure; The 2nd, measure the profile of pointing fingers deformed under certain constant pressure.In conjunction with Fig. 1, Fig. 2 and Fig. 3, non-contact type finger deformable contour measuring method of the present invention, concrete steps are as follows:
1, the dynamic change of finger certain point deformation under dynamic pressure is measured, and comprises the steps:
Step 1: finger 2 is placed on the inclined-plane of pedestal 1, and by double faced adhesive tape finger 2 nails, one side and inclined-plane is fixed, and prevents to point 2 the loosening measurement result that influences; Adjust respectively X to mobile platform 5 and Y to mobile platform 7, make the laser beam of laser displacement sensor 9 be positioned at the center of the nozzle 21 on the transparent plexiglass plate 3, and make laser beam pass nozzle 21 to reach finger 2 surfaces; Adjust the position of slide block 11, transparent plexiglass plate 3 contact with finger 2, at this moment nozzle 21 is 0 with distance between the finger 2, and the slide block 11 that moves up then makes nozzle 21 and points distance between 2 between 1 ~ 4mm, uses set nut 12 that slide block 11 is locked.
Step 2: the pressure of resize ratio pressure valve 16 is between 0.05MPa ~ 0.5MPa, open industrial computer and utilize the displacement signal of matlab6.5/simulink software collection laser displacement sensor 9 and the pressure signal of tensimeter 14, open two solenoid valves 15 then, pressurized air is ejected into finger surface by nozzle 21 and makes fingers deformed, gathers the dynamic process of fingers deformed.If close solenoid valve 15, also can obtain the rejuvenation of finger skin distortion, as shown in Figure 4.Dotted line among the figure is represented pressure signal, and solid line is for the deformation curve of finger, and when opens solenoid valve 15, when pressure increased to 0.1MPa suddenly by 0, the distortion of finger increased gradually by 0; When closing solenoid valve 15, pressure was reduced to suddenly 0 o'clock by 0.1MPa, and the distortion of finger reduces gradually, and the dynamic changing process of fingers deformed is referred to as creep.By the pressure of resize ratio pressure valve 16 and the distance between adjusting nozzle 21 and the finger 2, can study the influence of pressure and distance for fingers deformed.
2, the profile measurement of finger fingers deformed under certain constant pressure comprises the steps:
Step 3: identical with the step 1 of the kinetic measurement of fingers deformed, adjust position and the nozzle 21 and the distance of pointing between 2 of laser displacement sensor 9.
Step 4: the pressure of resize ratio pressure valve 16 is between 0.05MPa ~ 0.5MPa, open the displacement signal that industrial computer utilizes matlab6.5/simulink software collection laser displacement sensor 9, control X at the uniform velocity moves a segment distance (as 5-10mm) left to mobile platform 5, can obtain pointing stressed position before, 2 surfaces like this; Open two solenoid valves 15 then, after finger fully is out of shape, control X is to the mobile platform 5 same distance that moves right, gather the displacement signal of laser displacement sensor 9 simultaneously, can obtain pointing stressed position afterwards, 2 surfaces like this, pointing 2 surperficial stressed front-back direction subtracts each other and just can obtain pointing 2 deformable contour, as shown in Figure 5, central point 0 place (nozzle centerline is at the subpoint of finger surface) fingers deformed maximum, distance apart from central point is big more, the distortion of finger reduces gradually, and finger deformable contour under pressure also just can obtain.By the pressure of resize ratio pressure valve 16 and the distance between adjusting nozzle 21 and the finger 2, can study the influence of pressure and distance for the fingers deformed profile.
Claims (4)
1. non-contact type finger deformation measuring device, it is characterized in that comprising the horizontal shifting platform part, highly regulate part and pressure control part, described horizontal shifting platform comprises that partly X is to horizontal shifting platform, Y is to horizontal shifting platform, sensor stand [8] and laser displacement sensor [9], this Y is positioned at X on horizontal shifting platform to horizontal shifting platform, and it is vertical to horizontal shifting platform with X, this X comprises that to horizontal shifting platform X is to stepper motor [4], X is to mobile platform [5], X connects X to mobile platform [5] to stepper motor [4] by shaft coupling, Y comprises that to horizontal shifting platform Y is to stepper motor [6], Y is to mobile platform [7], Y connects Y to mobile platform [7] to stepper motor [6] by shaft coupling, described sensor stand [8] is fixed on Y on mobile platform [7], and laser displacement sensor [9] is fixed on the sensor stand [8]; Described height adjusting portion branch comprises pedestal [1], scale [10], slide block [11], set nut [12], transparent plexiglass plate [3] and screw [13], the center section of described pedestal [1] upper surface is that the inclined-plane is used for placing finger [2], with center section join about two end surfaces be the plane, scale [10] is vertically mounted on the right-hand member plane of pedestal [1], slide block [11] along scale [10] Z to moving, and can be locked on the scale [10] by set nut [12], transparent plexiglass plate [3] is connected with slide block [11] by screw [13], this transparent plexiglass plate [3] is vertical with scale [10], and parallel with pedestal [1]; Described pressure control partly comprises source of the gas [17], proportional pressure valve [16], two solenoid valves [15] and tensimeter [14], described source of the gas [17], proportional pressure valve [16], two solenoid valves [15] and tensimeter [14] are connected by tracheae, this tracheae also is connected with air intake opening [20] on the transparent plexiglass plate [3], this air intake opening [20] communicates with nozzle [21], this nozzle [21] is positioned at the top of finger [2], and the industrial computer that matlab6.5/simulink software is housed is connected with tensimeter [14] with laser displacement sensor [9]; The pedestal [1] of highly regulating part is parallel to mobile platform [5] with the X of horizontal shifting platform part, the laser beam that laser displacement sensor [9] sends passes transparent plexiglass plate [3] and nozzle [21] arrives finger [2] surface, measure the distortion of finger, change the acting force that acts on the finger by the distance of regulating between proportional pressure valve [16] pressure and nozzle [21] and the finger [2], thereby change the distortion of finger.
2. non-contact type finger deformation measuring device according to claim 1 is characterized in that: the center section of pedestal [1] upper surface is the inclined-plane of inclination 20-30 degree.
3. non-contact type finger deformation measuring device according to claim 1, it is characterized in that: transparent plexiglass plate [3] is made up of transparent upper plate [18] and lower plate [19], air intake opening [20] on the described lower plate [19] is perpendicular to side [22], nozzle [21] on the described lower plate [19] is a through hole, bottom surface [23] perpendicular to lower plate [19], and communicate with air intake opening [20], described upper plate [18] is connected sealing with lower plate [19] by glass cement, to guarantee that pressurized air is sprayed by nozzle [21], affacting finger surface makes finger produce distortion, the laser beam that described laser displacement sensor [9] sends passes upper plate [18] and nozzle [21] arrives finger [2] surface, the distortion of measuring finger.
4. a non-contact type finger deformation measurement method is characterized in that measuring the dynamic changing process of fingers deformed and the profile of fingers deformed, promptly
At first, the device of design non-contact type finger deformation measurement, this non-contact type finger deformation measuring device comprises the horizontal shifting platform part, highly regulate part and pressure control part, described horizontal shifting platform comprises that partly X is to horizontal shifting platform, Y is to horizontal shifting platform, sensor stand [8] and laser displacement sensor [9], this Y is positioned at X on horizontal shifting platform to horizontal shifting platform, and it is vertical to horizontal shifting platform with X, this X comprises that to horizontal shifting platform X is to stepper motor [4], X is to mobile platform [5], X connects X to mobile platform [5] to stepper motor [4] by shaft coupling, Y comprises that to horizontal shifting platform Y is to stepper motor [6], Y is to mobile platform [7], Y connects Y to mobile platform [7] to stepper motor [6] by shaft coupling, described sensor stand [8] is fixed on Y on mobile platform [7], and laser displacement sensor [9] is fixed on the sensor stand [8]; Described height adjusting portion branch comprises pedestal [1], scale [10], slide block [11], set nut [12], transparent plexiglass plate [3] and screw [13], the center section of described pedestal [1] upper surface is that the inclined-plane is used for placing finger [2], with center section join about two end surfaces be the plane, scale [10] is vertically mounted on the right-hand member plane of pedestal [1], slide block [11] along scale [10] Z to moving, and can be locked on the scale [10] by set nut [12], transparent plexiglass plate [3] is connected with slide block [11] by screw [13], this transparent plexiglass plate [3] is vertical with scale [10], and parallel with pedestal [1]; Described pressure control partly comprises source of the gas [17], proportional pressure valve [16], two solenoid valves [15] and tensimeter [14], described source of the gas [17], proportional pressure valve [16], two solenoid valves [15] and tensimeter [14] are connected by tracheae, this tracheae also is connected with air intake opening [20] on the transparent plexiglass plate [3], this air intake opening [20] communicates with nozzle [21], this nozzle [21] is positioned at the top of finger [2], and the industrial computer that matlab6.5/simulink software is housed is connected with tensimeter [14] with laser displacement sensor [9]; The pedestal [1] of highly regulating part is parallel to mobile platform [5] with the X of horizontal shifting platform part, the laser beam that laser displacement sensor [9] sends passes transparent plexiglass plate [3] and nozzle [21] arrives finger [2] surface, measure the distortion of finger, change the acting force that acts on the finger by the distance of regulating between proportional pressure valve [16] pressure and nozzle [21] and the finger [2], thereby change the distortion of finger;
Secondly, the dynamic change of finger certain point deformation under dynamic pressure is measured, and comprises the steps:
Step 1: finger [2] is placed on the inclined-plane of pedestal [1], and by double faced adhesive tape finger [2] nail one side and inclined-plane is fixed, and prevents the loosening measurement result that influences of finger [2]; Adjust respectively X to mobile platform [5] and Y to mobile platform [7], make the laser beam of laser displacement sensor [9] be positioned at the center of transparent plexiglass plate [3] top nozzle [21]; Adjust the position of slide block [11], transparent plexiglass plate [3] is contacted with finger [2] surface, at this moment the distance between nozzle [21] and the finger [2] is 0, slide block [11] then moves up, make nozzle [21] and the distance of finger between [2] between 1 ~ 4mm, slide block [11] is locked with set nut [12];
Step 2: the pressure of resize ratio pressure valve [16] is between 0.05MPa ~ 0.5MPa, open industrial computer and utilize the displacement signal of matlab6.5/simulink software collection laser displacement sensor [9] and the pressure signal of tensimeter [14], open two solenoid valves [15] then, pressurized air is ejected into finger surface by nozzle [21] and makes fingers deformed, gather the dynamic process of fingers deformed, if close solenoid valve [15], obtain the rejuvenation of finger skin distortion;
Once more, the profile measurement of finger fingers deformed under certain constant pressure comprises the steps:
Step 3: identical with finger dynamic change measurement and step 1 of certain point deformation under dynamic pressure, adjust the position of laser displacement sensor [9] and the distance between nozzle [21] and the finger [2];
Step 4: the pressure of resize ratio pressure valve [16] is between 0.05MPa ~ 0.5MPa, open the displacement signal that industrial computer utilizes matlab6.5/simulink software collection laser displacement sensor [9], control X at the uniform velocity moves a segment distance left to mobile platform [5], obtains stressed position before, finger [2] surface; Open two solenoid valves [15] then, after finger fully is out of shape, control X is to mobile platform [5] the same distance that moves right, gather the displacement signal of laser displacement sensor [9] simultaneously, obtain the stressed position afterwards of finger surface, stressed front-back direction is subtracted each other the profile that must arrive the finger distortion.
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Cited By (6)
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| CN103954231A (en) * | 2014-03-28 | 2014-07-30 | 电子科技大学 | Non-contact measuring method for deformed plate and strip cross section profile in cold roll forming process |
| CN104568736A (en) * | 2014-12-12 | 2015-04-29 | 中国农业大学 | Nondestructive testing method for visco-elasticity of livestock and poultry meat |
| CN104569327A (en) * | 2014-12-12 | 2015-04-29 | 中国农业大学 | Nondestructive testing system for viscoelasticity of livestock and poultry meat |
| CN105858477A (en) * | 2015-08-11 | 2016-08-17 | 孙富亮 | Laser range finder capable of automatically adjusting position |
| CN107105565A (en) * | 2017-05-02 | 2017-08-29 | 西北工业大学 | A kind of slight pressure traverse measuring device and measuring method for plasma flow control |
| CN109798837A (en) * | 2019-01-09 | 2019-05-24 | 煤炭科学技术研究院有限公司 | A kind of hydraulic support column cylinder diameter deformation measuring device |
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| CN107105565A (en) * | 2017-05-02 | 2017-08-29 | 西北工业大学 | A kind of slight pressure traverse measuring device and measuring method for plasma flow control |
| CN109798837A (en) * | 2019-01-09 | 2019-05-24 | 煤炭科学技术研究院有限公司 | A kind of hydraulic support column cylinder diameter deformation measuring device |
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