CN113108956A - Touch sensor and robot - Google Patents
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- CN113108956A CN113108956A CN202110501069.2A CN202110501069A CN113108956A CN 113108956 A CN113108956 A CN 113108956A CN 202110501069 A CN202110501069 A CN 202110501069A CN 113108956 A CN113108956 A CN 113108956A
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Abstract
The invention provides a touch sensor and a robot, which relate to the technical field of sensors and comprise the following components: the device comprises a base, a photoelectric conversion module, an image module, a battery module and a light-transmitting composite layer; printing opacity composite bed and pedestal connection and enclose and close and form full flexible holding chamber, photoelectric conversion module and image module set up in the holding chamber, the image module is used for gathering the deformation information that the printing opacity composite bed received external force, and simultaneously, through the photoelectric conversion module, the printing opacity composite bed, the battery module can also be with the ambient light conversion who sees through the printing opacity composite bed to the electric energy, the luminous light energy conversion of deformation that will contact the object and produce is the electric energy, the self-power of touch sensor is realized to the mode of the multiple storage electric energy of electric energy to the electric charge conversion that contacts the object friction and produces, realize touch sensor's low-power consumption or even zero.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a touch sensor and a robot.
Background
With the popularization of robots, a sensor is widely used as an eye of a robot when the robot acts, and a touch sensor is used as a sensor for acquiring information through contact, can sense the material, texture and appearance of a touch object (namely three-dimensional information of the object), and is used as a supplement besides a visual sensor to further assist machine vision to realize the sensing of the object and the surrounding environment.
At present, the sensor mainly adopts the form of external power supply for power supply except that the capability of acquiring information is insufficient, the operation of the touch sensor is limited by the external power supply in the form of the external power supply, and meanwhile, the exposure of the external power supply is not favorable for the stability of the operation of the touch sensor.
Disclosure of Invention
The invention aims to provide a touch sensor and a robot aiming at the defects in the prior art, so as to solve the problems of limited work and reduced stability caused by the fact that the conventional touch sensor has insufficient information acquisition capability and adopts an external power supply for power supply.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in one aspect of the embodiments of the present invention, there is provided a tactile sensor including: the device comprises a base, a photoelectric conversion module, an image module, a battery module and a light-transmitting composite layer; the photoelectric conversion module is electrically connected with the image module and the battery module; the light-transmitting composite layer is connected with the battery module; the light-transmitting composite layer is connected with the base and encloses to form a fully flexible accommodating chamber, the photoelectric conversion module and the image module are arranged in the accommodating chamber, the light-transmitting composite layer is used for contacting a touch object to generate deformation and friction, and the image module is used for collecting deformation information of the light-transmitting composite layer; the photoelectric conversion module is used for converting the ambient light penetrating through the light-transmitting composite layer into electric energy and storing the electric energy to the battery module; the light-transmitting composite layer is also used for converting friction energy generated by friction into electric energy and storing the electric energy into the battery module. The touch sensor can convert the ambient light penetrating through the light-transmitting composite layer into electric energy and convert the friction charge of a contact object into the electric energy to realize self-power supply.
Optionally, the photoelectric conversion module is further configured to receive light energy generated by light emission after the light-transmitting composite layer is subjected to frictional deformation, and convert the light energy into electric energy to be stored in the battery module. On the basis of two realization forms of converting ambient light energy and frictional charge into electric energy for storage, self-power supply can be realized in another mode of converting the light energy generated after the light-transmitting composite layer is subjected to frictional deformation into the electric energy for storage.
Optionally, the light transmissive composite layer comprises: a deformation composite layer formed by the friction material and the first luminescent material and a microstructure formed by a plurality of different second luminescent materials; the micro structure is positioned on the deformation composite layer; the microstructures are used for contacting the touch object to generate deformation and emit light through the second luminescent material; the image module is also used for acquiring brightness information and chrominance information generated after the light-transmitting composite layer is deformed by contacting a touch object. The deformation composite bed can be used for storing the electric energy because of the electric charge that produces of friction when contacting the object, simultaneously, still can rub luminous the electric energy that produces of deformation and be used for storing the electric energy, and the deformation composite bed has the printing opacity characteristic. The micro-structure on the deformation composite layer has the characteristic of high sensitivity, namely the micro-structure is easier to be physically deformed and then easier to emit light or emit brighter light; the micro-nano process is adopted to realize the micro-structure, so that the micro-structure is high in resolution, the deformation composite layer is attached to the micro-structure and is formed by different luminescent materials, and the micro-structure also has high resolution characteristics, namely, the micro-structure can emit information with different color ratios corresponding to different deformation intensities while emitting light, and has abundant chromaticity information, so that the touch sensor can conveniently increase brightness information and chromaticity information on the basis of three-dimensional information acquisition, and five-dimensional information acquisition is realized.
Optionally, the microstructures include a front microstructure disposed on the outer side of the deformation composite layer and a back microstructure disposed on the inner side of the deformation composite layer, and the front microstructure corresponds to the back microstructure in position.
Optionally, the front microstructure includes a plurality of first slight bulges arranged on the outer side surface of the deformation composite layer in an array manner, the back microstructure includes a plurality of second slight bulges arranged on the inner side surface of the deformation composite layer in an array manner, and the positions of the plurality of first slight bulges and the plurality of second slight bulges are in one-to-one correspondence.
Optionally, the base includes a substrate and a side plate, the side plate is annularly disposed at an edge of the substrate, the light-transmitting composite layer is connected with the side plate, and the image module is electrically connected with the substrate.
Optionally, the photoelectric conversion module is a photoelectric conversion plate, a plate surface of the photoelectric conversion plate is arranged opposite to the light-transmitting composite layer and used for receiving light energy transmitted through the light-transmitting composite layer, and the photoelectric conversion plate is electrically connected with the battery module.
Optionally, the image module includes an image sensor and an optical lens, the image sensor is electrically connected to the battery module, the image sensor is located in the center of the substrate, and the optical lens is installed at an acquisition end of the image sensor.
Optionally, the battery module is disposed on the substrate, the photoelectric conversion plate is disposed on a side of the battery module close to the light-transmitting composite layer, and the battery module and the photoelectric conversion plate are disposed around the image module.
Optionally, the light-transmitting composite layer further includes a photoluminescent layer formed of a photoluminescent material.
In another aspect of the embodiments of the present invention, there is provided a robot, including a machine carrier, a control module, and any one of the above tactile sensors, where the control module and the tactile sensor are respectively disposed on the machine carrier, and the control module and the tactile sensor are electrically connected.
The beneficial effects of the invention include:
the present invention provides a tactile sensor and a robot, including: the device comprises a base, a photoelectric conversion module, an image module, a battery module and a light-transmitting composite layer; the light-transmitting composite layer is connected with the base and encloses to form a fully flexible accommodating chamber, so that the adaptability of the touch sensor is improved. The photoelectric conversion module and the image module are arranged in the accommodating cavity, and the image module can collect deformation information of the light-transmitting composite layer, so that the image module can indirectly acquire pressure, texture, three-dimensional morphology and the like of a touch object by collecting the deformation image information of the light-transmitting composite layer. The printing opacity composite bed can also have non-light tight characteristic on the basis that has elastic characteristic, external environment light sees through the printing opacity composite bed and incides to photoelectric conversion module, then convert it into electric energy storage by the printing opacity composite bed, and simultaneously, when the printing opacity composite bed takes place the friction with the contact of touching object, can also utilize the friction electrification to produce the electric energy, and with this electric energy storage, thus, touch sensor can convert the environment light that sees through the printing opacity composite bed into the electric energy, two kinds of modes that will contact the object friction charge conversion electric energy realize the self-power, can also effectually utilize clean energy light energy, reduce touch sensor to external power source's energy consumption, realize touch sensor's low-power consumption or even zero-power consumption.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a tactile sensor according to an embodiment of the present invention;
fig. 2 is a second schematic structural diagram of a touch sensor according to an embodiment of the invention;
fig. 3 is a third schematic structural diagram of a tactile sensor according to an embodiment of the present invention;
fig. 4 is a fourth schematic structural diagram of a tactile sensor according to an embodiment of the present invention.
Icon: 100-a base; 110-a substrate; 111-a signal interface; 120-side plate; 210-a light transmissive composite layer; 220-a microstructure; 310-an image sensor; 320-an optical lens; 410-a photoelectric conversion panel; 420-battery module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. It should be noted that, in the case of no conflict, various features in the embodiments of the present invention may be combined with each other, and the combined embodiments are still within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "first", "second", "third", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Based on the bionic principle, the human skin touch sense can sense the material, texture and appearance of a touch object, can sense the information such as pressure, temperature and humidity applied to the skin by the touch object in the touch process, and can also be used as supplement of a visual blind area, for example, the touch of the touch object can be performed at night, so that the application requirement of the machine touch sense in the robot application is very large, the three-dimensional information and the surface texture information of the touch object are particularly required to be known in the real application, and the challenges of ultrahigh resolution and ultrahigh sensitivity are provided, for example, the machine touch recognition is performed in the visual blind area (at night) or in turbid water, so that the shape, texture and texture information of the object can be sensed, and the machine vision can be assisted to realize the sensing of the object and the surrounding environment.
The existing machine touch sensor based on an optical CMOS sensor can realize low-cost and mass application, but the machine touch sensor has the defects that three-dimensional information of a touch object is not directly sensed, the three-dimensional shape of the touch object cannot be sensed, the three-dimensional information is two-dimensional information, calculation overload and power consumption increase are caused although three-dimensional reconstruction can be carried out from the rear end of an image, large-scale integrated application is not facilitated, the information dimension which can be acquired by the sensor is small, namely the capability of acquiring multi-dimensional information is weak, and the capability of the sensor for distinguishing the object is greatly limited. Secondly, the texture of the touched object is detected based on the traditional visible light CMOS sensor, although the high precision can be achieved, the object is required to reflect light and has a texture structure, such as a smooth surface, the effect on the object lacking texture information is limited, the influence of the surface tension of the film is easy to be caused, the speckle light spots (using micro-nano fluorescent point marks) are only used on the inner surface and the outer surface of the film instead of the microstructure, the point precision can be improved, the precision is illegally higher, the principle is limited, and the interference of ambient light is easy to be caused. Thirdly, although multi-directional sensing can be achieved by integrating a plurality of optical sensors, cost and complexity are increased. In terms of power consumption, all the touch sensors formed by using the visible light CMOS sensor as a main sensing element need to add an active emission light source, which increases power consumption, specifically, such as a GelSight sensor and an omni contact sensor. It is difficult to realize low power consumption or zero power consumption and self power supply.
Based on this basis, in one aspect of the embodiments of the present invention, there is provided a tactile sensor, as shown in fig. 1, including: base 100, the photoelectric conversion module, the image module, battery module 420 and printing opacity composite layer 210, wherein, printing opacity composite layer 210 sets up in a side of base 100, and printing opacity composite layer 210 is when being connected the setting with base 100, the edge of printing opacity composite layer 210 and the edge connection of base 100, thereby enclose between the two and close the holding chamber that forms full flexibility, set up photoelectric conversion module and image module in holding chamber, can effectually utilize base 100 as bearing, set up photoelectric conversion module and image module on base 100, utilize printing opacity composite layer 210 as the protective layer for photoelectric conversion module and image module provide good protection. The fully flexible accommodating chamber means that the light-transmitting composite layer 210 does not have any rigid supporting frame, and can have large deformation after contacting an object, so that the contact surface between the fully flexible accommodating chamber and the object can be large, the correspondingly obtained information is more comprehensive, and the fully flexible accommodating chamber is particularly beneficial to distinguishing the contact object. Simultaneously, the range that can deform is great, has also effectively improved the adaptability of the touch sensor of this application.
The image module sets up on base 100, it can gather the deformation information when printing opacity composite bed 210 receives external force at the during operation, printing opacity composite bed 210 is the elastic material promptly, it can be when touching external touch object, thereby make printing opacity composite bed 210 take place deformation in the contact position through the contact atress, utilize the three-dimensional topography of the abundant reflection touch object of contact surface deformation, touch pressure, surface texture and direction of contact and so on information, thereby be convenient for the image module accomplish the pressure to the touch object through the deformation image information of gathering printing opacity composite bed 210, the texture, indirect acquisition of three-dimensional topography etc..
The light-transmitting composite layer 210 may have a light-transmitting property on the basis of having an elastic property, that is, external ambient light can be incident to the photoelectric conversion module through the light-transmitting composite layer 210. The photoelectric conversion module disposed on the base 100 can correspondingly absorb the light energy transmitted through the light-transmitting composite layer 210, and convert the light energy into electric energy to be transmitted to the battery module 420 for storage. The electric energy storage mode is realized by the touch sensor by utilizing ambient light or natural light, the electric energy storage mode can store the electric energy under the deformation and non-deformation states of the touch sensor, and the capacity of continuously storing the electric energy of the touch sensor is ensured.
In addition, when the light-transmitting composite layer 210 is in contact with a touch object and generates friction, the friction electrification can be used for generating electric energy, and the electric energy is transmitted to the battery module 420 for storage, so that the touch sensor can also fully utilize the form of converting the friction energy generated when the touch object is in contact into the electric energy as another electric energy storage form, and the electric energy storage capacity of the touch sensor is effectively improved.
Optionally, the light-transmitting composite layer 210 may also be formed of a light-emitting material, so that when the light-transmitting composite layer 210 contacts a touch object and is subjected to frictional deformation, the light-transmitting composite layer 210 correspondingly emits light, and at this time, the light energy emitted by the light-transmitting composite layer 210 may be received by the photoelectric conversion module and converted into electric energy for storage, so as to serve as another electric energy storage form of the tactile sensor, thereby further improving the electric energy storage capability of the tactile sensor.
After the photoelectric conversion module and the light-transmitting composite layer 210 are respectively connected to the battery module 420, the battery module 420 can be electrically stored through the above-mentioned several electrical energy storage modes. After being connected battery module 420 and image module, can make battery module 420 supply power for the image module, thereby realize the continuous work of image module, finally realize touch sensor's self-power, in addition, because the touch sensor of this application can convert the light energy that printing opacity composite bed 210 sent through the photoelectric conversion module of inside setting so that supply power in the image module, consequently, can effectual clean energy light energy of utilization, reduce touch sensor to the energy consumption of external power source, realize touch sensor's low-power consumption or even zero-power consumption.
When the light-transmitting composite layer 210 has the frictional deformation light-emitting characteristic, it can be made to have different color ratios according to different light-emitting materials when it is frictionally deformed to emit light, and at the same time, the bonding force light-emitting characteristic is such that the light intensity at the maximum position of the deformation position is strongest and the light intensity in the direction of the ring away from the position is sequentially weakened, so that when the light-transmitting composite layer 210 contacts the touch object, the image module can directly obtain the deformation intensity information (corresponding pressure) by the way of obtaining the brightness information and the chromaticity information through the image information, for example, the RGB color ratio information under different deformation intensities can be obtained, and at the same time, the touch sensor can obtain the five-dimensional information on the basis of the three-dimensional information, thereby obtaining more information, being more beneficial to the resolution of the touch object, and effectively reducing the processing amount in the aspects of rear-end classification algorithm and data, and consequently energy consumption is saved.
Thus, a direct representation of information and a direct representation of energy (stored electrical energy) can be provided when the touch sensor is in contact with a touching object.
The working mode that the image module gathers light-transmitting composite layer 210 image information can be continuous, also can be discontinuous, and the operating mechanism can be the uninterrupted duty that does not have the dormancy, also can be only just start work when light-transmitting composite layer 210 takes place deformation, and this application does not limit it. Meanwhile, the image module is to ensure that the entire inner surface of the light-transmitting composite layer 210 is covered when acquiring the image information of the light-transmitting composite layer 210. In this embodiment, the image module may be an image module with depth information, such as TOF, 3D structured light, and the like.
Optionally, as shown in fig. 2, the light-transmitting composite layer 210 includes a deformation composite layer and a microstructure 220, the microstructure 220 is disposed on the deformation composite layer, and the two are integrally disposed and highly integrated, wherein the deformation composite layer may be formed by mixing and filling a friction material and a first luminescent material, so that the deformation composite layer can have the characteristics of light transmission, frictional electrification and electroluminescent, and thus, the three electrical energy storage forms are satisfied. The micro structure 220 can be formed by mixing and filling different second luminescent materials, that is, different fillers are structurally filled, so that the micro structure 220 emits light with different color ratios through different second luminescent materials when deformed, and thus, the micro structure also has rich chromaticity information on the basis of light intensity (brightness) information, and the characteristics of the micro structure 220 are combined, so that the light-transmitting composite layer 210 can be more easily subjected to physical deformation through the micro structure 220 when contacting a touch object, so that different luminescent materials can emit light more easily or emit brighter light, that is, the response sensitivity of the touch sensor is improved, and meanwhile, the resolution is also improved. The surface of the deformed composite layer may be manufactured into a micro-nano structure 220 by a micro-nano process, and the micro structure 220 refers to a micro structure which can be observed only by an optical microscope or an electron microscope.
The microstructures 220 and the deformation composite layer are integrated together to form an integrated arrangement, so that the light-transmitting composite layer 210 is formed, the integration level of the touch sensor can be effectively improved, and the subsequent packaging is convenient to realize. When touch sensor touches the object, make micro-structure 220 deformation through the touch, at this moment, also can produce light energy corresponding to the deformation position, at this moment, the produced light energy of micro-structure 220 through different luminescent material also can be absorbed to the photoelectric conversion module, for example, the light that sends has RGB colour ratio under different deformation intensity, from this, improve the quantity of the electric energy that the light energy conversion formed in the unit interval, realize the high-efficient energy storage to the electric energy, further guarantee touch sensor's power consumption demand from this. Since the image sensor 310 can obtain five-dimensional information, perception of various morphological information of a touch object can be achieved with a small amount of computation by means of a software algorithm. Meanwhile, the light-transmitting composite layer 210 emits light at a touch position, so that when image information is acquired through the image sensor 310, the anti-interference capability of information acquisition can be improved by means of the light emission of the light-transmitting composite layer 210.
In addition, the light-transmitting composite layer 210 under the strain condition can also realize ultra-fine contact strain response with ultrahigh sensitivity by means of the microstructures 220 arranged on the deformation composite layer, for example, the microstructures 220 are arranged on the front surface and the back surface of the deformation composite layer, so that strain light emission is realized, the emitted light beams can be light with different color ratios, such as combination of blue light or other light, and the emitted light beams depend on the luminescent material filled in the microstructures 220, such as phosphor powder or fluorescent powder, so that information of the appearance, texture and the like of a touch object contacted by the touch sensor can be acquired with higher definition and more details, and the touch sensor is favorable for improving the identification precision of the touch sensor, namely the resolution of the touch object.
The microstructure 220 may be a micro-nano structure, an ultra-micro structure, or the like, and when the size of the microstructure 220 is smaller, the sensitivity and the resolution that can be embodied are higher, and the obtained details are richer.
Optionally, since the common solar charging panel can only absorb and convert the light energy within a specific wavelength range, when the light-transmitting composite layer 210 is disposed, the efficient absorption region of the internally disposed photoelectric conversion module, that is, the wavelength range of the light energy that can be efficiently absorbed, can be matched with the wavelength range of the light energy that can be generated by the light-transmitting composite layer 210 (the deformable composite layer, the microstructure 220), that is, the wavelength of the light energy generated by the light-transmitting composite layer 210 is the same as the wavelength of the light energy received by the photoelectric conversion module, thereby achieving that the light energy emitted by the light-transmitting composite layer 210 can be efficiently converted by the photoelectric conversion module, thereby improving the conversion efficiency, achieving conversion of more light energy under the condition of the same light energy generation, and further ensuring normal and stable operation of the touch sensor.
When actual setting, thereby the light transmission composite layer 210 can change the wavelength range of its light energy of sending through changing the material to make light transmission composite layer 210 and photoelectric conversion module can match each other, accomplish the high-efficient conversion of light energy to electric energy, improve the photoelectric conversion module and to the utilization ratio of light energy, thereby maximize quantum efficiency and photoelectric conversion, obtain stronger charging power.
The micro-nano micro-structure 220 can be a micro-nano micro-structure, so that ultrahigh sensitivity, ultrahigh energy conversion efficiency and ultrahigh resolution can be realized, because the micro-nano micro-structure 220 which is contacted with the light-transmitting composite layer 210 is influenced by surface tension, light which is in direct proportion to contact strain intensity can be emitted, the light intensity emitted near the contact point is obviously weak, an image processing algorithm is simpler, and hardware calculation force and power consumption overhead are saved.
Optionally, for further improvement of the conversion efficiency from the optical energy to the electrical energy, the microstructures 220 may further include a front microstructure disposed on the outer side of the deformation composite layer and a back microstructure disposed on the inner side of the deformation composite layer, and when the microstructures are set, the front microstructure and the back microstructure are located correspondingly, so that when the touch sensor touches an object, at a contact position, the front microstructure and the back microstructure can both deform to some extent, so that the back microstructure can accurately reflect changes of the front microstructure under the action of touching the object, and an image module can accurately reflect information of pressure, surface texture and the like of the touching object by acquiring image information of the back microstructure 220. Meanwhile, the light energy generated by the light-transmitting composite layer 210 after being stressed can be further improved, so that the photoelectric conversion module can convert more electric energy conveniently.
Optionally, the front microstructure and the back microstructure may be formed by a plurality of tiny protrusions, for example, the front microstructure includes a plurality of first protrusions arranged on an outer side surface of the deformation composite layer in an array, the back microstructure includes a plurality of second protrusions arranged on an inner side surface of the deformation composite layer in an array, and positions of the first protrusions and the second protrusions are in one-to-one correspondence, that is, each first protrusion arranged on the outer side surface of the deformation composite layer can form a one-to-one mapping positional relationship with each second protrusion arranged on the inner side surface of the deformation composite layer, so that when an object is touched on the outer side surface to deform the first protrusion located at a touch position or a contact position, the second protrusion corresponding to the deformation position can also deform correspondingly, and the deformation amount of the first protrusion corresponds to a deformation amount of the second protrusion corresponding to the deformation amount, so that the brightness, the chromaticity change positions correspond to each other, and therefore the contact information of the touch object is accurately reflected. Each of the micro-protrusions (the first micro-protrusion and the second micro-protrusion) may be made of a different second luminescent material, for example, each of the first micro-protrusion and/or the second micro-protrusion is made of three kinds of RGB luminescent fillers, so that in the information acquisition of the image module, RGB color matching information can be obtained on the basis of obtaining luminance information under different deformation strengths.
The first micro-protrusions can be in various forms such as columnar protrusions, triangular protrusions, circular truncated cone protrusions, rugby balls and the like, and the first micro-protrusions are not limited in the application as long as the first micro-protrusions can emit stronger light under the action of strain. The second convex-concave processing is the same, and will not be described herein. The light-transmitting composite layer 210 may be disposed on the substrate 100 in a hemispherical shape, a semi-ellipsoidal shape, a semi-prism shape, or other forms.
The material used in the light-transmitting composite layer 210 in the above embodiment may be ZnS: Cu @ PDMS, or a combination of ZnS: Ag @ PDMS, or a strained light-emitting material added with other ternary compounds (transition metal divalent manganese ion activated sulfoxy inorganic compound CaZnOS: Mn as a matrix) and rare earth elements.
Optionally, as shown in fig. 3, the base 100 includes a substrate 110 and a side plate 120, that is, the side plate 120 is disposed around the edge of the substrate 110, so as to form a groove structure formed by combining the substrate 110 and the side plate 120, so that after the light-transmitting composite layer 210 is connected to the side plate 120, an accommodating chamber with a hollow interior is formed by enclosing the substrate 110, the side plate 120 and the light-transmitting composite layer 210, and the accommodating chamber is a fully flexible accommodating chamber, and the photoelectric conversion module and the image module are disposed on the substrate 110, wherein the image module is electrically connected to pins of the substrate 110, the photoelectric conversion module can be connected to the image module through a battery module 420, or the photoelectric conversion module can be electrically connected to the image module through the battery module 420 and the substrate 110. In addition, a wireless communication module electrically connected to the image module, a signal interface 111, and the like may be further disposed on the substrate 110. In order to facilitate the tactile sensor to establish an information transmission channel with a control module and the like, the channel can be connected by wireless or wire. Wherein, adopt wireless communication module, can be at base setting WIFI module, bluetooth module, infrared module, RFID module etc to carry out information interaction, instruction transmission etc. with the control module group or the terminal on tactile sensor's the carrier, it can peel off the control module group from the carrier, and the carrier of being convenient for realizes miniaturization, simplification, and simultaneously, independent external control module group also helps improving data processing ability. As shown in fig. 4, in order to reduce interference of ambient environment on data transmission from the touch sensor to the control module, a signal interface 111 may be further disposed on the substrate 110, for example, the substrate 110 is a PCB or a flexible PCB, an image module, a photoelectric conversion module, and the like are commonly integrated on the PCB, and command, data, and power circuit channels are established between the image module and the photoelectric conversion module as required.
Optionally, as shown in fig. 3, the photoelectric conversion module may be a photoelectric conversion plate 410, a plate surface of the photoelectric conversion plate 410 and the light-transmitting composite layer 210 are disposed opposite to each other, that is, the photoelectric conversion plate 410 and the light-transmitting composite layer 210 are disposed opposite to each other, and no barrier is disposed therebetween, so as to ensure stability of receiving light energy generated by the light-transmitting composite layer 210, meanwhile, the photoelectric conversion plate 410 is electrically connected to the battery module 420, so that the light energy is stored in the battery module 420 after the photoelectric conversion plate 410 converts the light energy into electric energy, and the battery module 420 is electrically connected to the image module to supply power for the operation. In addition, a power chip management module can be further arranged to regulate and control the input and output voltage, current and the like of the battery module 420, so that the stability of electric energy input and output is ensured. The photoelectric conversion board 410 may be a solar charging board, and the battery module 420 may be a pouch battery, a lithium battery, a super capacitor, or other types of batteries capable of being charged.
Meanwhile, a power supply interface can be further arranged on the substrate 110, that is, when the battery module 420 has more electric energy, the redundant energy can be supplied to external electric equipment for use, and the whole touch sensor has no energy consumption requirement except that the image sensor 310 needs energy, and is highly integrated.
Optionally, as shown in fig. 3, in actual setting, the image module may be disposed in the center of the substrate 110, so as to ensure that the image module can acquire all inner surfaces of the light-transmitting composite layer 210, thereby improving comprehensiveness and accuracy of image data acquisition. The battery module 420 is disposed in an annular shape, that is, disposed around the image module, and the photoelectric conversion plate 410 is disposed on the upper surface of the battery module 420, such that the photoelectric conversion plate 410 covers the upper surface of the battery module 420, thereby effectively utilizing the inner space and improving the photoelectric conversion capability.
Optionally, as shown in fig. 3, the image module may include an image sensor 310 and an optical lens 320, the image sensor 310 is electrically connected to the battery module 420, the image sensor 310 is located at the center of the substrate 110, and may be a CMOS image sensor 310, a CCD image sensor 310, or the like, as long as image acquisition is achieved, and the number of the image sensors may be one or multiple. The optical lens 320 is installed at the acquiring end of the image sensor 310, that is, an image can be accurately imaged on the image sensor 310 through the optical lens 320, and the focal length is reasonably set according to the inner surface of the light-transmitting composite layer 210, so that the image module can acquire all the inner surfaces of the light-transmitting composite layer 210, and the optical lens 320 may be a macro-scale ultra-short-focus large-field lens or a micro-nano-scale ultra-short-focus large-field lens manufactured by using an MEMS process.
When the touch sensor is manufactured, the integration may be performed through an integrated packaging process, for example, the image sensor 310 may be mounted on the substrate 110; then, an optical lens 320 is installed on the image sensor 310, and strict alignment is required during installation, so that the focal length is adjusted; then, an annular battery module 420 is arranged on the substrate 110 and around the image sensor 310; then, the photoelectric conversion plate 410 is stacked on the battery module 420; then, the side plates 120 are mounted on the peripheral side of the substrate 110, so as to protect the internal battery module 420 and the image sensor 310; finally, the light-transmitting composite layer 210 is glued to the side plate 120.
In another aspect of the embodiments of the present invention, there is provided a robot, including a machine carrier, a control module, and any one of the above tactile sensors, where the control module and the tactile sensor are respectively disposed on the machine carrier, and the control module and the tactile sensor are electrically connected.
The touch sensor is applied to the field of robots, and can be arranged on a robot carrier, and meanwhile, a control module on the robot carrier is electrically connected with the touch sensor, so that when the robot moves forward or acts, the touch sensor can transmit acquired five-dimensional information of an object to be touched to the control module, the control module can control subsequent actions of the robot by integrating the acquired information of the touch sensor and other sensors, the judgment accuracy of the robot is effectively improved, the action precision of the robot is improved, and a foundation is laid for the application of the robot to a wider environment.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A tactile sensor, comprising: the device comprises a base, a photoelectric conversion module, an image module, a battery module and a light-transmitting composite layer; the photoelectric conversion module is electrically connected with the image module and the battery module; the light-transmitting composite layer is connected with the battery module;
the light-transmitting composite layer is connected with the base and encloses the base to form a fully flexible accommodating chamber, the photoelectric conversion module and the image module are arranged in the accommodating chamber, the light-transmitting composite layer is used for contacting a touch object to generate deformation and friction, and the image module is used for acquiring deformation information of the light-transmitting composite layer; the photoelectric conversion module is used for converting the ambient light penetrating through the light-transmitting composite layer into electric energy and storing the electric energy to the battery module; the light-transmitting composite layer is also used for converting friction energy generated by friction into electric energy and storing the electric energy to the battery module.
2. A touch sensor as claimed in claim 1, wherein the photoelectric conversion module is further configured to receive light energy generated by light emission after the light-transmissive composite layer is deformed by friction, convert the light energy into electrical energy, and store the electrical energy in the battery module.
3. A tactile sensor according to claim 2, wherein the light-transmissive composite layer comprises: a deformation composite layer formed by the friction material and the first luminescent material and a microstructure formed by a plurality of different second luminescent materials; the microstructure is positioned on the deformation composite layer; the microstructures are used for contacting a touch object to generate deformation and emit light through the second luminescent material; the image module is also used for acquiring brightness information and chrominance information generated after the light-transmitting composite layer is deformed by contacting a touch object.
4. A tactile sensor as in claim 3, wherein the microstructures comprise a front microstructure disposed on an outer side of the deformable composite layer and a back microstructure disposed on an inner side of the deformable composite layer, and wherein the front microstructure and the back microstructure correspond in position.
5. A tactile sensor according to claim 4, wherein the front micro-structure comprises a plurality of first micro-protrusions arranged on the outer side surface of the deformable composite layer in an array, the back micro-structure comprises a plurality of second micro-protrusions arranged on the inner side surface of the deformable composite layer in an array, and the positions of the plurality of first micro-protrusions and the plurality of second micro-protrusions correspond to each other one by one.
6. A tactile sensor according to any one of claims 1 to 5, wherein the base comprises a base plate and a side plate, the side plate is arranged around the edge of the base plate, the light-transmitting composite layer is connected with the side plate, and the image module is electrically connected with the base plate.
7. A tactile sensor according to claim 6, wherein the photoelectric conversion module is a photoelectric conversion plate, a plate surface of the photoelectric conversion plate is disposed opposite to the light-transmitting composite layer for receiving light energy transmitted through the light-transmitting composite layer, and the photoelectric conversion plate is electrically connected to the battery module.
8. A tactile sensor as in claim 7, wherein the image module comprises an image sensor and an optical lens, wherein the image sensor is electrically connected to the battery module, wherein the image sensor is located at the center of the substrate, and wherein the optical lens is disposed at an acquisition end of the image sensor.
9. A tactile sensor according to claim 7, wherein the battery module is disposed on the substrate, the photoelectric conversion plate is disposed on a side of the battery module close to the light-transmitting composite layer, and both the battery module and the photoelectric conversion plate are disposed around a periphery of the image module.
10. A robot comprising a machine carrier, a control module and the tactile sensor according to any one of claims 1 to 9, the control module and the tactile sensor being respectively provided on the machine carrier, and the control module and the tactile sensor being electrically connected.
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| CN202110501069.2A CN113108956A (en) | 2021-05-08 | 2021-05-08 | Touch sensor and robot |
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| CN202110501069.2A CN113108956A (en) | 2021-05-08 | 2021-05-08 | Touch sensor and robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114113008A (en) * | 2021-10-22 | 2022-03-01 | 清华大学深圳国际研究生院 | Artificial touch equipment and method based on structured light |
| CN114147750A (en) * | 2021-12-03 | 2022-03-08 | 廊坊晶正光电技术有限公司 | Robot touch perception system and method for perceiving pressure in imaging mode |
| CN114894354A (en) * | 2022-04-11 | 2022-08-12 | 汕头大学 | Pressure perception feedback device based on surface structure color and deep learning identification method |
-
2021
- 2021-05-08 CN CN202110501069.2A patent/CN113108956A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114113008A (en) * | 2021-10-22 | 2022-03-01 | 清华大学深圳国际研究生院 | Artificial touch equipment and method based on structured light |
| CN114113008B (en) * | 2021-10-22 | 2023-12-22 | 清华大学深圳国际研究生院 | Structured light-based artificial haptic device and method |
| CN114147750A (en) * | 2021-12-03 | 2022-03-08 | 廊坊晶正光电技术有限公司 | Robot touch perception system and method for perceiving pressure in imaging mode |
| CN114147750B (en) * | 2021-12-03 | 2024-04-09 | 廊坊晶正光电技术有限公司 | Robot touch sensing system and method for sensing pressure in imaging mode |
| CN114894354A (en) * | 2022-04-11 | 2022-08-12 | 汕头大学 | Pressure perception feedback device based on surface structure color and deep learning identification method |
| CN114894354B (en) * | 2022-04-11 | 2023-06-13 | 汕头大学 | Pressure sensing feedback device based on surface structural color and deep learning identification method |
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