CN108534928A - Pressure distribution sensor - Google Patents
Pressure distribution sensor Download PDFInfo
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- CN108534928A CN108534928A CN201710129490.9A CN201710129490A CN108534928A CN 108534928 A CN108534928 A CN 108534928A CN 201710129490 A CN201710129490 A CN 201710129490A CN 108534928 A CN108534928 A CN 108534928A
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- Prior art keywords
- buckling
- pressure
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- sensor
- optical
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- 238000009826 distribution Methods 0.000 title claims abstract description 52
- 230000003287 optical effect Effects 0.000 claims abstract description 76
- 238000003384 imaging method Methods 0.000 claims abstract description 40
- 230000008859 change Effects 0.000 claims description 19
- 239000000463 material Substances 0.000 claims description 13
- 239000013013 elastic material Substances 0.000 claims description 9
- 230000009466 transformation Effects 0.000 claims description 9
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 6
- 230000008033 biological extinction Effects 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 6
- 238000002474 experimental method Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 5
- 230000005489 elastic deformation Effects 0.000 claims description 5
- 238000005286 illumination Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 230000011514 reflex Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 7
- 238000005259 measurement Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 4
- 238000009776 industrial production Methods 0.000 abstract description 3
- 229920002379 silicone rubber Polymers 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 229910021418 black silicon Inorganic materials 0.000 description 2
- 239000000306 component Substances 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000004425 Makrolon Substances 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 229920000126 latex Polymers 0.000 description 1
- 239000004816 latex Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229920000515 polycarbonate Polymers 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012887 quadratic function Methods 0.000 description 1
- 238000005211 surface analysis Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/247—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet using distributed sensing elements, e.g. microcapsules
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The present invention relates to a kind of pressure distribution sensors, particularly, belong to a kind of pressure distribution that can measure contact surface, and the sensing device of output digital image.It is characterized in that：Including buckling optical module and imaging sensor, pressure distribution is converted to optical signal by buckling optical module, and the optical signal is converted to digital picture by imaging sensor, and each pixel of digital picture embodies the optical characteristics in buckling one regional area of optical module.Buckling optical module includes optical imagery module, and optical imagery module utilizes pinhole imaging system principle, lens imaging principle or catoptric imaging principle, the image of buckling optical module is delivered to imaging sensor.The mode that integrated circuit may be used in the circuit part of pressure distribution sensor is produced in batches, so as to greatly reduce use cost, on the other hand utilizes existing integrated circuit technique and micro-imaging technique, the pressure distribution measurement of ultrahigh resolution may be implemented.The technology can be widely applied to the fields such as industrial production and assembly, medical technology.
Description
Technical field
The present invention relates to pressure distribution sensors, particularly, belong to a kind of pressure distribution that can measure contact surface, and defeated
Go out the sensing device of digital picture.
Background technology
In the fields such as industrial production and assembly, medical technology, the pressure distribution situation for measuring contact surface is needed, is gone out in the market
A large amount of relevant technologies are showed.
For example, the Xsensor pressure-measuring systems of ROHO companies, which is the pressure based on capacitance type sensor
Power measuring technique can measure surface pressing of the human body on different supporting surfaces.System can be applied to multiple fields, such as mattress wheelchair
Surface Analysis of Human Comfort etc..Comparison patent US7258026B2 discloses a kind of pressure invented by Tekscan companies of the U.S.
Distribution sensor technology, the sensor are the latticed tactile pressure sensor of fexible film.Fexible film grid tactile pressure passes
The thickness of sensor is only 0.1mm, and the flexibility of the pressure sensor is very well, thus can measure the pressure between various contact surfaces
Power, the force analysis which can be used in industrial production and assembly, such as carry out force analysis when robotic arm crawl target.
Comparison patent CN102783955A discloses a kind of pressure distribution inspection being made of sensor array and wheatstone bridge circuits etc.
Device is surveyed, the fields such as biomethanics engineering, medical rehabilitation, rehabilitation accessory performance detection are mainly used for.
However, sensor interlock circuit is set to the contact surface for needing to measure pressure distribution by these technologies, this makes
Measurement under different situations is needed to develop different circuits.For example, when needing the resolution ratio measured to change, or
When the pressure limit measured being needed to change, corresponding circuit is required to change.This mode is difficult to carry out large-scale production,
Cost is high, seriously limits being widely used for pressure distribution sensor.On the other hand, it is limited by circuit, existing skill
The measurement limited spatial resolution of art is usually no more than ten induction points within the scope of each square millimeter.
Invention content
The present invention for prior art there are the problem of, a kind of modular pressure distribution sensor is provided, electricity
The mode that integrated circuit may be used in road part is produced in batches, so as to greatly reduce use cost, is on the other hand utilized
The pressure distribution measurement of ultrahigh resolution, technical solution may be implemented in existing integrated circuit technique and micro-imaging technique
It is as follows.
According to the present invention, a kind of pressure distribution sensor, including buckling optical module and imaging sensor, buckling light are provided
It learns module and pressure distribution is converted into optical signal, the optical signal is converted to digital picture by imaging sensor, digital picture
Each pixel embodies the optical characteristics in buckling one regional area of optical module.
Property embodiment according to an example of the present invention, the pressure distribution sensor, it is characterised in that：Buckling light
It includes optical imagery module to learn module, and optical imagery module utilizes pinhole imaging system principle, lens imaging principle or catoptric imaging
The image of buckling optical module is delivered to imaging sensor by principle.
Property embodiment according to an example of the present invention, the pressure distribution sensor, it is characterised in that：Including light
Source module, light source module is located at the same side of buckling optical module with imaging sensor, between light source module and imaging sensor
Light barrier is set so that light source is unable to direct irradiation on sensor, and light source provides relatively stable for buckling optical module
Illumination avoids being changed the interference brought by external light source.
Property embodiment according to an example of the present invention, the pressure distribution sensor, it is characterised in that：Including meter
Module is calculated, computing module includes the transformation model between pressure distribution and image, and buckling light is calculated according to the model and image
Learn Modular surface pressure distribution, pressure distribution image between transformation model according to buckling optical module physical characteristic or
Person's experimental calibration obtains.
Property embodiment according to an example of the present invention, the pressure distribution sensor, it is characterised in that：Buckling light
It includes supporting layer and buckling layer to learn module, and supporting layer is plane or spherical lens made of hard material, and buckling layer is covered in
Supporting layer side, is made of elastic material, and elastic deformation occurs under the action of external pressure for the local location of elastic material, together
When generate optical change, the external pressure cancels the rear elastic deformation and disappears, and the selection of buckling layer is by pressure distributed sensor
The pressure range of device determines that range is bigger, and the elastic force for requiring elastic material is bigger, and deformation of the supporting layer in range ability can neglect
Slightly disregard.
Property embodiment according to an example of the present invention, the pressure distribution sensor, it is characterised in that：Buckling layer
Including filter layer and light blocking layer, the filter layer use with reflection action tinted material, filter layer be covered in supporting layer it
On, have perpendicular to the gap of supporting layer or circular hole, light blocking layer is covered on filter layer, using the dark color with absorption effects
Material, when buckling layer pressure changes, the optical filtering layer gap of pressure corresponding position or circular hole cross section become
Change so that the extinction amount and reflective amount of corresponding regional area change, and form buckling optical effect.
Property embodiment according to an example of the present invention, the pressure distribution sensor, it is characterised in that：Buckling layer
Including filter layer and reflective layer, the filter layer use with absorption effects dark material, filter layer be covered in supporting layer it
On, have perpendicular to the gap of supporting layer or circular hole, reflective layer is covered on filter layer, using the light color with reflex
Material, when buckling layer pressure changes, the optical filtering layer gap of pressure corresponding position or circular hole cross section become
Change so that the extinction amount and reflective amount of corresponding regional area change, and form buckling optical effect.
Property embodiment according to an example of the present invention, the pressure distribution sensor, it is characterised in that：Image passes
Using ccd sensor, either cmos sensor can be one-dimensional linear structure or two-dimentional surface structure to sensor.
Property embodiment according to an example of the present invention, the pressure distribution sensor, it is characterised in that：Pressure point
Transformation model between cloth and image is demarcated by many experiments to be obtained, and experiment every time applies different size of pressure to each part
Power establishes the mapping function between image pixel intensity and local pressure using the mode of Function Fitting, and then each according to image
Pressure distribution can be calculated in the intensity of a pixel.
Description of the drawings
When hereafter detailed description to exemplary embodiment is read in conjunction with the figure, these and other objects, feature
It will become obvious with advantage.
Pressure distribution sensor internal structure schematic diagrams of Fig. 1 based on pinhole imaging system
Fig. 2 buckling optical module structure schematic diagrames
Pressure distribution sensor internal structure schematic diagrams of Fig. 3 based on lens imaging
Specific implementation mode
Several illustrative embodiments in below with reference to the accompanying drawings describe the principle of the present invention and method.It should manage
Solution, describe these embodiments just for the sake of make those skilled in the art can better understand that in turn realize the present invention, and
Not limit the scope of the invention in any way.
Embodiment one
As shown in Figure 1, pressure distribution sensor core component includes buckling optical module（100）And imaging sensor（200）.Its
In, the triangle on buckling optical module indicates that pressure is distributed corresponding optical signal, and the triangle on imaging sensor indicates small
Real image produced by borescopic imaging, dotted line indicate opticpath.The pressure distribution of one side surface is converted to light by buckling optical module
Signal, imaging sensor are located at the other side of buckling optical module, and the optical signal is converted to digital picture, digital picture
Each pixel embodies the optical characteristics in buckling one regional area of optical module.
Preferably, using ccd sensor, either cmos sensor can be one-dimensional linear structure or two to imaging sensor
Tie up surface structure.Wherein the imaging sensor of one-dimensional linear structure can perceive the pressure on the line segment of buckling optical module surface point
Cloth further increases electrical components and Image sensor shift is scanned, to obtain the light of buckling optical module whole surface
Signal, principle can refer to scanner；The imaging sensor of two-dimentional surface structure is not necessarily to electrical components, you can obtains buckling optics
The optical signal of module whole surface, principle can refer to camera.
Pressure distribution sensor further includes optical imagery module（300）, light source module（400）, computing module（500）.Light
It includes light barrier to learn image-forming module（301）And aperture（302）, using pinhole imaging system principle, the image of buckling optical module is thrown
Give imaging sensor.Light source module is located at the same side of buckling optical module with imaging sensor, and is located at optical imagery mould
The both sides of block light barrier so that light source module is unable to direct irradiation on imaging sensor.
Due to being provided with light source module, pressure distribution sensor shown in FIG. 1 may be disposed at lighttight confined space.Light
Source module provides relatively stable illumination for buckling optical module, avoids being changed the interference brought by external light source.Calculate mould
Block includes the transformation model between pressure distribution and image, and the pressure on buckling optical module surface is calculated according to the model and image
Power is distributed, and the transformation model between pressure distribution and image is obtained according to the physical characteristic or experimental calibration of buckling optical module
.
Preferably, the transformation model obtained between pressure distribution and image is demarcated by many experiments.In each experiment mark
In fixed, upward by buckling optical module surface, the object of different weight is placed every time, and calculate the office on buckling optical module surface
Portion's pressure, and record the image pixel value corresponding to local location；Repeatedly, when each image pixel obtains multiple calibration
When value, by the way of the fitting of quadratic function, exponential function or logarithmic function, establish image pixel intensity and local pressure it
Between mapping function.Further, the error rate of the error rate estimated pressure distribution sensor of fitting function can also be utilized.
As shown in Fig. 2, the buckling optical module（100）Including supporting layer（110）With buckling layer（120）, supporting layer is
Hard material（Such as glass or makrolon）Manufactured plane or spherical lens, buckling layer are covered in supporting layer side,
By elastic material（Such as latex or silicon rubber）It constitutes, under the action of external pressure bullet occurs for the local location of elastic material
Property deformation, while generating optical change, the external pressure cancels the rear elastic deformation and disappears, and the selection of buckling layer is by pressure
The pressure range of distribution sensor determines that range is bigger, and the elastic force for requiring elastic material is bigger, that is, occurs needed for identical deformation
Pressure is bigger, and deformation of the supporting layer in range ability is negligible, for example, supporting layer deformation maximum displacement is no more than buckling
1 the percent of layer deformation maximum displacement.The elastic force of silicon rubber can pass through the adjustment hardness realization in production.
Buckling layer（120）Including filter layer（121）And light blocking layer（122）, the filter layer, which uses, has reflection action
Light color（Preferably, milky silicon rubber）, filter layer is covered on supporting layer, has perpendicular to the gap of supporting layer or circle
Hole, light blocking layer are covered on filter layer, using the dark material with absorption effects（Preferably, black silicon rubber）, work as pressure
When change layer pressure changes, the optical filtering layer gap of pressure corresponding position or circular hole cross section change so that right
The extinction amount and reflective amount for answering regional area change, and form buckling optical effect.
Embodiment two
What is different from the first embodiment is that by buckling layer（120）Another structure, including filter layer and reflective layer are replaced with, it is described
Filter layer uses the dark color with absorption effects（Preferably, black silicon rubber）, filter layer is covered on supporting layer, has vertical
In the gap of supporting layer or circular hole, reflective layer is covered on filter layer, using the tinted material with reflex（It is preferred that
, milky silicon rubber）, when buckling layer pressure changes, the optical filtering layer gap or circular hole of pressure corresponding position
Cross section changes so that the extinction amount and reflective amount of corresponding regional area change, and form buckling optical effect.
Embodiment three
As shown in Figure 3.What is different from the first embodiment is that optical imagery module（300）In the way of lens imaging, by convex lens
Microscope group at.Light source module（400）It is arranged in optical imagery module edge, and light barrier is set（401）So that light source module cannot
Direct irradiation is on imaging sensor.In addition, optical imagery module（300）The mode that catoptric imaging also can be used, by concave surface
Microscope group at.
Although detailed description of the preferred embodimentsthe present invention has been described by reference to several, it should be appreciated that, the present invention is not limited to
The specific implementation mode invented.The present invention is directed to cover various modifications included in spirit and scope of the appended claims
And equivalent arrangements.Scope of the following claims is to be accorded the broadest interpretation, to include all such modifications and equivalent knot
Structure and function.
Claims (9)
1. a kind of pressure distribution sensor, it is characterised in that：Including buckling optical module and imaging sensor, buckling optical module
Pressure distribution is converted into optical signal, the optical signal is converted to digital picture, each picture of digital picture by imaging sensor
Ferritic shows the optical characteristics in one regional area of buckling optical module.
2. pressure distribution sensor as described in claim 1, it is characterised in that：Buckling optical module includes optical imagery mould
Block, optical imagery module utilizes pinhole imaging system principle, lens imaging principle or catoptric imaging principle, by buckling optical module
Image is delivered to imaging sensor.
3. pressure distribution sensor as described in claim 1, it is characterised in that：Including light source module, light source module and image
Sensor is located at the same side of buckling optical module, and light barrier is arranged between light source module and imaging sensor so that light source is not
For energy direct irradiation on sensor, light source provides relatively stable illumination for buckling optical module, avoids by external light source
Change the interference brought.
4. pressure distribution sensor as described in claim 1, it is characterised in that：Including computing module, computing module includes pressure
Power is distributed the transformation model between image, and the pressure that buckling optical module surface is calculated according to the model and image is distributed,
Pressure is distributed the transformation model between image and is obtained according to the physical characteristic or experimental calibration of buckling optical module.
5. pressure distribution sensor as described in claim 1, it is characterised in that：Buckling optical module includes supporting layer and buckling
Layer, supporting layer are plane or spherical lens made of hard material, and buckling layer is covered in supporting layer side, by elastic material structure
At elastic deformation occurs under the action of external pressure for the local location of elastic material, while generating optical change, the outside
Pressure cancels the rear elastic deformation and disappears, and the selection of buckling layer determines that range is got over by the pressure range of pressure distribution sensor
Require the elastic force of elastic material bigger greatly, deformation of the supporting layer in range ability is negligible.
6. pressure distribution sensor as claimed in claim 5, it is characterised in that：Buckling layer includes filter layer and light blocking layer, institute
Stating filter layer uses the tinted material with reflection action, filter layer to be covered on supporting layer, there is the seam perpendicular to supporting layer
Gap or circular hole, light blocking layer are covered on filter layer, using the dark material with absorption effects, when buckling layer pressure
When changing, the optical filtering layer gap of pressure corresponding position or circular hole cross section change so that corresponding regional area
Extinction amount and reflective amount change, and form buckling optical effect.
7. pressure distribution sensor as claimed in claim 5, it is characterised in that：Buckling layer includes filter layer and reflective layer, institute
Stating filter layer uses the dark material with absorption effects, filter layer to be covered on supporting layer, there is the seam perpendicular to supporting layer
Gap or circular hole, reflective layer are covered on filter layer, using the tinted material with reflex, when buckling layer pressure
When changing, the optical filtering layer gap of pressure corresponding position or circular hole cross section change so that corresponding regional area
Extinction amount and reflective amount change, and form buckling optical effect.
8. pressure distribution sensor as described in claim 1, it is characterised in that：Imaging sensor using ccd sensor or
Cmos sensor can be one-dimensional linear structure or two-dimentional surface structure.
9. pressure distribution sensor as claimed in claim 4, it is characterised in that：Pressure is distributed the transformation model between image
It is demarcated and is obtained by many experiments, experiment every time applies different size of pressure to each part, uses the mode of Function Fitting
The mapping function between image pixel intensity and local pressure is established, and then can be calculated according to the intensity of each pixel of image
It is distributed to pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710129490.9A CN108534928A (en) | 2017-03-06 | 2017-03-06 | Pressure distribution sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710129490.9A CN108534928A (en) | 2017-03-06 | 2017-03-06 | Pressure distribution sensor |
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| Publication Number | Publication Date |
|---|---|
| CN108534928A true CN108534928A (en) | 2018-09-14 |
Family
ID=63489497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710129490.9A Pending CN108534928A (en) | 2017-03-06 | 2017-03-06 | Pressure distribution sensor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111337169A (en) * | 2020-03-16 | 2020-06-26 | 清华大学 | Tactile sensing device based on coding hole imaging technology |
| CN113424034A (en) * | 2019-02-15 | 2021-09-21 | 株式会社村田制作所 | Tactile and proximity sensor |
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|---|---|---|---|---|
| CN1349781A (en) * | 2001-11-29 | 2002-05-22 | 清华大学 | Sole pressure distribution detector based on total internal reflection principle |
| WO2009155501A2 (en) * | 2008-06-19 | 2009-12-23 | Massachusetts Institute Of Technology | Tactile sensor using elastomeric imaging |
| WO2012006431A2 (en) * | 2010-07-09 | 2012-01-12 | Temple University - Of The Commonwealth System Of Higher Education | Apparatus and method for surface and subsurface tactile sensation imaging |
| CN104279975A (en) * | 2014-10-17 | 2015-01-14 | 中国科学院武汉岩土力学研究所 | Ground stress test method for aperture distortion optical microscopy measurement |
| CN105841861A (en) * | 2016-05-04 | 2016-08-10 | 常州信息职业技术学院 | Pressure distribution measurement device based on light total internal reflection and measurement method thereof |
| CN207114070U (en) * | 2017-03-06 | 2018-03-16 | 王永华 | Pressure distribution sensor |
-
2017
- 2017-03-06 CN CN201710129490.9A patent/CN108534928A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1349781A (en) * | 2001-11-29 | 2002-05-22 | 清华大学 | Sole pressure distribution detector based on total internal reflection principle |
| WO2009155501A2 (en) * | 2008-06-19 | 2009-12-23 | Massachusetts Institute Of Technology | Tactile sensor using elastomeric imaging |
| WO2012006431A2 (en) * | 2010-07-09 | 2012-01-12 | Temple University - Of The Commonwealth System Of Higher Education | Apparatus and method for surface and subsurface tactile sensation imaging |
| CN104279975A (en) * | 2014-10-17 | 2015-01-14 | 中国科学院武汉岩土力学研究所 | Ground stress test method for aperture distortion optical microscopy measurement |
| CN105841861A (en) * | 2016-05-04 | 2016-08-10 | 常州信息职业技术学院 | Pressure distribution measurement device based on light total internal reflection and measurement method thereof |
| CN207114070U (en) * | 2017-03-06 | 2018-03-16 | 王永华 | Pressure distribution sensor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113424034A (en) * | 2019-02-15 | 2021-09-21 | 株式会社村田制作所 | Tactile and proximity sensor |
| CN111337169A (en) * | 2020-03-16 | 2020-06-26 | 清华大学 | Tactile sensing device based on coding hole imaging technology |
| CN111337169B (en) * | 2020-03-16 | 2021-04-16 | 清华大学 | Tactile sensing device based on coding hole imaging technology |
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