CN114252178B - 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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Classifications
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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 lead 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 then is received by the optical signal receiver, meanwhile, the electric signal receiver detects an electric signal on the lead, so that the external force position is output through the electromagnetic principle, the external force is output through the optical principle, the interference problem of electromagnetic interference on external force estimation is reduced, meanwhile, the current enables the incident light intensity of the light emitted by the electroluminescent device entering the optical waveguide to be approximately equal, the probability of inaccurate external force estimation caused by different incident light intensity 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 electronic skin to be applied to the scenes such as the skin surface of a human body, an intelligent robot, a research instrument and the like. For example, when the touch sensor is applied to the intelligent robot, the intelligent robot can be helped to realize a touch simulation function so as to help the robot sense the external environment, for example, the robot can sense the position and the force contacted with the object through the touch sensor when grabbing the object, so that the shape and other characteristics of the object are estimated, the grabbing force of the object is adjusted, and the reliability of the grabbing, conveying and other processes is improved; or the touch sensor can be also applied to the surface of human skin to replace necrotic skin tissue on the surface of human skin to assist the human body to perform touch perception.
Therefore, the accuracy of the tactile sensor for external pressure detection directly affects the reliability of the robot gripping and transferring the object, as well as the accuracy of human tactile sensation, and thus it is necessary to improve the accuracy of the tactile sensor 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, which are used for improving the accuracy of pressure event detection of the touch sensor.
In one aspect, a tactile sensor is provided that includes 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 comprise one or more of the first sensing units and the second sensing units, the first sensing units comprise electroluminescent devices, wires and optical waveguide groups which are arranged in parallel, and the second sensing units comprise wires;
wherein the wires of the first set of sensing units are arranged along a first direction parallel to the magnetic layer, and the wires of the second set of sensing units are arranged along a second direction parallel to the magnetic layer, and the first direction intersects the second direction;
in each first sensing unit, the electroluminescent device is connected in series to a closed loop formed by 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 a linear structure, a U-shaped structure, or an L-shaped structure.
In one aspect, there is provided a pressure event detection method applied to the tactile sensor described in the above aspect, the method comprising:
acquiring the electric signal value of each sensing unit through an electric signal receiver; when a pressure event exists, the conducting wires included in each sensing unit cut the magnetic field of the magnetic layer to generate induced voltage;
determining the position of the pressure event on the tactile sensor according to the electrical signal value of each sensing unit; and is combined with the other components of the water treatment device,
determining the incident light intensity of the electroluminescent device input to the optical waveguide according to the electric signal value for each sensing unit; the current generated on the conducting wire of each sensing unit breaks down the corresponding electroluminescent device, so that the electroluminescent device generates incident light and inputs the incident light 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 location of the pressure event on the tactile sensor from the electrical signal of each sensing unit includes:
determining first coordinate information of the pressure event in a first direction according to the electric signal values of 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 the sensing units distributed along the second direction;
and determining the position of the pressure event on the touch sensor according to the first coordinate information and the second coordinate information.
Optionally, 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 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, there is provided a pressure event detection apparatus, the apparatus comprising:
An acquisition unit for acquiring the electric signal value of each sensing unit through an electric signal receiver; when a pressure event exists, the conducting wires included in each sensing unit cut the magnetic field of the magnetic layer to generate induced voltage;
a determining unit for determining the position of the pressure event on the tactile sensor from the electrical signal values of the respective sensing units; and determining the incident light intensity of the electroluminescent device input to the optical waveguide according to the electric signal value for each sensing unit; the current generated on the conducting wire of each sensing unit breaks down the corresponding electroluminescent device, so that the electroluminescent device generates incident light and inputs the incident light 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 each sensing unit 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 at least two outgoing light intensities corresponding to each sensing unit.
Optionally, the determining unit is configured to:
determining first coordinate information of the pressure event in a first direction according to the electric signal values of 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 the sensing units distributed along the second direction;
and determining the position of the pressure event on the touch sensor according to 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, there is provided a smart robot, the smart robot surface being provided with the tactile sensor of the above aspect.
In one aspect, there is provided a computer storage medium having stored thereon computer program instructions which, when executed by a processor, perform the steps of any of the methods described above.
In one aspect, a computer program product or computer program is provided, the computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions are read from a computer-readable storage medium by a processor of a computer device, and executed by the processor, cause the computer device to perform the steps of any of the methods described above.
The touch sensor provided by the embodiment of the application comprises a coating layer, a magnetic layer and at least two sensing units positioned 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 comprise one or more of the first sensing unit and the second sensing unit, the first sensing unit comprises an electroluminescent device, wires and an optical waveguide group which is arranged in parallel, the second sensing unit comprises wires, the wires of the first group of sensing units are arranged along a first direction which is perpendicular to the magnetic layer, and the wires of the second group of sensing units are arranged along a second direction which is parallel to the magnetic layer, and the first direction and the second direction are intersected; in each first sensing unit, the electroluminescent device is connected in series to a closed loop formed by 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 conducting 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 then is received by the optical signal receiver, meanwhile, the electric signal on the conducting wire is detected by the electric signal receiver, and therefore the position of external force is output through the electromagnetic principle, the size of the external force is output through the optical principle, the interference problem of electromagnetic interference on external force estimation is reduced, meanwhile, the current enables the incident light intensity of the light emitted by the electroluminescent device entering the optical waveguide to be approximately equal, the probability of inaccurate external force estimation caused by different incident light intensity is reduced, and the accuracy of pressure event detection of the touch sensor is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present application, and other drawings may be obtained according to the provided drawings without inventive effort for a person having ordinary skill in the art.
Fig. 1 is a schematic view of a scenario provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a tactile sensor according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a first sensing unit according to an embodiment of the present application;
FIGS. 4a and 4b are schematic layout diagrams of a first group of sensing units and a second group of sensing units according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a second sensing unit according to an embodiment of the present disclosure;
FIG. 6 is an exploded schematic view of a tactile sensor provided in an embodiment of the present application;
FIG. 7 is a schematic diagram illustrating the operation of the tactile sensor according to the embodiment of the present application;
FIG. 8 is a flow chart of a method for detecting a pressure event according to an embodiment of the present disclosure;
FIG. 9 is a schematic diagram illustrating signal transmission of a sensing unit according to an embodiment of the present disclosure;
Fig. 10 is a schematic diagram of a change rule of optical loss according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a pressure event detecting device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Artificial intelligence (Artificial Intelligence, AI) is the theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and extend human intelligence, sense the environment, acquire knowledge and use the knowledge to obtain optimal results. In other words, artificial intelligence is an integrated technology of computer science that attempts to understand the essence of intelligence and to produce a new intelligent machine that can react in a similar way to human intelligence. Artificial intelligence, i.e. research on design principles and implementation methods of various intelligent machines, enables the machines to have functions of sensing, reasoning and decision.
The artificial intelligence technology is a comprehensive subject, and relates to the technology with wide fields, namely the technology with a hardware level and the technology with a software level. Artificial intelligence infrastructure technologies generally include 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 other directions.
The scheme provided by the embodiment of the application relates to a touch sensor technology in the AI field, which is used for assisting a machine to realize human body touch simulation. In general, the accuracy of the tactile sensor for external pressure detection directly affects the reliability of the robot gripping and transferring objects, as well as the accuracy of human tactile sensation, so it is necessary to improve the accuracy of the tactile sensor pressure detection.
In the related art, there are tactile sensors based on optical principles. The tactile sensor based on the optical principle inputs light energy to the two waveguide inner cores respectively through the light source, receives the light energy output by the two waveguide inner cores through the photoelectric receiver, so that a pressure event generated on the tactile sensor is determined, and the position and the pressure of the pressure event can be obtained by combining the input light energy according to the light energy output by the waveguide inner cores. However, because the light sources are often different, the angles of the incident light rays may have deviation, and the incident light intensity is changed due to the different light sources or angles, so that the error of the emergent light intensity is too large, and the result of the touch sensor is inaccurate.
There are also tactile sensors based on electromagnetic principles in the related art. The touch sensor based on the electromagnetic principle can acquire touch information such as the contact position and the spatial distribution of the contact force when the sensor contacts an unknown object, the local shape of a target object and the like by utilizing the quantitative relation between the output current of each magnetosensitive unit and the deformation of the magnet. However, electromagnetic induction has a large amount of interference, so that the estimation of the external force is unstable and the error is large.
Based on this, in order to improve accuracy of the touch sensor, the embodiment of the application provides a touch sensor, which includes 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 including a first group of sensing units and a second group of sensing units, each including one or more of the first sensing unit and the second sensing unit, the first sensing unit including an electroluminescent device, a wire, and a parallel-disposed optical waveguide group, the second sensing unit including a wire, the wire of the first group of sensing units being disposed along a first direction parallel to the magnetic layer, and the wire of the second group of sensing units being disposed along a second direction parallel to the magnetic layer, and the first direction intersecting the second direction; in each first sensing unit, the electroluminescent device is connected in series to a closed loop formed by 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 lead wire of the touch sensor cuts the magnetic induction wire 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 then is received by the optical signal receiver, and meanwhile, the electric signal receiver detects an electric signal on the lead wire, so that the position of the external force is output through the electromagnetic principle, the external force is output through the optical principle, the interference problem of electromagnetic interference on external force estimation is reduced, meanwhile, the current enables the incident light intensity of the light emitted by the electroluminescent device entering the optical waveguide to be approximately equal, 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 the design concept of the embodiment of the present application is introduced, some simple descriptions are made below for application scenarios applicable to the technical solution of the embodiment of the present application, and it should be noted that the application scenarios described below are only used to illustrate the embodiment of the present application and are not limiting. In the 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 the scenes such as the surfaces of human skin, intelligent robots, research instruments and the like as electronic skin.
The touch sensor can be applied to the intelligent robot, and 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 gripping the article, and then a tactile sensor is provided on the manipulator of the intelligent robot, and then the intelligent robot may determine a pressure value and a pressure position when gripping the article, thereby assisting the intelligent robot in gripping and transferring 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 bending radian, and when the manipulator receives an external force, the outer surface of the finger is extruded by the external force and is deformed accordingly, and the position acted by the external force F and the magnitude of the external force F can 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 be further 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, and then the determined position and the determined external force are converted into corresponding electric stimulation information, and the damaged part is assisted to carry out touch perception again by stimulating the intact nerve.
Of course, the touch sensor may also be applied to other possible scenarios requiring touch perception, and the embodiments of the present application are not limited.
In order to further explain the technical solutions provided in the embodiments of the present application, the following details are described with reference to the accompanying drawings and the detailed description.
Referring to fig. 2, a schematic structural diagram of a touch sensor according to an embodiment of the present application is shown in fig. 2, and the touch 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 including one or more of the first sensing unit P0 and the second sensing unit P1. Referring to fig. 3, a schematic structure of a first sensing unit P0 is shown. As shown in connection with fig. 2 and 3, the first sensing unit P0 may include an electroluminescent device 501, a wire 401, and a parallel-disposed 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 wire 411 (shown in fig. 5), the wires of the first sensing unit may be disposed in a first direction parallel to the magnetic layer 20, and the wires of the second sensing unit may be disposed 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 a closed loop formed by the conductive wires 401, the conductive wires 401 are connected to the electrical signal receiver, the incident ends of the respective optical waveguides are connected to the electroluminescent device 501, the emitting ends of the respective optical waveguides are connected to the optical signal receiver, and the conductive wires 411 of each second sensing unit P1 are connected to the electrical signal receiver.
In a specific application, when a pressure event exists, on the one hand, the conductive wire 401 of the first sensing unit P0 and the conductive wire 411 of the second sensing unit P1 cut the magnetic induction wire of the magnetic layer 20 under the action of pressure, so that induced voltage exists on the conductive wire, in general, deformation near the triggering position of the pressure event is maximum, the length of the conductive wire and the speed of the conductive wire cut by the magnetic induction wire are different, or the magnetic flux corresponding to different sensing units is not changed, so that the magnitude of the induced voltage generated on different conductive wires is different, accordingly, the coordinate value 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 conductive wire, and further the accurate position of the pressure event is determined. Thus, after the electrical signal receiver detects the voltages present on the respective conductors, the location of the pressure event is determined based on the voltage values on the respective conductors.
On the other hand, the induced current generated on the wire 401 can make the electroluminescent device 501 emit light, after the light enters the optical waveguide, the light is received by the optical signal receiver, and then the external force is output by utilizing the optical principle, so that the interference problem of electromagnetic interference on external force estimation is reduced, meanwhile, the current makes the incident light intensity of the light emitted by the electroluminescent device 501 entering the optical waveguide approximately equal, and the probability of inaccurate external force estimation caused by different incident light intensities is reduced, so that the accuracy of pressure event detection of the touch sensor is improved.
In the touch sensor provided by the embodiment of the present application, the first group of sensing units may include only the first sensing unit P0, and the second group of sensing units may include only the second sensing unit P1, as shown in fig. 4a, which is a layout schematic diagram of the first group of sensing units and the second group of sensing units, where 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 units may include only the second sensing unit P1, and the second group of sensing units may include only the first sensing unit P0, i.e., sensing units distributed along the first direction constitute the first group of sensing units, and sensing units distributed along the second direction constitute the second group of sensing units.
Alternatively, the first group of sensing units may be composed of the first sensing unit P0 and the second sensing unit P1, and the second group of sensing units may also be composed of the first sensing unit P0 and the second sensing unit P1. Fig. 4b is a schematic diagram of another layout of the first group of sensing units and the second group of sensing units, where in fig. 4b, the interval between the first sensing unit P0 and the second sensing unit P1 in the first group of sensing units and the second group of sensing units is specifically taken as an example, and of course, in practical application, the arrangement may also be performed according to the detection accuracy requirement, for example, one second sensing unit P1 is arranged between two first sensing units P0, which is not limited in this embodiment of the present application.
In the touch 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 taken as an abscissa, and the second direction may be taken as an ordinate, so that the position of the pressure event may be represented by an abscissa value and an ordinate value.
In the touch sensor provided in this embodiment of the present application, the coating layer 10 is located on the outermost layer of the touch sensor, and directly bears an external force, and may be used to protect the internal structure of the touch sensor, for example, may include a circuit formed by an optical waveguide and a wire to play a certain role, where the coating layer 10 is made of any possible flexible material, such as any one of cloth, paper towel, rubber material or carbon fiber material.
In the touch sensor provided in the embodiments of the present application, the magnetic layer 20 is used to provide a magnetic field, which 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, permanent magnet, or electromagnet.
In the touch sensor provided in this embodiment of the present application, in order to improve the accuracy of estimating 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, which is a schematic structural diagram of the second sensing unit P1, that is, the second sensing unit P1 may include an electroluminescent device 511 and an optical waveguide group, and the optical waveguide group may include the first optical waveguide 301 and the second optical waveguide 311, where the second sensing unit P1 is out of the conductive wire 411.
In the tactile sensor provided in the embodiment of the present application, the optical waveguide group may include two optical waveguides, or may further include more optical waveguides, for example, 3 or more optical waveguides, which is not limited in the embodiment of the present application.
Fig. 6 is a schematic exploded view of a tactile sensor according to an embodiment of the present application. The tactile sensor includes a cladding layer 10, a first optical waveguide layer 30, a first conductive wire layer 40, a second conductive wire layer 41, a second optical waveguide layer 31, and a magnetic layer 20, which are sequentially disposed in cascade.
The first optical waveguide 301 is disposed on the first optical waveguide layer 30, the second optical waveguide 311 is disposed on the second optical waveguide layer 31, the wires of the first group of sensing units are disposed on the first wire layer 40, and the wires of the second group of sensing units are disposed on the second wire layer 41.
Specifically, two optical waveguides are used to form the optical waveguide group, and the first sensing unit P0 and the second sensing unit P1 have the same structure and are shown in fig. 6 by taking the layout shown in fig. 4a as an example. The first group of sensor units is then sensor units distributed along the second direction, the second group of sensor units is sensor units distributed along the first direction, the first group of sensor units consists of a plurality of first sensor units P0, i.e. the sensor units comprised by the first group of sensor units comprise a first optical waveguide 301, a wire 401, a second optical waveguide 311 and an electroluminescent device 501, the wire 401 is routed along the first direction, the second group of sensor units consists of a plurality of second sensor units P1, i.e. the sensor units comprised by the second group of sensor units comprise a first optical waveguide 301, a wire 411, a second optical waveguide 311 and an electroluminescent device 511, the wire 411 is routed along the second direction.
Wherein, the plurality of first optical waveguides 301 form the first optical waveguide layer 30, the plurality of wires 401 form the first wire layer 40, the plurality of second optical waveguides 311 form the second optical waveguide layer 31, the plurality of wires 411 form the second wire layer 41, the plurality of electroluminescent devices 501 form the electroluminescent portion 50, and the plurality of electroluminescent devices 511 form the electroluminescent portion 51.
In the touch sensor provided in this embodiment of the present application, the wires 401 and 411 may be made of any material sensitive to magnetic flux change, for example, any one of a metal wire, a graphite wire, or a liquid metal wire wrapped by an insulating layer, where the wires may have an annular structure as shown in fig. 6, and any other components may be connected to a loop formed by the wires, for example, connected to an electrical signal receiver.
In particular, when the wires 401 and 411 are metal wires or graphite wires, in order to separate the first wire layer 40 from the first wire layer 41 and avoid interference with each other during operation, as shown in the drawings, the tactile sensor may further include an insulating layer 60, and the insulating layer 60 may be made of any insulating material.
Specifically, the first conductive wire layer 40 is sensitive to magnetic flux change, is connected to two ends of the electroluminescent device 501 and the electrical signal receiver, and when a pressure event occurs, the first conductive wire layer 40 deforms, cuts the magnetic induction wire generated by the magnetic layer 20, generates annular current, breaks down the electroluminescent device 501 to emit light, outputs an electrical signal, and can convert the electrical signal into coordinates, such as abscissa, of the position of the external force in the first direction.
Similarly, the second conductive layer 41 is sensitive to magnetic flux change, is connected to both ends of the electroluminescent device 511 and the electrical signal receiver, and when a pressure event occurs, the second conductive layer 41 deforms, cuts the magnetic induction lines generated by the magnetic layer 20, generates a ring-shaped current, breaks down the electroluminescent device 511 to emit light, outputs an electrical signal, and can convert the electrical signal into coordinates, such as ordinate, of the position of the external force in the second direction.
In the touch sensor provided in this embodiment, for the purpose of facilitating the pressure value estimation of the pressure event, the second optical waveguide layer 31 may be attached to the surface of the magnetic layer 20 near one side of the cladding layer 10, so that when the pressure event is triggered, the second optical waveguide layer 31 is tightly attached to the magnetic layer 20, and the deformation of the second optical waveguide layer 31 may be smaller or approximately not deformed, for example, when the pressure event is far away from the pressure trigger, so that the light intensity difference between the first optical waveguide 301 and the second optical waveguide 311 is calculated, 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, while the second optical waveguide layer 31 and the magnetic layer 20 are not deformed or are not approximately deformed when a pressure event occurs.
Specifically, when a pressure event occurs, the optical waveguide of the first optical waveguide layer 30 may receive the light energy generated by the electroluminescent device 501 or the electroluminescent device 511, where the first optical waveguide layer 30 deforms under the action of pressure, so as to increase the light propagation loss and reduce the light intensity, while the second optical waveguide layer 31 may also receive the light energy generated by the electroluminescent device 501 or the electroluminescent device 511, where the second optical waveguide layer 31 is attached to the magnetic layer 20, where no deformation occurs due to an external force, where no deformation-induced light loss occurs during the light propagation of the optical waveguide of the second optical waveguide layer 31, and where the light propagated by the optical waveguides of the first optical waveguide layer 30 and the second optical waveguide layer 31 is captured by the optical signal receiver, so that the light signals of the optical waveguides of the first optical waveguide layer 30 and the second optical waveguide layer 31 may be converted into difference signals, so as to perform the estimation of the pressure value.
In the touch 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 wire layer 40 may be the same layer, and the second optical waveguide layer 31 and the second wire layer 41 may be the same layer.
In the tactile sensor provided in the embodiments of the present application, the optical waveguide is an optical propagation medium, and may be an optical fiber or other possible optical propagation medium, which is not limited in this embodiment of the present application.
Specifically, a group of optical waveguides in the optical waveguide group is disposed in parallel, and the optical waveguide may have any possible structure, for example, the optical waveguide may have a linear structure as shown in fig. 6, and of course, may have other possible structures, for example, 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 embodiments 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, the 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 surface of the semiconductor device, for example, the surface having the largest area. The wires may be connected in contact with the semiconductor or may be soldered.
Specifically, when the electroluminescent device 501 or the electroluminescent device 511 is a fluorescent coating, after the first optical waveguide layer 30, the first conductive wire layer 40, the second conductive wire layer 41, and the second optical waveguide layer 31 are fabricated and fixedly connected, a fluorescent coating formed of a fluorescent material may be coated on the incident end side of each optical waveguide included in the sensing unit.
The fluorescent material may be alkaline earth metal alloy material containing magnesium, aluminum and calcium, or may be organic electroluminescent material TBD, DCM, DCJ.
In a specific application, when a current is generated in a wire connected to the fluorescent coating, the fluorescent coating breaks 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 at approximately equal intensities and angles within an allowable error range.
The operation principle 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, corresponding to the position and surrounding cladding layer 10, the first optical waveguide layer 30, the first conductive layer 40 and the second conductive layer 41, and the second optical waveguide layer 31 is attached to the magnetic layer 20 without deformation. When the deformation occurs, the wire 401 of the first wire layer 40 and the wire 411 of the second wire layer 41 cut the magnetic induction wire generated by the magnetic layer 20, and a ring-shaped current is generated inside the wire.
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 phosphor microstructure generates an 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. Since the first optical waveguide layer 30 deforms due to an external force and the second optical waveguide layer 31 does not deform, 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 the magnitude of the external force is obtained.
In addition, the currents generated by the wires 401 of the first wire layer 40 and the wires 411 of the second wire layer 41 are captured by the electric signal sensor, so that the generated currents of which group of wires can be judged, and the center of deformation can be deduced, thereby obtaining the abscissa of the external force.
In summary, according to the tactile sensor provided by the embodiment of the application, the pressure value of the pressure event is estimated by the light energy difference value transmitted by the optical waveguide, and the position of the pressure event is determined by the electric signal generated on the lead, so that compared with the tactile sensor based on the electromagnetic principle, the problem of overlarge pressure value estimation error 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 on the upper layer and the lower layer, so that the problems of overlarge errors caused by the difference of the light signals output by the optical waveguides due to the different incident light source intensities and the different incident angles caused by the incidence of different light sources are avoided.
As shown in fig. 8, a flow chart of a method for detecting a pressure event according to an embodiment of the present application may be implemented by a detection device, which may be implemented by a central processing unit (central processing unit, CPU) of an intelligent robot, or a processing unit dedicated to performing pressure detection, for example. The method for detecting a pressure event provided in the embodiments of the present application will be described below with reference to the above description of the structure of the tactile sensor.
Step 801: the electrical signal values on the leads included in each sensing unit are acquired by an electrical signal receiver.
In this embodiment, as shown in fig. 9, a schematic signal transmission diagram of one sensing unit is shown, when a pressure event triggers, a wire included in each sensing unit cuts a magnetic field of a magnetic layer, an annular current is generated inside the wire, and an electrical signal generated by each sensing unit can be received by an electrical signal receiver, so that an electrical signal value of each sensing unit can be obtained from the electrical signal receiver. The electric signal value may include information such as a voltage value or a current value.
In the implementation, the electric signals on the leads of the plurality of sensing units can be received through one electric signal receiver, or one electric signal receiver is configured for each sensing unit, so that each electric signal receiver respectively receives the electric signals of the sensing units correspondingly connected with the electric signal receiver.
Specifically, the magnetic field of the wire-cut 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: the position of the pressure event on the tactile sensor is determined from the electrical signal values of the individual sensor units.
In this embodiment of the present application, generally, deformation near the pressure event triggering position is the largest, the length of the wire cutting the magnetic induction wire and the speed of the wire are different, or the magnetic flux changes corresponding to different sensing units are not communicated, so that the induced voltages generated on different wires are different, and accordingly, the coordinate values of the pressure event triggering position in the first direction and the second direction can be determined according to the voltage values on the respective wires. Therefore, according to the voltage value or the current value of the electric signal detected by the electric signal receiver, the generated electric signals of the 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 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 or current value in the first direction may be determined, and the coordinate value corresponding to the wire having the largest voltage or current value in the second direction may be determined, thereby obtaining the coordinate of the pressure event.
Of course, in practical applications, the position triggered by the pressure event is usually an area, and the pressure event triggering area may also be determined according to the voltage value or the current value, that is, the area corresponding to the wire with the voltage value or the current value.
Step 803: and determining the incident light intensity input to the optical waveguide by the electroluminescent device according to the electric signal value.
In this embodiment, for each sensing unit, the conducting wire included in the sensing unit is connected to the electroluminescent device included in the sensing unit, when the conducting wire cuts the magnetic induction wire to generate the induced current, the current generated by the conducting wire may break down the electroluminescent device correspondingly connected to generate the incident light, and the electroluminescent device included in the sensing unit is connected to 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, the current loop existing on the wire breaks down the electroluminescent device, and the microstructure of the electroluminescent device generates electron transition according to the transition rule:
hν＝E m -E n
where h is planck constant, m and n are quantum energy levels, respectively, taking m, n=1, 2, 3..Em, en refer to energy of electrons at different energy levels, λ is emission wavelength, E1 is energy constant, e.g. E1 is 13.6eV, c is light velocity, such as c=3×10≡8m/s.
After induced voltage is generated on the lead, the voltage is applied to two sides of the electroluminescent device along the lead to form an external electric field, carriers in the electroluminescent device migrate and combine to generate excitons under the action of the electric field, the excitons continue to migrate under the action of the electric field, energy is transferred to luminescent molecules, electrons are excited to carry out transition, the excitation energy is deactivated by radiation to generate photons, and the electroluminescent device emits 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 material and the size of the selected electroluminescent device, 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 each sensing unit through an optical signal receiver.
After entering the optical waveguide, the light propagates through the optical waveguide and is emitted through the emitting end of the optical waveguide, and the optical signal receiver arranged at the emitting end can receive the optical signal emitted by the optical waveguide.
In the implementation, the optical signals of the optical waveguides of the plurality of sensing units can be received through one optical signal receiver, or one optical signal receiver is configured for each sensing unit, and then each optical signal receiver respectively receives the optical signals of the sensing units correspondingly connected with the optical signal receiver; alternatively, an optical signal receiver is configured for each optical waveguide, and each optical signal receiver receives the optical signal of its own corresponding connected optical waveguide.
The optical signal receiver may be, for example, a photoelectric sensor, an optical camera, a photosensitive sensor, or the like.
In this embodiment, referring to 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 away from the magnetic layer may be deformed when receiving an external force, so that more optical loss may be generated when the first optical waveguide layer propagates light, and the lengths of the first optical waveguide layer and the second optical waveguide layer may be the same, so that the intensities of the 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 signal differences of the corresponding optical waveguide groups are also different when the deformations are different, so that the deformation degree of the first optical waveguide layer may be obtained according to the optical signal differences, and further the pressure value may be estimated.
Step 805: and determining the pressure value of the pressure event on the touch sensor according to the incident light intensity of the light 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 exit 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 is as follows, and the optical loss value of each optical waveguide can be determined.
Wherein P is in Input power of incident light to the optical waveguide, P out The output power of the outgoing light of the optical waveguide is α, the loss rate, and L, the length.
Referring to fig. 10, a schematic diagram of a change rule of optical loss is shown. Wherein the larger the length of the optical fiber, the greater the optical loss. According to the embodiment shown in fig. 10, when the input power, the output power and the optical fiber length are known, the corresponding optical loss can be queried and obtained, and then the pressure value can be determined 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 optical loss value, wherein the optical signal difference between the first optical waveguide and the second optical waveguide included in one group of optical waveguides is as follows:
△P＝P 1 -P 2
Wherein DeltaP is the first optical waveguide and the second optical waveguideOptical signal difference between P 1 And P 2 The optical signal values between the first optical waveguide and the second optical waveguide, respectively.
It should be noted that, the process of determining the position of the pressure event and the process of determining the pressure value of the pressure event are not substantially sequential, and may be performed simultaneously or sequentially, that is, the processes of step 802 and steps 803 to 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 application, the pressure value of the pressure event is estimated by the light energy difference value transmitted by the optical waveguide, and the position of the pressure event is determined by the electric signal generated on the lead, so that compared with the tactile sensor based on the electromagnetic principle, the problem of overlarge estimation error 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 on the upper layer and the lower layer, so that the problems of overlarge errors caused by the difference of the light signals output by the optical waveguides due to the different incident light source intensities and the different incident angles caused by the incidence of different light sources are avoided.
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 applications, the intelligent robot can perform corresponding actions according to the position and the magnitude of the pressure event of the tactile 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 object, the appearance of the object to be grabbed can be estimated according to the position of the external force, gestures of the manipulator can be adjusted, and the grabbing force of the manipulator can be adjusted according to the feedback of the pressure value and the type of the object to be grabbed. Meanwhile, when the position of the grabbed article changes, whether the article slides or not can be judged, if so, the grabbing force can be adjusted to prevent the article from sliding continuously, and warning can be sent.
Referring to fig. 11, based on the same inventive concept, an embodiment of the present application further provides a pressure event detecting apparatus 110, including:
an acquisition unit 1101 for acquiring the electric signal values of the respective sensing units through an electric signal receiver; when a pressure event exists, the conducting wires included in each sensing unit cut the magnetic field of the magnetic layer to generate induced voltage;
A determining unit 1102 for determining a position of the pressure event on the tactile sensor according to the electrical signal values of the respective sensing units; and determining the incident light intensity of the electroluminescent device input to the optical waveguide according to the electric signals for each sensing unit; the current generated on the conducting wire of each sensing unit breaks down the corresponding electroluminescent device, so that the electroluminescent device generates incident light and inputs the incident light to the incident end of the optical waveguide of each sensing unit;
the obtaining unit 1101 is further configured to obtain at least two outgoing light intensities corresponding to each sensing unit through an optical signal receiver;
the determining unit 1102 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 at least two outgoing light intensities corresponding to each sensing unit.
Optionally, the determining unit 1102 is configured to:
determining first coordinate information of the pressure event in a 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 based on 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 used to perform the steps of the method shown in the embodiment shown in fig. 8, so the description of the functions that can be implemented by the functional modules of the apparatus and the like with reference to the embodiment shown in fig. 8 will not be repeated.
In some possible implementations, aspects of the methods provided herein may also be implemented in the form of a program product comprising program code for causing a computer device to carry out the steps of the methods described herein above according to the various exemplary implementations of the application, when the program product is run on the computer device, e.g. the computer device may carry out the method as described in the example shown in fig. 8.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware associated with program instructions, where the foregoing program may be stored in a computer readable storage medium, and when executed, the program performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store program codes. Alternatively, the above-described integrated units of the present invention may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the embodiments of the present invention may be embodied essentially or in a part contributing to the related art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
While 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. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (15)
1. A touch sensor, characterized in that the touch sensor comprises a coating layer, a magnetic layer and at least two sensing units positioned between the coating 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, wherein the first group of sensing units comprises one of the first sensing units and the second sensing units, and the second group of sensing units comprises the other of the first sensing units and the second sensing units; or the first group of sensing units comprises the first sensing units and the second sensing units which are arranged at intervals, and the second group of sensing units comprises the first sensing units and the second sensing units which are arranged at intervals; the first sensing unit comprises an electroluminescent device, a wire and an optical waveguide group, wherein the optical waveguide group comprises at least two optical waveguides which are arranged parallel to the coating layer, and the second sensing unit comprises a wire;
Wherein the wires of the first set of sensing units are arranged along a first direction parallel to the magnetic layer, and the wires of the second set of sensing units are arranged along a second direction parallel to the magnetic layer, and the first direction intersects the second direction;
in each first sensing unit, the electroluminescent device is connected in series to a closed loop formed by 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. The tactile sensor of claim 1 wherein said first direction is perpendicular to said second direction.
3. The tactile sensor of claim 1, wherein each second sensing unit further comprises an electroluminescent device and a set of optical waveguides disposed in parallel.
4. A tactile sensor according to any one of claims 1 to 3, wherein the optical waveguide group includes first optical waveguides and second optical waveguides, each of the first optical waveguides is provided to the first optical waveguide layer, each of the second optical waveguides is provided to the second optical waveguide layer, the wires of the first group of sensing units are provided to the first wire layer, and the wires of the second group of sensing units are provided to the second wire layer;
The cladding layer, the first optical waveguide layer, the first wire layer, the second optical waveguide layer and the magnetic layer are sequentially arranged in cascade.
5. The tactile sensor of claim 4, wherein said wire is any one of a metal wire, a graphite wire, or a liquid metal wire surrounded by an insulating layer.
6. The tactile sensor of claim 5, wherein when the wire is a metal wire or a graphite wire, the tactile sensor further comprises an insulating layer disposed between the first wire layer and the second wire layer.
7. The tactile sensor according to claim 4, wherein the electroluminescent device is a semiconductor device, and for each of the sensor units, a first face of the semiconductor device in a thickness direction is fixedly connected to an incident end of each optical waveguide included in the sensor unit, and the first face is fixedly connected to a wire included in the sensor unit; or,
the electroluminescent device is a fluorescent coating formed by brushing fluorescent materials on one side of the incident end of each optical waveguide included in the sensing unit.
8. The tactile sensor of claim 4, wherein the wires of the first set of sensing elements are co-located with the first optical waveguide and/or the wires of the second set of sensing elements are co-located with the second optical waveguide.
9. The touch sensor of claim 4, wherein the second optical waveguide layer is attached to a surface of the magnetic layer on a side of the magnetic layer adjacent to the cladding layer.
10. The tactile sensor of claim 1, wherein said coating is any one of cloth, rubber material, or carbon fiber material.
11. The tactile sensor of claim 1, wherein said magnetic layer is any one of magnetic rubber, permanent magnet, or electromagnet.
12. A pressure event detection method applied to a tactile sensor according to any one of claims 1 to 11, characterized in that the method comprises:
acquiring the electric signal value of each sensing unit through an electric signal receiver; when a pressure event exists, the conducting wires included in each sensing unit cut the magnetic field of the magnetic layer to generate induced voltage;
determining the position of the pressure event on the tactile sensor according to the electrical signal value of each sensing unit; and is combined with the other components of the water treatment device,
determining the incident light intensity of the electroluminescent device input to the optical waveguide according to the electric signal value for each sensing unit; the current generated on the conducting wire of each sensing unit breaks down the corresponding electroluminescent device, so that the electroluminescent device generates incident light and inputs the incident light 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 for use in a tactile sensor according to any one of claims 1 to 11, said device comprising:
an acquisition unit for acquiring the electric signal value of each sensing unit through an electric signal receiver; when a pressure event exists, the conducting wires included in each sensing unit cut the magnetic field of the magnetic layer to generate induced voltage;
a determining unit for determining the position of the pressure event on the tactile sensor from the electrical signal values of the respective sensing units; and determining the incident light intensity of the electroluminescent device input to the optical waveguide according to the electric signal value for each sensing unit; the current generated on the conducting wire of each sensing unit breaks down the corresponding electroluminescent device, so that the electroluminescent device generates incident light and inputs the incident light 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 each sensing unit 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 at least two outgoing 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 stored thereon computer program instructions, characterized in that,
which computer program instructions, when executed by a processor, carry out the steps of the method according to claim 12.
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