CN114043506A - Multi-mode tactile sensing device and application method thereof - Google Patents
Multi-mode tactile sensing device and application method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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Abstract
The invention discloses a multi-modal touch sensing device and an application method thereof. The air pump is connected with the device through a pipeline, the flexible touch sensor unit is installed on the non-closed surface of the square box, the light source unit comprises three RGB (red, green and blue) lamp beads which are respectively installed on the inner walls of three sides of the square box, the image acquisition unit is installed on the bottom surface of the square box, and the acceleration acquisition unit is installed on the inner wall of the bottom of the square box. The invention takes the flexible material canvas as the contact surface of the touch device, and can simultaneously trigger two kinds of heterogeneous touch information: the touch sense sequence and the touch sense image are respectively, and the information of touch sense, sliding sense and the like in the physical world is quantitatively depicted through fitting. The device can simultaneously sense tactile information of multiple modes such as force tactile quantity, RGB (red, green, blue) images, depth images, acceleration and the like when the device is in contact with or slides on a measured object.
Description
Technical Field
The invention relates to the technical field of robot sensing, in particular to a multi-mode touch sensing device and an application method thereof.
Background
Haptic sensations are an important source of information for the machine to perceive the external environment. With the wide application of haptic perception technology and interaction technology, the robot haptic sensing technology has received a high degree of attention from robot developers. At present, common touch sensors are of a piezoresistive type, a capacitive type, a photoelectric type and the like, and most of the common touch sensors have the problems that the density is difficult to improve, the circuit processing is complex and the like. In order to overcome the above disadvantages, a visual sense-based tactile sensing device has recently appeared, and has advantages of simple structure, rich information and the like, but the existing tactile sensing device still has a great space for improvement in terms of weak information pairing and single tactile sensing manner.
Disclosure of Invention
The invention provides a multi-mode tactile perception device and an application method thereof, aiming at solving the common problems of weak information pairing and a single tactile perception mode of the existing tactile perception device. The device main part is black square box, and wherein one side is not sealed, pastes canvas force touch sensor, and in the use, utilize the air pump to pass through a osculum of device side, inflate for device inside, and force touch sensor's deformation is more obvious when making the testee and canvas force sensor contact. The usage of the sensor is as follows: the flexible touch sensor presses a measured object vertically downwards, the canvas surface is contacted with the measured object and deforms by the horizontal moving device, the read AD signals are returned to the MCU for processing by the 16 contacts on the surface of the touch sensor, meanwhile, the acceleration sensor is mounted on the device and can acquire the acceleration signals in the measuring process, RGB lamp beads are also arranged in the device to provide light sources with three colors of red, green and blue, a binocular camera at the bottom can read RGB images and depth images generated by the sliding of the object on the canvas force touch sensor, the information can acquire touch sequences, touch images and acceleration information simultaneously through fitting, and the device can acquire multi-mode touch information without weak pairing when sensing the object.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multi-modal touch sensing device comprises a square box unit, an air pump unit, a flexible touch sensor unit, a light source unit, an image acquisition unit and an acceleration acquisition unit; the air pump unit is connected with the square box unit through a pipeline, the flexible touch sensor unit is arranged on the square box unit, the light source unit is arranged on the side wall of the square box unit, the image acquisition unit is arranged at the bottom of the square box unit, and the acceleration acquisition unit is arranged at the bottom of the square box unit.
Further, the square box unit is a cuboid hollow shell, the shell is made of black acrylic plate materials, and the cuboid is provided with one side which is not closed.
Further, the air pump unit is an automatic inflation device.
Furthermore, the flexible touch sensor unit comprises a canvas force touch sensor and a peripheral circuit, the canvas force touch sensor is installed on the unsealed side of the cuboid, and the peripheral circuit is externally arranged. The canvas force touch sensor is formed by combining a nanometer force-sensitive material and soft canvas, has five layers in total and comprises two canvas layers, two thin film layers and a nanometer force-sensitive material layer.
Furthermore, the light source unit comprises three RGB (red, green and blue) lamp beads which are respectively attached to three side walls of the square box unit through hot melt adhesives.
Furthermore, the image acquisition unit is a high-definition binocular camera with 100 ten thousand pixels and is arranged at the bottom of the square box unit.
Further, the acceleration acquisition unit is a WT61C sensor based on an MPU6050 chip and is mounted at the bottom of the square box unit.
Furthermore, the force-sensitive material layer has 16 sensing point areas in total, and is symmetrically distributed in a 4 x 4 matrix, and the equal amount of nano force-sensitive material is uniformly distributed in each sensing point area.
A method for applying a multi-modal haptic sensation device, comprising the steps of:
s1: firstly, electrifying 12V, starting an air pump to work, inflating the interior of the device through a pipeline, and electrifying the flexible touch sensor unit to work at the same time;
s2: when the flexible touch sensor unit works, the RGB light source unit continuously provides red, green and blue light sources, the binocular camera shoots a canvas force touch sensor which deforms when a measured object is contacted with or slides, at the moment, the shape information of the measured object can be shot, then the shot RGB image and the depth image are stored into a jpg file through the upper computer, the acceleration sensor also continuously outputs acceleration information to the upper computer through a serial port, and all the acceleration information is stored into a txt file by the upper computer;
s3: and (3) utilizing a long-short term memory model recurrent neural network algorithm to intensively analyze the tactile sequence txt information, the acceleration sequence txt information, the RGB image jpg information, the depth image jpg information and then fitting to obtain the shape information of the measured object.
The invention has the beneficial effects that:
the invention takes the flexible material canvas as the contact surface of the touch device, and can simultaneously trigger two kinds of heterogeneous touch information: the touch sense sequence and the touch sense image are respectively, and the information of touch sense, sliding sense and the like in the physical world is quantitatively depicted through fitting. The device can obtain various modal information such as force touch quantity, RGB (red, green and blue) images, depth images, acceleration and the like when the device is in contact with or slides on a measured object. The device breaks through the current situation of single-mode information acquisition of the traditional touch sensing device, can integrate the measurement of stress, acceleration, sliding shape and other information in the same sensing device to obtain high-precision contact texture information, realizes the measurement of multi-mode information, and can integrate the information into the identification and grabbing operation of an object. The device has the following advantages:
1. the gel sensing layer in the existing touch sensor is replaced by a canvas force touch sensor, so that the touch sensor can simultaneously trigger two kinds of heterogeneous touch information when sensing an object: the touch sequence and the touch image are respectively adopted, so that the problem of insufficient perception information caused by a single touch perception mode of the existing touch sensor is solved.
2. The multi-mode touch perception device is provided with a plurality of sensors such as a pressure sensor, an acceleration sensor and a binocular camera, and the device collects multi-mode touch information of an object when perceiving the object, so that the problem of weak pairing of multi-mode data existing when the traditional multi-mode sensor collects data is avoided, and the effect is poor when the multi-mode data are collected by the sensors and fused.
3. Compared with the existing touch sensor, the designed flexible touch sensor based on the nanometer force-sensitive material and the canvas has better flexibility, and can capture the touch image of the measured object through the shape change of the canvas force touch sensor in the flexible touch sensor when the object is sensed.
Drawings
FIG. 1 is a mechanical structure diagram of a multi-modal tactile sensing apparatus according to the present invention;
FIG. 2 is a block diagram of an overall structure of a multi-modal haptic sensing apparatus according to the present invention;
fig. 3 is a hierarchical diagram of the internal structure of the canvas force touch sensor according to the present invention (16 force touch sensing point areas are on the force sensitive material layer).
In the figure, 1, PC end; 2. a power supply and a serial port; 3. a single chip microcomputer; 4. a flexible force tactile sensor; 5. black pellets of the measured object; 6. a blue LED lamp bead; 7. an acceleration sensor; 8. a depth camera; 9. an RGB camera; 10. a red LED lamp bead; 11. a green LED lamp bead; 12. an air pump.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Referring to fig. 1-3, in the figure, 1 is a PC terminal, which receives data of all sensors, a user processes the data at the PC terminal, 2 is a power supply and a serial port, which provides power for the whole system and connects the PC and a single chip, 3 is a minimum system of the single chip, 4 is a flexible force touch sensor which is designed independently, 5 is a black ball of a measured object, 6 is a blue LED lamp bead, 7 is an MPU6050 acceleration sensor, 8 is a depth camera, 9 is an RGB camera, 10 is a red LED lamp bead, 11 is a green LED lamp bead, and 12 is an air pump.
The square box unit is a cuboid hollow box made of black acrylic plate materials, one surface of the cuboid is not closed, and the square box is used as a carrier of a circuit board of each module and is used for isolating the interior of the multi-modal tactile perception device from the external environment, so that the interior is absolutely isolated from the external environment; the air pump unit is an automatic inflating device;
the flexible touch sensor unit comprises a canvas force touch sensor, a 12V-to-5V voltage-stabilized power supply circuit, a 5V-to-3.3V voltage-stabilized power supply circuit, an stm32f103c8t6 minimum system circuit and a CD4066 switch selection circuit;
the light source unit comprises three red, green and blue lamp beads, and provides light sources of all colors respectively, and each lamp bead is fixed on one side of the square box;
the image acquisition unit is a high-definition binocular camera with 100 ten thousand pixels, is placed at the bottom of the device, and is used for shooting deformation information generated when a measured object is in contact with or slides on the canvas force touch sensor, wherein the deformation information comprises an RGB image and a depth image;
the acceleration acquisition unit is a WT61C sensor based on an MPU6050 chip and is arranged at the bottom and parallel to a horizontal plane;
the 12V power supply is mainly used for an air pump, the 3.3V voltage-stabilizing power supply circuit is mainly used for supplying power to a CD4066 chip and an stm32f103c8t6 singlechip chip, the stm32f103c8t6 minimum system circuit is mainly used for resetting the stm32f103c8t6 singlechip chip to prevent programs from running to death and an external system clock, and the CD4066 switch selection circuit is mainly used for controlling the power supply of an internal circuit of the canvas force touch sensor and the selection function of an AD signal acquisition channel of the MCU.
The canvas force tactile sensor combines a nanometer force sensitive material with a soft canvas, the sensor has five layers in total, and comprises two canvas layers, two film layers and a force sensitive material layer, wherein the canvas layers adopt light and thin canvas to ensure that the sensor is in more smooth contact with a measured object, the film layers adopt flexible films to play a role of fixing the internal force sensitive material layer, the force sensitive material layer adopts the nanometer force sensitive material, when the sensor is pressed, the resistance of the force sensitive material layer is reduced along with the increase of the pressure, one total 16 sensing point areas of the force sensitive material layer are symmetrically distributed in a 4 x 4 matrix, the same amount of the nanometer force sensitive material is uniformly distributed in each sensing point area, when any one sensing point area generates deformation, the resistance value of the area can be changed, the force change information is obtained through a sampling circuit, and the force acquisition resolution of the canvas force tactile sensor can reach 0.5N, the sensor is mainly used for collecting force touch information generated when a measured object is in contact with the sensor;
the air pump unit is used for filling air into the device through a pipeline in the working process of the sensor. The flexible touch sensor unit is mainly used for acquiring force touch information generated by contact or sliding of a measured object and a device, wherein the canvas force touch sensor is fixed on the unclosed surface of the square box. Three lamp pearls of RGB in the light source unit are fixed on three sides of the inner wall of four sides of the square box, and are mainly used for providing red, green and blue light sources. The image acquisition unit is fixed at the bottom of the square box and mainly acquires RGB information and depth information generated when the measured object is in contact with or slides with the device. The acceleration acquisition unit is fixed at the bottom of the square box and is parallel to the horizontal plane, and is mainly used for acquiring acceleration information generated when a measured object is in contact with or slides on the device. The data are recorded and stored through an upper computer, and then the shape information of the measured object is obtained through fitting.
1. The device is characterized in that the 12V power is firstly switched on, the air pump starts to work and charges the interior of the device through a pipeline, meanwhile, the touch sensor unit is switched on, as the voltage value of the battery is reduced along with the longer service time, the stm32f103c8t6 single chip microcomputer chip of the touch sensor unit and the CD4066 chip need 3.3V voltage, a 3.3V and 5V voltage-stabilizing power supply circuit is designed to supply power to the modules, along with the normal operation of power supply, the CD4066 chip controls the on-off of 4 switches to supply power to 16 contacts of the canvas force touch sensor line by line, and simultaneously, the stm32f103c8t6 single chip microcomputer returns AD signals of the line of contacts for collecting and supplying power at one time to the upper computer, the information is 16 disposable touch sequences, and the upper computer stores all the touch sequences as txt files.
2. When the flexible touch sensor unit works, the RGB light source unit continuously provides red, green and blue light sources, the binocular camera shoots the canvas force touch sensor which deforms when a measured object is in contact with or slides on the device, at the moment, the shape information of the measured object can be shot, then the shot RGB image and the depth image are stored into a jpg file through the upper computer, the acceleration sensor also continuously outputs acceleration information to the upper computer through a serial port, and all the acceleration information is stored into a txt file by the upper computer.
3. And then carrying out centralized analysis on the tactile sequence txt information, the acceleration sequence txt information, the RGB image jpg information, the depth image jpg information and the long-short term memory model recurrent neural network algorithm, and fitting to obtain the shape information of the measured object with the accuracy rate of more than 90%.
The above is an embodiment of the present invention. The embodiments and specific parameters in the embodiments are only for the purpose of clearly illustrating the verification process of the invention and are not intended to limit the scope of the invention, which is defined by the claims, and all equivalent structural changes made by using the contents of the specification and the drawings of the present invention should be covered by the scope of the present invention.
Claims (9)
1. A multi-modal haptic sensation apparatus characterized by: the device comprises a square box unit, an air pump unit, a flexible touch sensor unit, a light source unit, an image acquisition unit and an acceleration acquisition unit; the air pump unit is connected with the square box unit through a pipeline, the flexible touch sensor unit is arranged on the square box unit, the light source unit is arranged on the side wall of the square box unit, the image acquisition unit is arranged at the bottom of the square box unit, and the acceleration acquisition unit is arranged at the bottom of the square box unit.
2. A multi-modal haptic sensation apparatus according to claim 1, wherein:
the square box unit is a cuboid hollow shell, the shell is made of black acrylic plate materials, and the cuboid is provided with one side which is not closed.
3. A multi-modal haptic sensation apparatus according to claim 1, wherein:
the air pump unit is an automatic inflation device.
4. A multi-modal haptic sensation apparatus according to claim 1, wherein:
the flexible touch sensor unit comprises a canvas force touch sensor and a peripheral circuit, the canvas force touch sensor is installed on the unsealed side of the cuboid, and the peripheral circuit is externally arranged. The canvas force touch sensor is formed by combining a nanometer force-sensitive material and soft canvas, has five layers in total and comprises two canvas layers, two thin film layers and a nanometer force-sensitive material layer.
5. A multi-modal haptic sensation apparatus according to claim 1, wherein:
the light source unit comprises RGB (red, green and blue) lamp beads, and the RGB lamp beads are respectively stuck to the three side walls of the square box unit through hot melt adhesives.
6. A multi-modal haptic sensation apparatus according to claim 1, wherein:
the image acquisition unit is a high-definition binocular camera with 100 ten thousand pixels and is arranged at the bottom of the square box unit.
7. A multi-modal haptic sensation apparatus according to claim 1, wherein:
the acceleration acquisition unit is a WT61C sensor based on an MPU6050 chip and is installed at the bottom of the square box unit.
8. A multi-modal haptic sensation apparatus according to claim 4, wherein:
the force-sensitive material layer has 16 sensing point areas in total, the sensing point areas are symmetrically distributed in a 4 multiplied by 4 matrix, and the equal amount of the nanometer force-sensitive material is uniformly distributed in each sensing point area.
9. An application method of a multi-modal haptic sensation device is characterized in that: the method comprises the following steps:
s1: firstly, electrifying 12V, starting an air pump to work, inflating the interior of the device through a pipeline, and electrifying the flexible touch sensor unit to work at the same time;
s2: when the flexible touch sensor unit works, the RGB light source unit continuously provides red, green and blue light sources, the binocular camera shoots a canvas force touch sensor which deforms when a measured object is contacted with or slides, at the moment, the shape information of the measured object can be shot, then the shot RGB image and the depth image are stored into a jpg file through the upper computer, the acceleration sensor also continuously outputs acceleration information to the upper computer through a serial port, and all the acceleration information is stored into a txt file by the upper computer;
s3: and (3) utilizing a long-short term memory model recurrent neural network algorithm to intensively analyze the tactile sequence txt information, the acceleration sequence txt information, the RGB image jpg information, the depth image jpg information and then fitting to obtain the shape information of the measured object.
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