CN112461416B - Light reflection type high-sensitivity smooth touch sensing device and method - Google Patents
Light reflection type high-sensitivity smooth touch sensing device and method Download PDFInfo
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- CN112461416B CN112461416B CN202011134656.4A CN202011134656A CN112461416B CN 112461416 B CN112461416 B CN 112461416B CN 202011134656 A CN202011134656 A CN 202011134656A CN 112461416 B CN112461416 B CN 112461416B
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- 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
- G01L1/241—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 by photoelastic stress analysis
Abstract
The invention discloses a light reflection type high-sensitivity smooth touch sensing device and a method. The tops of all bump contacts are flush. By adopting the touch sensor sensitive to slippery sensation, the perception dimension of the robot is widened, the robot is suitable for working in various environments, and the working reliability is improved. The robot can have more multidimensional perception information in the working process, thereby improving the precision and the reliability of the working process.
Description
Technical Field
The invention relates to the field of robot touch sensing, in particular to a light reflection type high-sensitivity smooth touch sensing device and method.
Background
In recent years, the flexible tactile sensor has been developed vigorously, and the demand for the tactile sensor is higher and higher, which is shown in the following aspects: the detection of the sliding information of the sliding sensor occupies an increasingly important position, and meanwhile, the sliding sensor not only has the capability of human tactile perception, but also can accurately acquire the information of the spatial three-dimensional force. The sensor develops towards the direction of flexibility, high sensitivity, wearing and human health monitoring. The flexible surface of the sensor enables it to be stably gripped in conformity with the contour of the object, which is important for obtaining precise properties of the object and for improving the test performance. At the same time, the cushioning effect of the flexible surface also reduces the wear of the finger surface and the object being gripped. The three-dimensional information is acquired, so that the information of the acting object can be accurately acquired, and the operation precision of the intelligent robot is improved.
The tactile sensor may be classified in various ways such as a working principle, a structural form, a manufacturing process, an application field, and the like. The tactile sensors can be classified according to their operation principle into: (1) a resistive sensor; (2) a capacitive sensor; (3) a piezoelectric sensor; (4) other forms of sensors (including piezoelectric, inductive, optical, organic field effect transistor, integrated, etc.). From the classification, many scholars study different sensitivity mechanisms to improve the sensitivity and the smooth perception capability of the sensor.
Optical waveguide type tactile sensors, optical waveguides are mainly classified into three types: the total internal reflection type light is guided into the touch panel along the edge and generates total internal reflection, the total reflection state of the corresponding part is destroyed under the action of external force, so that the light overflows, and the light spot is measured by a detector and the force value is converted; the mark displacement type optical waveguide comprises a specific mark, when the mark displacement type optical waveguide is subjected to stress deformation, the elastic body deforms to cause the mark to displace, and the displacement is measured by a detector to convert a force value; the reflecting film type light rays enter the detector after being reflected by the reflecting film on the inner side of the elastic optical waveguide, and the local slope of the reflecting film changes under the action of external force, so that the light intensity received by the detector is changed, and the force value is calculated.
The existing capacitive and photoelectric touch sensor can measure tangential force but is not sensitive to measuring slip sensation. When relative sliding between the measured surface and the measuring surface occurs, the information measured by the sensing unit of the measuring surface is only a tangential force signal and cannot reflect sliding information.
The existing touch sensor adopts an array design, and the principle of measuring the slippery sensation is that a contact area moves on the surface of a measuring array; the optical waveguide type touch sensor also has a phenomenon that a deformation point generated on an optical surface by a contact point is required to move, and the contact point is required to be smaller than a measuring surface, namely the measuring surface area of the sensor is larger than the measured surface, so that the sliding sense can be obvious.
The existing plane convex point type optical waveguide touch sensor can cause total reflection type light leakage, or reflection type image change, or mark change of mark displacement type according to surface change generated on a substrate by force feedback when a contact of a convex point is contacted with a measured object in operation, thereby indirectly measuring the magnitude and direction of contact force. However, when the contact device slides relatively with a measured object in full contact surface contact, the reaction information of each contact is equal and equidirectional tangential force, and the force cannot be judged to be generated by sliding friction or static friction.
For the sliding generated when the measuring unit is contacted with the full measuring surface, each measuring unit senses the input of the tangential force, and at the moment, whether the sliding occurs between the contact surface and the measuring surface cannot be judged, namely, the tangential force cannot be judged to belong to sliding friction or static friction.
For the application scene of the intervention operation, the probe is required to be miniaturized, and the scene that the probe of the intervention operation enters the human body requires that the measured surface is far larger than the measurement area of the sensor; for the conditions of equipment, article transportation and gripping of devices in engineering, the measured surface in contact with a robot hand is mostly far larger than the measuring surface of the sensor in size, and the existing touch sensor can only reflect that the measuring surface is in contact and cannot generate a sliding signal.
Most of the existing touch sensors do not have cold and heat feeling or are complicated to integrate cold and heat feeling detection:
most of the existing touch sensors based on electric signals do not have the function of detecting heat in principle, and the addition of the function is not beneficial to miniaturization and integration; the optical waveguide type detection of the intensity of the leaked light has different total reflection types and partial mark displacement types designed according to the principle and does not have the thermal sensing function.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a light reflection type high-sensitivity smooth touch sensing device and a method. The method has the advantages that the contact sense measurement in the robot working process is realized, the robot can sense the contact sense of the area where the sensor is installed in the working process, when the relative sliding between the robot and a contact object occurs, the processing and the sliding signal returning can be generated, so that the sense signal when the robot is in contact with the object is widened, the tactile feedback is provided for the grasping state of the object when the robot grasps or is assembled and the like, the collision and scratch information of the small, miniature and special robots when the robots move in narrow channels is provided, and the defect of sensor signal distortion caused by the electromagnetic interference of the robot working environment is avoided. By adopting the touch sensor sensitive to slippery sensation, the perception dimension of the robot is widened, the robot is suitable for working in various environments, and the working reliability is improved. The robot can have more multidimensional perception information in the working process, thereby improving the precision and the reliability of the working process. In addition, the invention can adopt an infrared sensitive image sensor, and heat information can be conveniently measured when the contact occurs.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a smooth touch sensing device of light reflection formula high sensitivity, includes optics gel, and the bottom of optics gel is provided with optics curved surface, and the top of optics gel is provided with the holding surface, and the lower surface of holding surface is with optical coating, the holding surface upper surface is provided with boss and pit, all be provided with the bump contact in boss and the pit, the top of bump contact is hemisphere silica gel structure. The tops of all bump contacts are flush.
The invention also provides an implementation method of the light reflection type slip sensation sensitive touch sensing device, which comprises the following steps:
the touch sensing device is fixed on a part of the robot, which is required to be subjected to touch measurement, in a mode that the convex point contact heads are outward, the sensing device is powered through the power supply interface, when the touch occurs, image information can be obtained through connecting a data interface reserved on the image sensor with an upper computer, and the image information is analyzed and calculated through existing software to obtain the touch force and direction information;
the supporting surface of the convex point contact is monitored in real time for 15 frames/second in the working process, the loading process, the changing process and the unloading process of the touch force are monitored in real time, the real-time feedback effect on the work of the robot is achieved, and the work of the robot can achieve the effect of closed-loop control in the aspect of touch sense;
when the touch sensing device generates positive pressure, the convex point contact is pressed by normal force to generate uniform force on the supporting surface, so that the reflecting surface generates normal deformation, a signal received by an image sensor which is arranged at the far end of the manipulator and is positioned in the same plane with the sensing device is a circular light spot, the deformation depth is judged according to the size of the light spot, and the size of the normal force is further reflected;
when the touch sensing device generates a tangential force, the convex point contact is inclined under the action of the tangential force, is in a force balance state under the supporting action of the optical gel, generates an indentation with a deep side and a shallow side according to the direction of the tangential force, and receives and reflects indentation information according to the image sensor so as to obtain tangential force loading information;
geometric calculation is carried out according to the mechanics principle to obtain that the inclination degree of the convex point contact positioned on the boss is smaller than that of the convex point contact positioned on the pit when the touch sensing device slides relatively, so that whether the touch sensing device slides relatively can be judged by obtaining related information from the image sensor.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
(1) according to the invention, the mechanical information is reflected by an optical signal at the front end through the design of the measuring end, the mechanical information is converted into structural deformation through the convex point contact and the gel substrate, the deformation information is converted into optical information through the optical coating on the surface, and the optical information can be transmitted to the image sensor at the far end through the optical path design, so that the problem of signal distortion caused by the interference of the electromagnetic signal received by the sensing part is avoided, and the use scenes of the robot and the manipulator are expanded.
(2) In the invention, the convex point contacts with different heights can sense the sliding when the convex point contacts contact with the contact surface larger than the measuring surface, and the convex point contacts with different heights bear the same tangential force but different arm lengths when the contact of the full contact surface occurs, so that the convex point contacts with different heights tilt in different sizes, and light spots with different shapes can be generated, and the measurement can be performed according to the inclination. In practical application, small-measurement-surface-large-contact-surface measurement requirements are met for scenes such as grasping of a micro robot, a surgical robot and a manipulator, and the invention provides a measurement means for sliding when full-measurement surfaces are in contact through height distribution of a contact and a substrate.
In the invention, the measuring surface is an optical gel flexible substrate, so that a rigid substrate of the existing sensor is avoided, and a certain degree of protection effect is realized on the gripping of some fragile and fragile articles.
(3) In the invention, a scene with temperature measurement requirements can be realized by replacing the image sensor sensitive to the infrared band, and the temperature sensing function is easy to integrate and integrate. The disadvantage that the temperature measurement is inconvenient to integrate when the electric signal is used for the touch measurement is avoided.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2a to 2d are schematic views illustrating the working principle of the present invention.
Fig. 3 is a flow chart of the present invention.
Reference numerals: 1-salient point contact, 2-supporting surface, 3-optical gel, 4-optical curved surface and 5-image sensor.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The physical structure of the tactile sensing device of the invention is as follows: mounting bump contacts 1 with different heights on a supporting surface 2 which is in a specific shape and takes optical gel as a substrate, wherein bosses and pits for mounting the bump contacts 1 are arranged on the upper surface of the supporting surface 2, and the tops of all the bump contacts are ensured to be flush; the optical paint attached to the lower surface of the support surface 2 has a good reflection effect, and optical information of the optical paint can be reflected to the image sensor 5 after being deflected by the optical path of the optical surface 4 under the substrate of the optical gel 3, so that the optical paint can be further processed. The user needs to install the tactile sensing device at the position of the robot where the tactile monitoring is needed, and the side of the sensing device provided with the convex point contact is a detection side and faces the outside. When the detection surface touches with the object to be detected, the convex point contact 1 is stressed to enable the reflection surface of the convex point contact to deform, the image sensor 5 is utilized to collect the information of the reflection light of the supporting surface according to the different indentation shapes, positions and depths of the convex point on the supporting surface in the stress direction and the size of the convex point, the information of the indentation shapes, the positions and the depths of the convex point contact is restored through image processing, the information of the stress size and the direction of the convex point contact is further obtained, and the touch sensing is completed.
Specifically, as shown in fig. 1, the top of the bump contact is a hemispherical silica gel structure, and when the bump contact is stressed in any direction or is inclined due to stress, the same force reflecting the center of mass can be ensured, and the bump contact can be accurately loaded on a column. The bottom of the salient point contact is made of hard PMMA, the hardness of the hard PMMA is far greater than that of optical gel of the substrate, and the deformation degree of the supporting surface cannot be influenced by the deformation of the bottom of the contact when the supporting surface deforms. The support surface 2 also changes its reflection properties when it deforms itself. The optical gel 3 has good and uniform mechanical and optical properties, has good light transmittance and refractive index while ensuring the good mechanical properties on the supporting surface, and can not cause distortion of imaging due to light propagation and turning caused by compression of the gel. The optical curved surface 4 is designed according to the surface size and the thickness, and can turn the optical path, reduce the size of the optical curved surface in the thickness direction and image in the transverse direction. The image sensor 5 selects whether to adopt an infrared sensitive image sensor according to whether a temperature sensing function is required, and the size is also suitable for the size of the measuring surface.
The implementation method of the light reflection type slip-sensitive tactile sensing device comprises the following steps:
(1) the user fixes the touch sensing device at the position needing to be subjected to touch measurement in a mode that the convex point contact heads are outward, supplies power to the sensor through the power supply interface, can acquire image information through the connection of the reserved data interface and the upper computer when the touch occurs, and analyzes the image through the existing software so as to calculate the information such as the size, the direction and the like of the touch force.
(2) The supporting surface of the salient point contact is monitored in real time for 15 frames/second in the working process, the loading process, the changing process and the unloading process of the touch force can be monitored in real time, the real-time feedback of the work of the robot is realized, and the effect of closed-loop control on the work of the robot in the aspect of touch sense is achieved.
(3) When the touch sensing device generates positive pressure, the convex point contact is pressed by the normal force to generate uniform force on the supporting surface, so that the reflecting surface generates normal deformation, a signal received by the image sensor is a circular light spot, and the deformation depth can be judged according to the size of the light spot to further reflect the size of the normal force.
(4) When the touch sensing device generates tangential force, the convex point contact is inclined under the action of the tangential force and is in a force balance state under the supporting action of the optical gel, and one side of the convex point contact is deep and the other side of the convex point contact is shallow, and the depth difference of the two sides of the convex point contact is different according to the different tangential force. And the indentation information can be reflected according to the depth distribution and the depth degree of the light spots received by the image sensor, so that the tangential force loading information is obtained.
(5) When the touch sensing device generates relative sliding, because the surface shape and the material of the convex point contact are the same, the sliding friction force between the touch sensing device and a touched surface is the same, and because the mechanical property of the optical gel substrate is uniform, the inclination degree of a high convex point positioned in a concave pit is larger than that of a low convex point positioned in a convex table when the relative sliding occurs by geometric calculation according to the mechanical principle, and whether the relative sliding occurs can be judged according to the characteristics, and relevant information is obtained from the image sensor.
Referring to fig. 2a, which is a cross-sectional operation of the present invention, high and low bump contacts are respectively disposed on the low and high substrates such that their apexes are at the same height. Fig. 2b shows the operation of the present invention when normal pressure is applied, the high and low bumps are vertically pressed to generate a circular indentation on the substrate, the image sensor receives the circular light spot signal, the normal pressure is applied according to the circular light spots, and the pressure is determined according to the diameter of the light spots. As shown in fig. 2c, the operation of the present invention is schematically shown when a tangential force is applied, the high and low bumps are vertically pressed, an indentation with a high side and a low side is generated on the substrate, the image sensor receives a circular light spot signal with a wide and thick edge on one side and a light and thin light on the other side, the tangential force applied at this time can be determined according to the non-uniform circular light spot, and the pressure can be determined according to the difference between the two sides of the light spot. Fig. 2d shows the working schematic of the present invention when relative sliding occurs between the contact object and the contact object, at this time, the high and low salient points receive the same tangential force, but the lengths of the force arms are different, so the inclination degrees of the high and low salient point contacts are different, and the difference between the two sides of the image sensor, which generates different light spots on the two sides, is different, thereby detecting whether relative sliding occurs.
Fig. 3 is a flow chart of the operation of the sensing device of the present invention, which shows how the present invention converts the tactile information from mechanical signals to optical signals, and then converts the optical signals to mechanical tactile information. The invention designs a mechanical structure to change optical information caused by mechanical change, and further designs a method and an image algorithm for using an image sensor to change the optical information into a measurable signal and restore the measurable signal into original tactile information.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (1)
1. The utility model provides a method for realizing sensitive tactile sensation sensing device of light reflection formula cunning, tactile sensing device includes optics gel, and the bottom of optics gel is provided with optics curved surface, and the top of optics gel is provided with the holding surface, and the lower surface of holding surface is attached with optical coating, the holding surface upper surface is provided with boss and pit, all be provided with the bump contact in boss and the pit, the top of bump contact is hemisphere silica gel structure, and the top of all bump contacts flushes, its characterized in that, includes following step:
the touch sensing device is fixed on a part of the robot, which is required to be subjected to touch measurement, in a mode that the convex point contact heads are outward, the sensing device is powered through the power supply interface, when the touch occurs, image information can be obtained through connecting a data interface reserved on the image sensor with an upper computer, and the image information is analyzed and calculated through existing software to obtain the touch force and direction information;
the supporting surface of the convex point contact is monitored in real time for 15 frames/second in the working process, the loading process, the changing process and the unloading process of the touch force are monitored in real time, the real-time feedback effect on the work of the robot is achieved, and the work of the robot can achieve the effect of closed-loop control in the aspect of touch sense;
when the touch sensing device generates positive pressure, the convex point contact is pressed by the normal force to generate uniform force on the supporting surface, so that the reflecting surface generates normal deformation, a signal received by the image sensor is a circular light spot, the deformation depth is judged according to the size of the light spot, and the size of the normal force is further reflected;
when the touch sensing device generates a tangential force, the convex point contact is inclined under the action of the tangential force, is in a force balance state under the supporting action of the optical gel, generates an indentation with a deep side and a shallow side according to the direction of the tangential force, and reflects indentation information according to a signal acquired by the image sensor so as to obtain tangential force loading information;
geometric calculation is carried out according to the mechanics principle, so that the inclination degree of the convex point contact positioned on the boss is smaller than that of the convex point contact positioned on the concave pit when the touch sensing device slides relatively, and therefore, the relative information obtained from the image sensor can judge whether the touch sensing device slides relatively.
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| CN113885092B (en) * | 2021-07-15 | 2024-03-26 | 清华大学无锡应用技术研究院 | Explosion-proof soft touch sensor |
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| CA2430317A1 (en) * | 2003-05-29 | 2004-11-29 | Vincent Hayward | Method and apparatus to record and reproduce tactile sensations |
| JP4446734B2 (en) * | 2003-12-26 | 2010-04-07 | 明人 佐野 | Convex and concave amplifying member and concave and convex detecting method using concave and convex amplifying member |
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