CN114252178A - Touch sensor, pressure event detection method and device and intelligent robot - Google Patents
Touch sensor, pressure event detection method and device and intelligent robot Download PDFInfo
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Abstract
The application discloses a touch sensor, a pressure event detection method and device and an intelligent robot, relates to the technical field of sensors, and is used for improving the accuracy of pressure event detection of the touch sensor. When a pressure event exists in the touch sensor, the wire cuts the magnetic induction line of the magnetic layer under the action of pressure, induced current is generated to enable the electroluminescent device to emit light, the light enters the optical waveguide and is received by the optical signal receiver, and meanwhile, the electrical signal receiver detects an electrical signal on the wire, so that the external force position is output through the electromagnetic principle, the external force is output by utilizing the optical principle, the interference problem of electromagnetic interference on external force estimation is reduced, meanwhile, the incident light intensity of the light emitted by the electroluminescent device entering the optical waveguide is approximately equal through the current, the probability of inaccurate external force estimation caused by different incident light intensities is reduced, and the accuracy of pressure event detection of the touch sensor is improved.
Description
Technical Field
The application relates to the technical field of sensors, and provides a touch sensor, a pressure event detection method and device and an intelligent robot.
Background
The touch sensor can be used as an electronic skin to be applied to the surface of human skin, an intelligent robot, a research instrument and other scenes. For example, when the touch sensor is applied to an intelligent robot, the touch sensor can help the intelligent robot to realize a touch simulation function so as to help the robot to perceive an external environment, for example, when the robot grabs an article, the touch sensor can sense the position and the force contacting the article, so that the characteristics of the shape and the like of the article are estimated, the grabbing force to the article is adjusted, and the reliability of the grabbing and conveying processes is improved; or, the touch sensor can also be applied to the surface of human skin, and is used for replacing necrotic skin tissues on the surface of the human skin and assisting the human body to sense the touch.
Therefore, the accuracy of the touch sensor for external pressure detection directly affects the reliability of the robot for gripping and conveying the article and the accuracy of human body tactile perception, and thus it is necessary to improve the accuracy of the touch sensor for pressure detection.
Disclosure of Invention
The embodiment of the application provides a touch sensor, a pressure event detection method and device and an intelligent robot, and is used for improving the accuracy of pressure event detection of the touch sensor.
In one aspect, a tactile sensor is provided, the tactile sensor comprising a cladding layer, a magnetic layer, and at least two sensing units located between the cladding layer and the magnetic layer;
the at least two sensing units comprise a first group of sensing units and a second group of sensing units, the first group of sensing units and the second group of sensing units both comprise one or more of a first sensing unit and a second sensing unit, the first sensing unit comprises an electroluminescent device, a conducting wire and an optical waveguide group arranged in parallel, and the second sensing unit comprises a conducting wire;
the wires of the first group of sensing units are arranged along a first direction parallel to the magnetic layer, and the wires of the second group of sensing units are arranged along a second direction parallel to the magnetic layer, and the first direction is crossed with the second direction;
in each first sensing unit, the electroluminescent device is connected in series to a closed loop formed by the wires, the wires are connected with the electric signal receiver, the incident end of each optical waveguide is connected with the electroluminescent device, the emergent end of each optical waveguide is connected with the optical signal receiver, and the wires of each second sensing unit are connected with the electric signal receiver.
Optionally, each optical waveguide is of a linear structure, a U-shaped structure, or an L-shaped structure.
In one aspect, a pressure event detection method applied to the tactile sensor of the above aspect is provided, the method including:
acquiring the electric signal value of each sensing unit through an electric signal receiver; when a pressure event exists, the wire included in each sensing unit cuts the magnetic field of the magnetic layer to generate an induced voltage;
determining the position of the pressure event on the touch sensor according to the electric signal value of each sensing unit; and,
aiming at each sensing unit, determining the incident light intensity input into the optical waveguide by the electroluminescent device according to the electric signal value; the current generated on the lead wire of each sensing unit breaks down the corresponding electroluminescent device, so that the electroluminescent device generates incident light which is input to the incident end of the optical waveguide of each sensing unit;
acquiring at least two emergent light intensities corresponding to each sensing unit through an optical signal receiver;
and determining the pressure value of the pressure event on the touch sensor according to the incident light intensity of the optical waveguide of each sensing unit and at least two emergent light intensities corresponding to each sensing unit.
Optionally, determining the position of the pressure event on the tactile sensor according to the electrical signals of the sensing units includes:
determining first coordinate information of the pressure event in the first direction according to the electric signal values of all the sensing units distributed along the first direction;
determining second coordinate information of the pressure event in a second direction according to the electric signal values of all the sensing units distributed along the second direction;
determining a location of the pressure event on the tactile sensor from the first coordinate information and the second coordinate information.
Optionally, determining the pressure value of the pressure event on the tactile sensor according to the incident light intensity of the optical waveguide of each sensing unit and at least two emergent light intensities corresponding to each sensing unit includes:
determining the optical loss rate of each optical waveguide according to the incident light intensity, the emergent light intensity and the light propagation length of each optical waveguide;
and determining the pressure value according to the incident light intensity of the optical waveguide of each sensing unit, at least two emergent light intensities corresponding to each sensing unit and the light loss value.
In one aspect, a pressure event detection apparatus is provided, the apparatus comprising:
the acquisition unit is used for acquiring the electric signal value of each sensing unit through the electric signal receiver; when a pressure event exists, the wire included in each sensing unit cuts the magnetic field of the magnetic layer to generate an induced voltage;
the determining unit is used for determining the position of the pressure event on the touch sensor according to the electric signal value of each sensing unit; and, for each sensing unit, determining the incident light intensity input to the optical waveguide by the electroluminescent device according to the electric signal value; the current generated on the lead wire of each sensing unit breaks down the corresponding electroluminescent device, so that the electroluminescent device generates incident light which is input to the incident end of the optical waveguide of each sensing unit;
the acquisition unit is also used for acquiring at least two emergent light intensities corresponding to the sensing units through the optical signal receiver;
the determining unit is further configured to determine a pressure value of the pressure event on the tactile sensor according to the incident light intensity of the optical waveguide of each sensing unit and the at least two emergent light intensities corresponding to each sensing unit.
Optionally, the determining unit is configured to:
determining first coordinate information of the pressure event in the first direction according to the electric signal values of all the sensing units distributed along the first direction;
determining second coordinate information of the pressure event in a second direction according to the electric signal values of all the sensing units distributed along the second direction;
determining a location of the pressure event on the tactile sensor from the first coordinate information and the second coordinate information.
Optionally, the determining unit is configured to:
determining the optical loss rate of each optical waveguide according to the incident light intensity, the emergent light intensity and the light propagation length of each optical waveguide;
and determining the pressure value according to the incident light intensity of the optical waveguide of each sensing unit, at least two emergent light intensities corresponding to each sensing unit and the light loss value.
In one aspect, a smart robot is provided, the surface of which is provided with the tactile sensor of the above aspect.
In one aspect, a computer storage medium is provided having computer program instructions stored thereon that, when executed by a processor, implement the steps of any of the above-described methods.
In one aspect, a computer program product or computer program is provided that includes computer instructions stored in a computer-readable storage medium. The computer instructions are read by a processor of a computer device from a computer-readable storage medium, and the computer instructions are executed by the processor to cause the computer device to perform the steps of any of the methods described above.
The tactile sensor provided in the embodiment of the application comprises a coating layer, a magnetic layer and at least two sensing units located between the coating layer and the magnetic layer, wherein the at least two sensing units comprise a first group of sensing units and a second group of sensing units, the first group of sensing units and the second group of sensing units both comprise one or more of the first sensing units and the second sensing units, the first sensing units comprise electroluminescent devices, conducting wires and optical waveguide groups arranged in parallel, the second sensing units comprise conducting wires, the conducting wires of the first group of sensing units are arranged along a first direction perpendicular to the magnetic layer, and the conducting wires of the second group of sensing units are arranged along a second direction parallel to the magnetic layer, and the first direction is crossed with the second direction; in each first sensing unit, the electroluminescent device is connected in series to a closed loop formed by the wires, the wires are connected with the electric signal receiver, the incident end of each optical waveguide is connected with the electroluminescent device, the emergent end of each optical waveguide is connected with the optical signal receiver, and the wires of each second sensing unit are connected with the electric signal receiver.
Wherein, when there is the pressure event in this application embodiment, the wire cuts the magnetic induction line of magnetic layer under the pressure effect, induced current produces and makes electroluminescent device luminous, after the light got into the optical waveguide, by the light signal receiver receipt, the signal of telecommunication on the wire is detected to the signal of telecommunication receiver simultaneously, therefore output external force position through the electromagnetism principle, utilize the size of optical principle output external force, reduce the interference problem of electromagnetic interference to external force estimation, the incident light intensity that the light that the current made electroluminescent device to send got into the optical waveguide is roughly equal simultaneously, reduce the inaccurate probability of external force estimation that different incident light intensities lead to, thereby the accuracy that the pressure event of touch sensor detected has been promoted.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or related technologies, the drawings needed to be used in the description of the embodiments or related technologies are briefly introduced below, it is obvious that the drawings in the following description are only the embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic view of a scenario provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of a structure of a tactile sensor according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a first sensing unit according to an embodiment of the present disclosure;
fig. 4a and 4b are schematic layout diagrams of a first group of sensing units and a second group of sensing units provided by an embodiment of the present application;
fig. 5 is a schematic structural diagram of a second sensing unit provided in the embodiment of the present application;
FIG. 6 is an exploded view of a tactile sensor according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram illustrating the operation of a tactile sensor according to an embodiment of the present disclosure;
FIG. 8 is a schematic flow chart illustrating a method for detecting a pressure event according to an embodiment of the present disclosure;
fig. 9 is a schematic signal transmission diagram of a sensing unit according to an embodiment of the present application;
fig. 10 is a schematic diagram illustrating a variation law of optical loss according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a pressure event detection device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Artificial Intelligence (AI) is a theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and expand human Intelligence, perceive the environment, acquire knowledge and use the knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technique of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence. Artificial intelligence is the research of the design principle and the realization method of various intelligent machines, so that the machines have the functions of perception, reasoning and decision making.
The artificial intelligence technology is a comprehensive subject and relates to the field of extensive technology, namely the technology of a hardware level and the technology of a software level. The artificial intelligence infrastructure generally includes technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and the like.
The scheme provided by the embodiment of the application relates to the technology of a touch sensor in the field of AI, and is used for assisting a machine to realize human body touch simulation. Generally, the accuracy of the touch sensor for external pressure detection directly affects the reliability of the robot for gripping and conveying articles and the accuracy of human body tactile perception, so it is necessary to improve the accuracy of the touch sensor for pressure detection.
In the related art, there are tactile sensors based on optical principles. The touch sensor based on the optical principle inputs light energy to the two waveguide inner cores through the light source respectively, receives the light energy output by the two waveguide inner cores through the photoelectric receiver, determines a pressure event generated on the touch sensor, and combines the input light energy to obtain the position and the pressure of the pressure event according to the light energy output by the waveguide inner cores. However, because the light sources are different, the angle of the incident light may be correspondingly deviated, and the incident light intensity may be changed due to different light sources or angles, so that the error of the intensity of the emergent light is too large, and the result of the touch sensor is inaccurate.
And a tactile sensor based on the principle of electromagnetism exists in the related art. The touch sensor based on the electromagnetic principle can acquire touch information such as a contact position, spatial distribution of contact force and a local shape of a target object when the sensor is in contact with an unknown object by utilizing the quantitative relation between the output current of each magnetosensitive unit and the magnet deformation. But there is a lot of interference in the electromagnetic induction, so that the estimation of the external force is unstable and the error is large.
Based on this, in order to improve the accuracy of the tactile sensor, the tactile sensor includes a cladding layer, a magnetic layer, and at least two sensing units located between the cladding layer and the magnetic layer, where the at least two sensing units include a first group of sensing units and a second group of sensing units, each of the first group of sensing units and the second group of sensing units includes one or more of a first sensing unit and a second sensing unit, the first sensing unit includes an electroluminescent device, a conducting wire and a parallel-arranged optical waveguide group, the second sensing unit includes a conducting wire, the conducting wire of the first group of sensing units is arranged along a first direction parallel to the magnetic layer, and the conducting wire of the second group of sensing units is arranged along a second direction parallel to the magnetic layer, and the first direction crosses the second direction; in each first sensing unit, the electroluminescent device is connected in series to a closed loop formed by the wires, the wires are connected with the electric signal receiver, the incident end of each optical waveguide is connected with the electroluminescent device, the emergent end of each optical waveguide is connected with the optical signal receiver, and the wires of each second sensing unit are connected with the electric signal receiver.
When a pressure event exists, the magnetic induction line of the magnetic layer can be cut by the lead of the touch sensor under the action of pressure, induced current is generated to enable the electroluminescent device to emit light, the light enters the optical waveguide and is received by the optical signal receiver, and meanwhile, the electrical signal receiver detects an electrical signal on the lead, so that the external force position is output through the electromagnetic principle, the size of the external force is output by utilizing the optical principle, the interference problem of electromagnetic interference on external force estimation is reduced, meanwhile, the incident light intensity of the light emitted by the electroluminescent device entering the optical waveguide is approximately equal through the current, the probability of inaccurate external force estimation caused by different incident light intensities is reduced, and the accuracy of pressure event detection of the touch sensor is improved.
After introducing the design concept of the embodiment of the present application, some simple descriptions are provided below for application scenarios to which the technical solution of the embodiment of the present application can be applied, and it should be noted that the application scenarios described below are only used for describing the embodiment of the present application and are not limited. In a specific implementation process, the technical scheme provided by the embodiment of the application can be flexibly applied according to actual needs.
The touch sensor provided by the embodiment of the application can be applied to human skin surfaces, intelligent robots, research instruments and other scenes as electronic skins.
The touch sensor can be applied to the intelligent robot, the touch sensor can be arranged on the surface of the intelligent robot, and when external force acts on the surface of the intelligent robot, the intelligent robot can sense the position and the size of the external force. For example, the intelligent robot may include a manipulator for grasping an article, and then a tactile sensor is disposed on the manipulator of the intelligent robot, so that the intelligent robot may determine a pressure value and a pressure position when grasping the article, thereby assisting the intelligent robot in performing the grasping and conveying process of the article.
As shown in fig. 1, the touch sensor may be attached to the surface of the manipulator, as shown in fig. 1, a plurality of touch sensors may be disposed on the surface of the finger, when the manipulator is in a normal state, the outer surface of the finger is in a certain curvature, and when the manipulator receives an external force, the outer surface of the finger is deformed accordingly by the extrusion of the external force, and the position where the external force F acts and the magnitude of the external force F may be determined by the touch sensor, so that the intelligent robot performs subsequent operations based on the determined position and magnitude.
The touch sensor can also be applied to the surface of human skin, for example, when the human skin is irreparably damaged, in order to enable the damaged part to have touch perception again, the touch sensor can be attached to the damaged part, the determined position of the external force is converted into corresponding electrical stimulation information, and the damaged part is assisted to carry out touch perception again by stimulating intact nerves.
Of course, the tactile sensor may also be applied to other possible scenarios requiring tactile perception, and the embodiments of the present application are not limited thereto.
To further illustrate the technical solutions provided by the embodiments of the present application, the following detailed description is made with reference to the accompanying drawings and the detailed description.
Referring to fig. 2, a schematic structural diagram of a tactile sensor according to an embodiment of the present disclosure is shown in fig. 2, where the tactile sensor includes a cladding layer 10, a magnetic layer 20, and at least two sensing units P located between the cladding layer 10 and the magnetic layer 20.
Wherein, the at least two sensing units P may include a first group of sensing units and a second group of sensing units, each of which includes one or more of the first sensing unit P0 and the second sensing unit P1. Referring to fig. 3, a schematic diagram of a first sensing unit P0 is shown. As shown in fig. 2 and 3, the first sensing unit P0 may include an electroluminescent device 501, a conductive line 401, and a parallel-arranged optical waveguide group including at least two optical waveguides, and as shown in fig. 3, may include a first optical waveguide 301 and a second optical waveguide 311, the second sensing unit may include a conductive line 411 (shown in fig. 5), the conductive lines of the first group of sensing units may be arranged in a first direction parallel to the magnetic layer 20, and the conductive lines of the second group of sensing units may be arranged in a second direction parallel to the magnetic layer 20, and the first direction crosses the second direction.
In each first sensing unit P0, the electroluminescent device 501 is connected in series to the closed loop formed by the conductive wire 401, the conductive wire 401 is connected to the electrical signal receiver, the incident end of each optical waveguide is connected to the electroluminescent device 501, the exit end of each optical waveguide is connected to the optical signal receiver, and the conductive wire 411 of each second sensing unit P1 is connected to the electrical signal receiver.
In a specific application, when a pressure event exists, on one hand, the conducting wire 401 of the first sensing unit P0 and the conducting wire 411 of the second sensing unit P1 cut the magnetic sensing wire of the magnetic layer 20 under the action of pressure, so that an induced voltage exists on the conducting wire, generally speaking, deformation near the triggering position of the pressure event is the largest, the length of the conducting wire for cutting the magnetic sensing wire is different from the speed of the conducting wire, or the magnetic flux corresponding to different sensing units is not changed, so that the induced voltages generated on different conducting wires are different in magnitude and correspondingly, and therefore, the coordinate values of the triggering position of the pressure event in the first direction and the second direction can be determined according to the magnitude of the voltage value on each conducting wire, so as to determine the accurate position of the pressure event. Thus, the electrical signal receiver detects the voltage present on each of the conductors and determines the location of the pressure event based on the voltage value on each of the conductors.
On the other hand, the induced current generated on the wire 401 can make the electroluminescent device 501 emit light, and the light is received by the optical signal receiver after entering the optical waveguide, so that the magnitude of the external force is output by using the optical principle, thereby reducing the interference problem of electromagnetic interference on external force estimation.
In the tactile sensor provided by the embodiment of the present application, the first group of sensing units may only include the first sensing unit P0, and the second group of sensing units may only include the second sensing unit P1, as shown in fig. 4a, which is a schematic layout diagram of the first group of sensing units and the second group of sensing units, wherein the sensing units distributed along the second direction form the first group of sensing units, and the sensing units distributed along the first direction form the second group of sensing units.
Alternatively, the first group of sensing cells may include only the second sensing cell P1, and the second group of sensing cells may include only the first sensing cell P0, i.e., sensing cells distributed along the first direction constitute the first group of sensing cells, and sensing cells distributed along the second direction constitute the second group of sensing cells.
Alternatively, the first group of sensing cells may be composed of the first sensing cell P0 and the second sensing cell P1, and the second group of sensing cells may also be composed of the first sensing cell P0 and the second sensing cell P1. Fig. 4b is another schematic layout diagram of a first group of sensing units and a second group of sensing units, where in fig. 4b, specifically, in the first group of sensing units and the second group of sensing units, the first sensing unit P0 and the second sensing unit P1 are arranged at intervals, for example, in practical applications, the first sensing unit P0 and the second sensing unit P1 may also be arranged at intervals according to the requirement of detection accuracy, for example, one second sensing unit P1 is arranged at intervals of two first sensing units P0, and the present embodiment does not limit this.
In the tactile sensor provided in the embodiment of the present application, the first direction and the second direction may be two directions perpendicular to each other, for example, the first direction may be an abscissa, and the second direction may be an ordinate, so that the position of the pressure event may be represented by an abscissa value and an ordinate value.
In the tactile sensor provided in the embodiment of the present application, the covering layer 10 is located at the outermost layer of the tactile sensor, directly bears an external force, and may be used to protect an internal structure of the tactile sensor, for example, a circuit formed by an optical waveguide and a conducting wire may be used to protect the internal structure of the tactile sensor, and the covering layer 10 may be made of any possible flexible material, such as any one of cloth, paper towel, a rubber material, or a carbon fiber material.
In the embodiment of the present application, the magnetic layer 20 is used to provide a magnetic field, and the magnetic field is cut by the deformed wire, so that an electrical signal can be generated to help locate the pressure event. The magnetic layer 20 may be any one of magnetic rubber, a permanent magnet, or an electromagnet.
In the tactile sensor provided in the embodiment of the present application, in order to improve the estimation accuracy of the pressure value, the structures of the first sensing unit P0 and the second sensing unit P1 may be set to be the same, as shown in fig. 5, the structure of the second sensing unit P1 is shown schematically, that is, the second sensing unit P1 is provided with the conducting wire 411, and the tactile sensor may further include the electroluminescent device 511 and the optical waveguide group, where the optical waveguide group may include the first optical waveguide 301 and the second optical waveguide 311.
In the touch sensor provided in the embodiments of the present application, the optical waveguide group may include two optical waveguides, and more optical waveguides, for example, 3 or more optical waveguides, which is not limited in the embodiments of the present application.
Fig. 6 is an exploded view of a tactile sensor according to an embodiment of the present disclosure. The tactile sensor includes a cladding layer 10, a first optical waveguide layer 30, a first conductive line layer 40, a second conductive line layer 41, a second optical waveguide layer 31, and a magnetic layer 20, which are sequentially arranged in a cascade.
The first optical waveguide 301 is disposed in the first optical waveguide layer 30, the second optical waveguide 311 is disposed in the second optical waveguide layer 31, the conductive wires of the first group of sensing units are disposed in the first conductive wire layer 40, and the conductive wires of the second group of sensing units are disposed in the second conductive wire layer 41.
Specifically, two optical waveguides are used to form the optical waveguide group, the structures of the first sensing unit P0 and the second sensing unit P1 are the same, and the layout shown in fig. 4a is used as an example, and fig. 6 specifically shows this. The first group of sensing units are sensing units distributed along the second direction, the second group of sensing units are sensing units distributed along the first direction, the first group of sensing units is composed of a plurality of first sensing units P0, that is, the sensing units included in the first group of sensing units include a first optical waveguide 301, a conducting wire 401, a second optical waveguide 311 and an electroluminescent device 501, the conducting wire 401 runs along the first direction, the second group of sensing units is composed of a plurality of second sensing units P1, that is, the sensing units included in the second group of sensing units include a first optical waveguide 301, a conducting wire 411, a second optical waveguide 311 and an electroluminescent device 511, and the conducting wire 411 runs along the second direction.
The first light guide layers 30 are composed of a plurality of first light guides 301, the first conducting layer 40 is composed of a plurality of conducting wires 401, the second light guide layer 31 is composed of a plurality of second light guides 311, the second conducting layer 41 is composed of a plurality of conducting wires 411, the electroluminescent part 50 is composed of a plurality of electroluminescent devices 501, and the electroluminescent part 51 is composed of a plurality of electroluminescent devices 511.
In the tactile sensor provided in the embodiment of the present application, the conductive wires 401 and the conductive wires 411 may be made of any material sensitive to a change of a magnetic flux, for example, any one of a metal conductive wire, a graphite conductive wire, or a liquid metal conductive wire wrapped by an insulating layer, the conductive wires may adopt a ring structure as shown in fig. 6, and in a loop formed by the conductive wires, any other component, such as an electrical signal receiver, may be connected.
Specifically, when the conductive wires 401 and 411 are metal conductive wires or graphite conductive wires, in order to separate the first conductive wire layer 40 from the first conductive wire layer 41 and avoid mutual interference during operation, as shown in the figure, the touch sensor may further include an insulating layer 60, and the insulating layer 60 may be made of any insulating material.
Specifically, the first conductive line layer 40 is sensitive to magnetic flux changes, and is connected to two ends of the electroluminescent device 501 and an electrical signal receiver, so that when a pressure event occurs, the first conductive line layer 40 deforms, cuts the magnetic induction lines generated by the magnetic layer 20, generates a circular current, breaks down the electroluminescent device 501 to emit light, and outputs an electrical signal, and can convert the electrical signal into a coordinate of the position of an external force in a first direction, such as a horizontal coordinate.
Similarly, the second conductive line layer 41 is sensitive to the variation of magnetic flux, and is connected to both ends of the electroluminescent device 511 and the electrical signal receiver, when a pressure event occurs, the second conductive line layer 41 deforms, cuts the magnetic induction lines generated by the magnetic layer 20, generates a circular current, breaks down the electroluminescent device 511 to emit light, and outputs an electrical signal, and can convert the electrical signal into the coordinate of the position of the external force in the second direction, such as the vertical coordinate.
In the tactile sensor provided in this embodiment of the application, in order to facilitate the estimation of the pressure value of the pressure event, the second optical waveguide layer 31 may be attached to the surface of the magnetic layer 20 on the side close to the cladding layer 10, so that, when the pressure event is triggered, the second optical waveguide layer 31 may be attached to the magnetic layer 20 tightly and is far away from the pressure event, for example, the deformation of the second optical waveguide layer 31 may be smaller or approximately not deformed, so as to facilitate the subsequent calculation of the light intensity difference between the first optical waveguide 301 and the second optical waveguide 311, so as to calculate the pressure value of the pressure event.
Of course, in practical applications, in order to further reduce the deformation of the second optical waveguide layer 31, a buffer material or an elastic material, such as rubber, sponge or cotton, may be filled between the second optical waveguide layer 31 and the second conductive layer 41, so that the cladding layer 10, the first optical waveguide layer 30, the first conductive layer 40 and the second conductive layer 41 may be deformed, and the second optical waveguide layer 31 and the magnetic layer 20 are not deformed or are not approximately deformed in a pressure event.
Specifically, when a pressure event occurs, the optical waveguide of the first optical waveguide layer 30 can receive light energy generated by the electroluminescent device 501 or the electroluminescent device 511, the first optical waveguide layer 30 is deformed under the pressure, thereby increasing light propagation loss and reducing light intensity, and second optical waveguide layer 31 may also receive light energy generated from electroluminescent device 501 or electroluminescent device 511, however, the second optical waveguide layer 31 is attached to the magnetic layer 20 and is not deformed by an external force, there is no optical loss due to deformation when the light of the optical waveguide of the second optical waveguide layer 31 propagates, the light propagating through the optical waveguide of the first optical waveguide layer 30 and the optical waveguide of the second optical waveguide layer 31 is captured by the optical signal receiver, the optical signals of the optical waveguides of the first optical waveguide layer 30 and the optical waveguides of the second optical waveguide layer 31 can be converted into a difference signal to make an estimate of the pressure value.
In the tactile sensor provided by the embodiment of the application, the wires of the first group of sensing units and the first optical waveguide are arranged in the same layer, and/or the wires of the second group of sensing units and the second optical waveguide are arranged in the same layer. Taking the example shown in fig. 6, the first optical waveguide layer 30 and the first conductor layer 40 may be the same layer, and the second optical waveguide layer 31 and the second conductor layer 41 may be the same layer.
In the tactile sensor provided in the embodiment of the present application, the optical waveguide is a light propagation medium, and may be an optical fiber or other possible light propagation media, which is not limited in the embodiment of the present application.
Specifically, a group of optical waveguides in the optical waveguide group are arranged in parallel, and the structure of the optical waveguides may be any possible structure, for example, the optical waveguides may be a linear structure as shown in fig. 6, and of course, other possible structures may also be provided, such as a U-shaped structure or an L-shaped structure, which is not limited in this embodiment of the present application.
In the touch sensor provided in the embodiment of the present application, the electroluminescent device 501 or the electroluminescent device 511 may be a semiconductor device made of a semiconductor material, or the electroluminescent device 501 or the electroluminescent device 511 may also be a fluorescent coating.
Specifically, when the electroluminescent device 501 or the electroluminescent device 511 is a semiconductor device, for each sensing unit, a first surface of the semiconductor device in the thickness direction may be fixedly connected to the incident end of each optical waveguide included in the sensing unit, and the first surface may be fixedly connected to a wire included in the sensing unit. The first surface may be any one of the surfaces of the semiconductor device, and may be, for example, a surface having a largest area. The wires and the semiconductor can be connected in contact or can also be connected by soldering.
Specifically, when the electroluminescent device 501 or the electroluminescent device 511 is a fluorescent coating, after the first optical waveguide layer 30, the first wire layer 40, the second wire layer 41, and the second optical waveguide layer 31 are manufactured and fixedly connected, a fluorescent coating formed by a fluorescent material may be coated on the incident end side of each optical waveguide included in the sensing unit.
The fluorescent material can be an alkaline earth metal alloy material containing magnesium, aluminum and calcium, and can also be organic electroluminescent materials such as TBD, DCM, DCJ and the like.
In a specific application, when a current is generated by a wire connected to the fluorescent coating, the fluorescent coating is broken down to generate fluorescence, and the generated fluorescence can be considered to be incident into the optical waveguides of the first optical waveguide layer 30 and the second optical waveguide layer 31 with approximately equal intensity and angle within an allowable range of error.
The operation of the tactile sensor will be described with reference to the structure of the tactile sensor shown in fig. 6.
As shown in fig. 7, when a pressure event is triggered, an external force is applied to a certain position of the cladding layer 10, and the corresponding position and surrounding of the cladding layer 10, the first optical waveguide layer 30, the first conductive line layer 40 and the second conductive line layer 41 are deformed correspondingly, while the second optical waveguide layer 31 is attached to the magnetic layer 20 without being deformed. When the deformation occurs, the conductive line 401 of the first conductive line layer 40 and the conductive line 411 of the second conductive line layer 41 cut the magnetic induction lines generated by the magnetic layer 20, and a loop current is generated inside the conductive lines.
When the electroluminescent device is a fluorescent coating, the current of the wire 401 and the current of the wire 411 break down the fluorescent coating, the fluorescent powder microstructure generates electronic transition, the electronic transition effect generates fluorescence, and the fluorescence is approximately equally incident into the optical waveguides of the first optical waveguide layer 30 and the second optical waveguide layer 31. Because the first optical waveguide layer 30 is deformed due to an external force, and the second optical waveguide layer 31 is not deformed, the first optical waveguide layer 30 generates more optical loss, the light emitted from the first optical waveguide layer 30 and the second optical waveguide layer 31 is captured by the optical signal receiver, and the difference between the light emitted from the first optical waveguide layer 30 and the light emitted from the second optical waveguide layer 31 is obtained, so that the degree of deformation of the first optical waveguide layer 30 is obtained, and further the magnitude of the external force is obtained.
In addition, the current generated by the conductive line 401 of the first conductive line layer 40 and the conductive line 411 of the second conductive line layer 41 is captured by the electric signal sensor, so that the generated current of which group of conductive lines can be judged, the center of the deformation can be deduced, and the horizontal and vertical coordinates of the external force can be obtained.
In summary, the tactile sensor provided by the embodiment of the present application estimates the magnitude of the pressure value of the pressure event through the light energy difference value transmitted by the optical waveguide, and determines the position of the pressure event through the electrical signal generated on the wire, thereby avoiding the problem of an excessive error in estimating the magnitude of the pressure value caused by electromagnetic mutual interference, compared with a tactile sensor based on an electromagnetic principle.
In addition, the electroluminescent device emits light through the current generated on the lead, and the light of the same electroluminescent device is incident to the optical waveguides of the upper layer and the lower layer, so that the problem that the difference of optical signals output by the optical waveguides generates overlarge errors due to different incident light source intensities and different incident angles caused by the incidence of different light sources is solved.
As shown in fig. 8, a flow chart of a method for detecting a pressure event according to an embodiment of the present disclosure is illustrated, and the method may be performed by a detection device, where the detection device may be implemented by a Central Processing Unit (CPU) of an intelligent robot, or a processing unit dedicated to performing pressure detection. The following describes a method for detecting a pressure event provided in the embodiment of the present application, in conjunction with the above description of the structure of the tactile sensor.
Step 801: and acquiring the electric signal value on the lead wire included in each sensing unit through an electric signal receiver.
In the embodiment of the present application, as shown in fig. 9, a schematic signal transmission diagram of one sensing unit is shown, when a pressure event is triggered, a magnetic field of a magnetic layer is cut by a conducting wire included in each sensing unit, a loop current is generated inside the conducting wire, an electrical signal generated by each sensing unit can be received by an electrical signal receiver, and then an electrical signal value of each sensing unit can be obtained from the electrical signal receiver. The electrical signal value may include information such as a voltage value or a current value.
In a specific implementation, the electrical signal on the wires of the multiple sensing units may be received by one electrical signal receiver, or one electrical signal receiver may be configured for each sensing unit, so that each electrical signal receiver receives the electrical signal of the sensing unit connected to itself.
Specifically, the magnetic field of the wire-electrode cutting magnetic layer, the induced voltage on the wire is:
wherein epsilon is the induced voltage generated on the lead, n is the number of turns,
is the rate of change of magnetic flux.
Step 802: and determining the position of the pressure event on the touch sensor according to the electric signal value of each sensing unit.
In the embodiment of the present application, generally speaking, the deformation near the pressure event trigger position is the largest, the wire length and the wire speed for cutting the magnetic sensing wire are different, or the magnetic flux corresponding to different sensing units is different, so that the induced voltages generated on different wires are different in magnitude and are corresponding, and therefore, the coordinate values of the pressure event trigger position in the first direction and the second direction can be determined according to the magnitude of the voltage value on each wire. Therefore, according to the voltage value or the current value of the electric signal detected by the electric signal receiver, the generated electric signal of which wires can be judged, so that the center of deformation is deduced, coordinate values in the first direction and the second direction are obtained, and the position of the pressure event is further determined.
Specifically, first coordinate information of the pressure event in the first direction may be determined according to the electrical signal values of the sensing units distributed along the first direction, and second coordinate information of the pressure event in the second direction may be determined according to the electrical signal values of the sensing units distributed along the second direction, so that the position of the pressure event on the tactile sensor may be determined according to the first coordinate information and the second coordinate information.
For example, the coordinate value corresponding to the wire having the largest voltage value or current value in the first direction may be determined as the coordinate value in the first direction, and the coordinate value corresponding to the wire having the largest voltage value or current value in the second direction may be determined as the coordinate value in the second direction, so as to obtain the coordinate of the pressure event.
Of course, in practical applications, the position where the pressure event is triggered is usually a region, and the pressure event triggering region, that is, the region corresponding to the wire where the voltage value or the current value exists, may also be determined according to the voltage value or the current value.
Step 803: and determining the incident light intensity input into the optical waveguide by the electroluminescent device according to the electric signal value.
In the embodiment of the application, for each sensing unit, the conducting wire included in the sensing unit is connected with the electroluminescent device included in the sensing unit, when the conducting wire cuts the magnetic sensing wire to generate an induced current, the current generated by the conducting wire can break down the electroluminescent device correspondingly connected, so that the electroluminescent device generates incident light, and the electroluminescent device included in the sensing unit is connected with the optical waveguide group included in the sensing unit, so that the incident light is input to the incident end of the optical waveguide of each sensing unit.
Referring to fig. 9, a current loop existing on a wire breaks down an electroluminescent device, and an electroluminescent device microstructure generates an electronic transition according to a transition law:
hν＝Em-En
where h is planck constant, m and n are quantum energy levels, respectively, and m and n are 1, 2, 3., Em and En refer to energies of electrons at different energy levels, λ is emission wavelength, E1 is energy constant, e.g., E1 is 13.6eV, and c is light speed, e.g., c is 3 × 10^8 m/s.
After induced voltage is generated on the lead, voltage is applied to two sides of the electroluminescent device along the lead to form an external electric field, current carriers in the electroluminescent device migrate under the action of the electric field and are combined to generate excitons, the excitons continue to migrate under the action of the electric field and transfer energy to luminescent molecules, excited electrons are transited, the excited energy is inactivated through radiation subsequently to generate photons, and then the electroluminescent device is enabled to emit light through the transition effect and is input into the optical waveguides of the upper layer and the lower layer as incident light.
Specifically, according to the voltage value on the wire, the selected material and size of the electroluminescent device, and the like, parameters such as the light intensity and the light power generated by the electroluminescent device can be determined.
Step 804: and acquiring at least two emergent light intensities corresponding to the sensing units through the optical signal receiver.
After entering the optical waveguide, the light is transmitted through the optical waveguide and is emitted through the exit end of the optical waveguide, and the optical signal receiver arranged at the exit end can receive the optical signal emitted by the optical waveguide.
In specific implementation, an optical signal receiver may receive optical signals of the optical waveguides of the multiple sensing units, or an optical signal receiver may be configured for each sensing unit, so that each optical signal receiver receives optical signals of its corresponding connected sensing unit; alternatively, each optical waveguide is provided with one optical signal receiver, and each optical signal receiver receives the optical signal of the optical waveguide connected to itself.
The optical signal receiver may be, for example, a photoelectric sensor, an optical camera, a photosensor, or the like.
In the embodiment of the present application, as shown in fig. 9, since the second optical waveguide layer close to the magnetic layer is attached to the magnetic layer, the second optical waveguide layer located on the layer may be understood as not being deformed, and the first optical waveguide layer far from the magnetic layer may be deformed when receiving an external force, so that the first optical waveguide layer of the first optical waveguide layer may generate more optical loss when light is transmitted, and the lengths of the first optical waveguide layer and the second optical waveguide layer may be the same, so that the intensities of optical signals output by the first optical waveguide layer and the second optical waveguide layer are correspondingly different, and it may be understood that when the deformations are different, the optical loss should be different, so that the difference values of the optical signals of the corresponding optical waveguide groups are also different, so that the deformation degree of the first optical waveguide layer may be obtained according to the difference values of the optical signals, and further estimate the pressure value.
Step 805: and determining the pressure value of the pressure event on the touch sensor according to the incident light intensity of the optical waveguide of each sensing unit and at least two emergent light intensities corresponding to each sensing unit.
Specifically, the optical loss value of each optical waveguide may be determined according to the incident light intensity, the outgoing light intensity, and the light propagation length of each optical waveguide. The relationship between the incident light, the outgoing light, and the optical waveguide length, and thus the optical loss value of each optical waveguide, can be determined as follows.
Wherein, PinInput power of incident light to the optical waveguide, PoutThe output power of the outgoing light from the optical waveguide is α, which is a loss factor, and L is a length.
Fig. 10 is a schematic diagram showing the variation law of the optical loss. Wherein the greater the length of the optical fiber, the greater the optical loss. As shown in fig. 10, when the input power, the output power, and the length of the optical fiber are known, the corresponding optical loss may be obtained by querying, and then a pressure value may be determined according to the incident light intensity of the optical waveguide of each sensing unit, the at least two emergent light intensities corresponding to each sensing unit, and the optical loss value, where a difference value of optical signals between the first optical waveguide and the second optical waveguide included in one group of optical waveguides is as follows:
△P＝P1-P2
where Δ P is the difference in optical signal between the first optical waveguide and the second optical waveguide, P1And P2Respectively, the optical signal values between the first optical waveguide and the second optical waveguide.
It should be noted that, the processes of determining the position of the pressure event and determining the pressure value of the pressure event do not have a substantial sequence, and may be performed simultaneously or sequentially, that is, the processes of step 802 and step 803 to step 805 may be performed simultaneously or sequentially, which is not limited in this embodiment of the present application.
In summary, in the method provided by the embodiment of the present application, the magnitude of the pressure value of the pressure event is estimated through the light energy difference value transmitted by the optical waveguide, and the position where the pressure event occurs is determined through the electrical signal generated on the wire, so that compared with a tactile sensor based on the electromagnetic principle, the problem of an excessive estimation error of the magnitude of the pressure value caused by electromagnetic mutual interference is avoided.
In addition, the electroluminescent device emits light through the current generated on the lead, and the light of the same electroluminescent device is incident to the optical waveguides of the upper layer and the lower layer, so that the problem that the difference of optical signals output by the optical waveguides generates overlarge errors due to different incident light source intensities and different incident angles caused by the incidence of different light sources is solved.
Based on the same inventive concept, the embodiment of the application also provides an intelligent robot, and the surface of the intelligent robot is provided with the touch sensor provided by the embodiment of the application.
In practical application, the intelligent robot can execute corresponding actions according to the position and the size of the pressure event of the touch sensor. For example, a touch sensor can be arranged on the surface of a manipulator of the intelligent robot, so that when the manipulator of the intelligent robot grabs an article, the appearance of the grabbed article can be estimated according to the external force position, the gesture of the manipulator can be adjusted, and the grabbing strength of the manipulator can be adjusted according to the feedback of the pressure value and the type of the grabbed article. Simultaneously, can also judge whether article have taken place to slide when the article position of snatching changes, if taken place to slide, can adjust and snatch the dynamics and avoid article to continue to slide, and can send out and warn.
Referring to fig. 11, based on the same inventive concept, the present application further provides a pressure event detection apparatus 110, including:
an acquisition unit 1101 for acquiring the electrical signal value of each sensing unit by an electrical signal receiver; when a pressure event exists, the wire included in each sensing unit cuts the magnetic field of the magnetic layer to generate an induced voltage;
a determining unit 1102 for determining the position of the pressure event on the touch sensor according to the electrical signal values of the respective sensing units; and, for each sensing unit, determining the incident light intensity input to the optical waveguide by the electroluminescent device according to the electrical signal; the current generated on the lead wire of each sensing unit breaks down the corresponding electroluminescent device, so that the electroluminescent device generates incident light which is input to the incident end of the optical waveguide of each sensing unit;
the acquiring unit 1101 is further configured to acquire at least two emergent light intensities corresponding to each sensing unit through the optical signal receiver;
the determining unit 1102 is further configured to determine a pressure value of the pressure event on the touch sensor according to the incident light intensity of the optical waveguide of each sensing unit and the at least two emergent light intensities corresponding to each sensing unit.
Optionally, the determining unit 1102 is configured to:
determining first coordinate information of the pressure event in the first direction according to the electric signals of the sensing units distributed along the first direction;
determining second coordinate information of the pressure event in the second direction according to the electric signals of the sensing units distributed along the second direction;
the location of the pressure event on the tactile sensor is determined from the first coordinate information and the second coordinate information.
Optionally, the determining unit 1102 is configured to:
determining the optical loss rate of each optical waveguide according to the incident light intensity, the emergent light intensity and the light propagation length of each optical waveguide;
and determining a pressure value according to the incident light intensity of the optical waveguide of each sensing unit, at least two emergent light intensities corresponding to each sensing unit and the light loss value.
The apparatus may be configured to execute the steps of the method shown in the embodiment shown in fig. 8, and therefore, for functions and the like that can be realized by each functional module of the apparatus, reference may be made to the description of the embodiment shown in fig. 8, which is not repeated here.
In some possible embodiments, various aspects of the methods provided herein may also be implemented in the form of a program product including program code for causing a computer device to perform the steps of the methods according to various exemplary embodiments of the present application described above in this specification when the program product is run on the computer device, for example, the computer device may perform the method as described in the embodiment shown in fig. 8.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (15)
1. A tactile sensor comprising a cover layer, a magnetic layer, and at least two sensing units located between the cover layer and the magnetic layer,
the at least two sensing units comprise a first group of sensing units and a second group of sensing units, the first group of sensing units and the second group of sensing units both comprise one or more of a first sensing unit and a second sensing unit, the first sensing unit comprises an electroluminescent device, a wire and an optical waveguide group with optical waveguides arranged in parallel, and the second sensing unit comprises a wire;
the wires of the first group of sensing units are arranged along a first direction parallel to the magnetic layer, and the wires of the second group of sensing units are arranged along a second direction parallel to the magnetic layer, and the first direction is crossed with the second direction;
in each first sensing unit, the electroluminescent device is connected in series to a closed loop formed by the wires, the wires are connected with the electric signal receiver, the incident end of each optical waveguide is connected with the electroluminescent device, the emergent end of each optical waveguide is connected with the optical signal receiver, and the wires of each second sensing unit are connected with the electric signal receiver.
2. A tactile sensor as in claim 1, wherein the first direction is perpendicular to the second direction.
3. A tactile sensor according to claim 1, wherein each second sensing unit further comprises an electroluminescent device and a set of parallel arranged optical waveguides.
4. A tactile sensor according to any of claims 1 to 3, wherein the optical waveguide assembly comprises a first optical waveguide and a second optical waveguide, each of the first optical waveguides being disposed in a first optical waveguide layer and each of the second optical waveguides being disposed in a second optical waveguide layer, the wires of the sensing elements of the first group being disposed in a first wire layer and the wires of the sensing elements of the second group being disposed in a second wire layer;
wherein the cladding layer, the first optical waveguide layer, the first conductor layer, the second optical waveguide layer, and the magnetic layer are sequentially arranged in a cascade.
5. A tactile sensor according to claim 4, wherein the wire is any one of a metal wire, a graphite wire, or a liquid metal wire wrapped with an insulating layer.
6. A tactile sensor as in claim 5, wherein when said wire is a metal wire or a graphite wire, said tactile sensor further comprises an insulating layer disposed between said first wire layer and said second wire layer.
7. A tactile sensor according to claim 4, wherein the electroluminescent device is a semiconductor device, and for each sensing unit, a first surface of the semiconductor device in the thickness direction is fixedly connected to an incident end of each optical waveguide included in the sensing unit, and the first surface is fixedly connected to a lead included in the sensing unit; or,
the electroluminescent device is a fluorescent coating formed by coating fluorescent materials on one side of the incident end of each optical waveguide included in the sensing unit.
8. A tactile sensor as in claim 4, wherein the wires of the first group of sensing elements are arranged in the same layer as the first optical waveguide and/or the wires of the second group of sensing elements are arranged in the same layer as the second optical waveguide.
9. A tactile sensor as in claim 4 wherein the second optical waveguide layer is attached to a surface of the magnetic layer on a side adjacent to the cladding layer.
10. A tactile sensor according to claim 1, wherein the coating layer is made of any one of cloth, rubber material or carbon fiber material.
11. A tactile sensor according to claim 1, wherein the magnetic layer is any one of a magnetic rubber, a permanent magnet, or an electromagnet.
12. A pressure event detection method applied to a tactile sensor according to any one of claims 1 to 11, the method comprising:
acquiring the electric signal value of each sensing unit through an electric signal receiver; when a pressure event exists, the wire included in each sensing unit cuts the magnetic field of the magnetic layer to generate an induced voltage;
determining the position of the pressure event on the touch sensor according to the electric signal value of each sensing unit; and,
aiming at each sensing unit, determining the incident light intensity input into the optical waveguide by the electroluminescent device according to the electric signal value; the current generated on the lead wire of each sensing unit breaks down the corresponding electroluminescent device, so that the electroluminescent device generates incident light which is input to the incident end of the optical waveguide of each sensing unit;
acquiring at least two emergent light intensities corresponding to each sensing unit through an optical signal receiver;
and determining the pressure value of the pressure event on the touch sensor according to the incident light intensity of the optical waveguide of each sensing unit and at least two emergent light intensities corresponding to each sensing unit.
13. A pressure event detection device, the device comprising:
the acquisition unit is used for acquiring the electric signal value of each sensing unit through the electric signal receiver; when a pressure event exists, the wire included in each sensing unit cuts the magnetic field of the magnetic layer to generate an induced voltage;
the determining unit is used for determining the position of the pressure event on the touch sensor according to the electric signal value of each sensing unit; and, for each sensing unit, determining the incident light intensity input to the optical waveguide by the electroluminescent device according to the electric signal value; the current generated on the lead wire of each sensing unit breaks down the corresponding electroluminescent device, so that the electroluminescent device generates incident light which is input to the incident end of the optical waveguide of each sensing unit;
the acquisition unit is also used for acquiring at least two emergent light intensities corresponding to the sensing units through the optical signal receiver;
the determining unit is further configured to determine a pressure value of the pressure event on the tactile sensor according to the incident light intensity of the optical waveguide of each sensing unit and the at least two emergent light intensities corresponding to each sensing unit.
14. A smart robot, characterized in that the smart robot surface is provided with a tactile sensor according to any one of claims 1 to 11.
15. A computer storage medium having computer program instructions stored thereon, wherein,
which when executed by a processor implement the steps of the method of claim 12.
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| CN114252178B (en) | 2024-03-01 |
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