CN114608630A - Touch sensor, parameter testing method and device thereof and storage medium - Google Patents

Touch sensor, parameter testing method and device thereof and storage medium Download PDF

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Publication number
CN114608630A
CN114608630A CN202011428587.8A CN202011428587A CN114608630A CN 114608630 A CN114608630 A CN 114608630A CN 202011428587 A CN202011428587 A CN 202011428587A CN 114608630 A CN114608630 A CN 114608630A
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China
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tactile
grating
sensing point
sensing
determining
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CN202011428587.8A
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Chinese (zh)
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CN114608630B (en
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李凯伟
黎雄
张中
郑宇�
张正友
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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Priority to CN202011428587.8A priority Critical patent/CN114608630B/en
Priority to PCT/CN2021/133884 priority patent/WO2022121716A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/268—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light using optical fibres
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/353—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K11/00—Measuring temperature based upon physical or chemical changes not covered by groups G01K3/00, G01K5/00, G01K7/00 or G01K9/00
    • G01K11/32—Measuring temperature based upon physical or chemical changes not covered by groups G01K3/00, G01K5/00, G01K7/00 or G01K9/00 using changes in transmittance, scattering or luminescence in optical fibres
    • G01K11/3206—Measuring temperature based upon physical or chemical changes not covered by groups G01K3/00, G01K5/00, G01K7/00 or G01K9/00 using changes in transmittance, scattering or luminescence in optical fibres at discrete locations in the fibre, e.g. using Bragg scattering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
    • G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
    • G01L1/246—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre using integrated gratings, e.g. Bragg gratings

Abstract

The embodiment of the application discloses a touch sensor and a parameter testing method, a device and a storage medium thereof. The touch sensor comprises a plurality of touch sensing points, one touch sensing point corresponds to one waveguide grating, and grating periods of the waveguide gratings corresponding to different touch sensing points are different. By adopting the embodiment of the application, the touch sensor has more flexibility, and the sensing space resolution of the touch sensor is improved.

Description

Touch sensor, parameter testing method and device thereof and storage medium
Technical Field
The present disclosure relates to the field of optics, and in particular, to a tactile sensor, a parameter testing method and apparatus thereof, and a storage medium.
Background
With the development of the intelligent robot industry, a touch sensor for simulating a touch function in an intelligent robot is very important. Currently, the tactile sensor may comprise different types of tactile sensors (e.g. optical tactile sensors) based on different principles (e.g. optical principles). The traditional optical touch sensor can be a fiber grating which is mainly made of quartz glass and has no flexibility; meanwhile, the difference between the refractive index of the inner core and the refractive index of the cladding in the fiber grating is about three thousandth, so that the fiber grating can only bear centimeter-level bending loss, and cannot bear millimeter-level and micron-level bending loss. In addition, in the process of modulating the refractive index of an inner core of the fiber grating by the traditional fiber grating writing mode, a grating region with a length of centimeter level is usually required to obtain a better signal-to-noise ratio, so that the sensing spatial resolution of the fiber grating is low.
Disclosure of Invention
The embodiment of the application provides a touch sensor, a parameter testing method and device thereof and a storage medium, so that the touch sensor is more flexible, and the sensing space resolution of the touch sensor is improved.
The embodiment of the application provides a touch sensor on one hand, which comprises an inner core, a cladding and a waveguide grating, wherein the cladding wraps the waveguide grating and the inner core, the waveguide grating is of a periodic structure, and the inner core is of a snake-shaped structure;
the touch sensor comprises a plurality of touch sensing points, one touch sensing point corresponds to one waveguide grating, and grating periods of the waveguide gratings corresponding to different touch sensing points are different.
Optionally, the tactile sensor further comprises a marker for marking the optical path of the inner core.
Wherein, the inner core is made by the transparent high printing opacity material that photosensitivity can not be stretched, and the covering is made by the transparent high printing opacity silica gel material that the thermosetting type can be stretched, and the optical refractive index of inner core is greater than the optical refractive index of covering.
The waveguide grating is of a rectangular periodic structure, a triangular periodic structure or a cylindrical periodic structure, and is as high as the inner core, as the waveguide grating is not as high as the inner core, or as the waveguide grating does not have a contact surface with the inner core, or as the waveguide grating has a contact surface with the upper surface of the inner core.
The surface of the touch sensor is provided with at least one circular truncated cone, at least three touch sensing points are completely covered under one circular truncated cone, the structures of the at least three touch sensing points are centrosymmetric distribution structures, and the central position of one circular truncated cone is coincided with the symmetric centers of the at least three touch sensing points.
Alternatively, the difference between the optical refractive index of the core and the optical refractive index of the cladding may be greater than or equal to a predetermined optical refractive index difference (e.g., 0.04 or other value).
An embodiment of the present application provides a parameter testing method for a touch sensor, including:
acquiring grating spectrums of all touch sensing points corresponding to all waveguide gratings, and determining target wavelength drift amounts corresponding to all touch sensing points on the basis of the grating spectrums of all touch sensing points, wherein one touch sensing point corresponds to one target wavelength drift amount;
acquiring a plurality of groups of first corresponding relations between the wavelength drift amount and the sensing parameters, and determining the sensing parameters corresponding to the target wavelength drift amount based on the target wavelength drift amount and the plurality of groups of first corresponding relations;
and determining the sensing parameters corresponding to the drift amount of each target wavelength as the sensing parameters of each touch sensing point, wherein the sensing parameters comprise temperature or pressure.
An embodiment of the present application provides a parameter testing apparatus for a touch sensor, including:
the drift amount determining module is used for acquiring the grating spectrum of each touch sensing point corresponding to each waveguide grating, and determining the target wavelength drift amount corresponding to each touch sensing point on the basis of the grating spectrum of each touch sensing point, wherein one touch sensing point corresponds to one target wavelength drift amount;
the first determining module is used for acquiring multiple groups of first corresponding relations between the wavelength drift amounts and the sensing parameters and determining the sensing parameters corresponding to the target wavelength drift amounts from the multiple groups of first corresponding relations based on the target wavelength drift amounts;
and the second determining module is used for determining the sensing parameters corresponding to the target wavelength drift amount as the sensing parameters of each touch sensing point, and the sensing parameters comprise pressure or temperature.
Wherein, above-mentioned device still includes:
a refractive index determination module for determining an effective refractive index of the core based on the shape, size, optical refractive index of the core and optical refractive index of the cladding;
the grating period determining module is used for determining the grating period of any waveguide grating based on the preset reflection wavelength, the effective refractive index of the inner core and the order of any waveguide grating so as to obtain the grating period of each waveguide grating;
and the sensing point determining module is used for determining each touch sensing point corresponding to each waveguide grating based on the grating period of each waveguide grating.
The grating spectrum of the touch sensing point is a transmission spectrum, the transmission spectrum comprises a first transmission waveband and a second transmission waveband, and the second transmission waveband is a transmission waveband after the first transmission waveband is shifted;
the drift amount determination module includes:
the first wavelength determining unit is used for determining a first transmission wavelength corresponding to a first concave peak on a first transmission waveband and a second transmission wavelength corresponding to a second concave peak on a second transmission waveband from the transmission spectrum of any touch sensing point, wherein the second concave peak is a concave peak corresponding to the first concave peak on the second transmission waveband;
and the first drift amount determining unit is used for determining a target wavelength drift amount corresponding to any one touch sensing point based on a first transmission wavelength corresponding to the first concave peak and a second transmission wavelength corresponding to the second concave peak so as to obtain the target wavelength drift amount corresponding to each touch sensing point.
The grating spectrum of the touch sensing point is a reflection spectrum, the reflection spectrum comprises a first reflection waveband and a second reflection waveband, and the second reflection waveband is a reflection waveband after the first reflection waveband is shifted;
the drift amount determination module includes:
the second wavelength determining unit is used for determining a first reflection wavelength corresponding to a first convex peak on a first reflection waveband and a second reflection wavelength corresponding to a second convex peak on a second reflection waveband from the reflection spectrum of any touch sensing point, wherein the second convex peak is a convex peak corresponding to the first convex peak on the second reflection waveband;
and the second drift amount determining unit is used for determining the target wavelength drift amount of any touch sensing point based on the first reflection wavelength corresponding to the first convex peak and the second reflection wavelength corresponding to the second convex peak so as to obtain the target wavelength drift amount corresponding to each touch sensing point.
The sensing parameters of the touch sensing points comprise the pressure of the touch sensing points;
the above-mentioned device still includes:
the acquisition module is used for acquiring a plurality of groups of second corresponding relations, wherein the group of second corresponding relations comprise corresponding relations between the pressure of each tactile sensing point covered under one circular truncated cone and the tangential force of the circular truncated cone;
and the tangential force determining module is used for determining the tangential force corresponding to the pressure of each target tactile sensing point from the plurality of groups of second corresponding relations based on the pressure of each target tactile sensing point covered by the target circular truncated cone in at least one circular truncated cone, and determining the tangential force corresponding to the pressure of each target tactile sensing point as the tangential force of the target circular truncated cone.
One aspect of the present application provides a computer device, comprising: a processor, a memory, a network interface;
the processor is connected with a memory and a network interface, wherein the network interface is used for providing a data communication function, the memory is used for storing a computer program, and the processor is used for calling the computer program to execute the parameter testing method of the touch sensor in the aspect in the embodiment of the application.
According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to cause the computer device to execute the parameter testing method of the tactile sensor provided by the above aspect.
In the embodiment of the application, the touch sensor is provided with the waveguide grating with the periodic structure and the inner core with the serpentine structure, so that the touch sensor is more flexible, and the sensing spatial resolution of the touch sensor is improved. After determining each tactile sensing point corresponding to each waveguide grating in the tactile sensor, the computer device may determine a target wavelength drift amount corresponding to each tactile sensing point based on the grating spectrum of each tactile sensing point, where the target wavelength drift amount may be subsequently used to determine the sensing parameter of each tactile sensing point. Further, the computer device may determine the sensing parameter corresponding to each target wavelength drift amount from the plurality of sets of first corresponding relationships based on each target wavelength drift amount, and determine the sensing parameter corresponding to each target wavelength drift amount as the sensing parameter (such as temperature or pressure) of each tactile sensing point, so that the sensing parameter of each tactile sensing point may be accurately tested based on each target wavelength drift amount, the accuracy of the sensing parameter test is improved, and the applicability is stronger.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a network architecture according to an embodiment of the present application;
FIG. 2 is a diagram of an application scenario of a parameter test of a touch sensor according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a tactile sensor provided in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a tactile sensing point provided by an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a waveguide grating according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of a tactile sensor provided in an embodiment of the present application;
FIG. 7 is a schematic structural diagram of a tactile sensor according to an embodiment of the present disclosure;
FIG. 8 is a flowchart illustrating a method for testing parameters of a touch sensor according to an embodiment of the present disclosure;
FIG. 9 is a schematic flowchart illustrating a method for testing parameters of a touch sensor according to an embodiment of the present disclosure;
FIG. 10 is a schematic structural diagram of a parameter testing apparatus of a touch sensor according to an embodiment of the present disclosure;
fig. 11 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the 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. With the research and development of artificial intelligence technology, the artificial intelligence technology is developed and researched in a plurality of fields, such as common smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned driving, automatic driving, unmanned aerial vehicles, smart robots, smart medical services, smart customer service and the like.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a network architecture according to an embodiment of the present disclosure. As shown in fig. 1, the network architecture may include a server 10 and a user terminal cluster, where the user terminal cluster may include a plurality of user terminals, and as shown in fig. 1, may specifically include a user terminal 100a, a user terminal 100b, user terminals 100c, …, and a user terminal 100 n. The server 10 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a network service, cloud communication, a middleware service, a domain name service, a security service, a Content Delivery Network (CDN), a big data and artificial intelligence platform, and the like. Any user terminal in the user terminal cluster may include, but is not limited to, a camera, an attendance machine, a monitor, a tablet device, a desktop computer, a notebook computer, a mobile phone, or any other terminal device capable of completing information interaction.
It is to be understood that the computer device in the embodiment of the present application may be a physical terminal integrated with a touch sensor, where the physical terminal may be the server 10 shown in fig. 1, or any one of the user terminal 100a, the user terminal 100b, the user terminals 100c, …, and the user terminal 100n, and may be determined according to an actual application scenario, and is not limited herein. For convenience of description, the server 10 will be exemplified below. As shown in fig. 1, the user terminal 100a, the user terminal 100b, the user terminals 100c, …, and the user terminal 100n may be respectively connected to the server 10 via a network, so that each user terminal may interact with the server 10 via the network. After determining the sensing parameters of each touch sensing point in the touch sensor, the server 10 may send prompt information for the sensing parameters to a user (e.g., a user corresponding to the user terminal 100 a) based on the sensing parameters of each touch sensing point. The tactile sensor herein may be a sensor for imitating a tactile function in an intelligent robot system. In the embodiment of the present application, parameters tested by the touch sensor may be collectively referred to as sensing parameters, such as temperature, pressure or other parameters, which may be specifically determined according to an actual application scenario, and are not limited herein.
In an application scenario of the intelligent robot, the computer device provided in the embodiment of the present application may be a control center of the intelligent robot (which may be understood as a controller, a control system, or a data processing center of the intelligent robot, etc.). For ease of understanding, please refer to fig. 2, fig. 2 is a diagram illustrating an application scenario of a tactile sensor parameter test provided herein. As shown in fig. 2, a touch sensor (e.g., a touch sensor 2) may be disposed at a grasping portion (e.g., a mechanical finger) of an intelligent robot (e.g., the intelligent robot 1), that is, the touch sensor 2 serves as a sensing unit of the mechanical finger of the intelligent robot 1. The tactile sensor 2 may include a plurality of tactile sensing points, such as 36 or other numbers of tactile sensing points. When the intelligent robot 1 grabs an article (such as the article 3), the computer device can determine each touch sensing point corresponding to each waveguide grating in the touch sensor 2, collect the grating spectrum of each touch sensing point, and determine the target wavelength drift amount corresponding to each touch sensing point based on the grating spectrum of each touch sensing point. The transmission spectrum and/or the reflection spectrum of the waveguide grating corresponding to the touch sensing point can be collectively referred to as a grating spectrum. A waveguide grating may reflect light of a particular wavelength by a periodic refractive index change, and a waveguide grating is a periodic refractive index modulated reflective structure. In the embodiment of the application, a difference value between a wavelength corresponding to an ith concave peak or convex peak on a waveband in a grating spectrum and a wavelength corresponding to the ith concave peak or convex peak on the waveband after the original waveband is shifted can be referred to as a target wavelength shift amount, wherein i is a positive integer. The band after the original band shifts may be a band formed after the original band corresponding to each tactile sensing point shifts after a sensing parameter (for example, pressure generated after the intelligent robot 1 grips the article 3 or temperature when the intelligent robot 1 grips the article 3) of each tactile sensing point changes.
After determining the target wavelength drift amounts corresponding to the tactile sensing points, the computer device may obtain a plurality of sets of first corresponding relationships between the wavelength drift amounts and the sensing parameters, determine the sensing parameters corresponding to the target wavelength drift amounts from the plurality of sets of first corresponding relationships based on the target wavelength drift amounts, and determine the sensing parameters corresponding to the target wavelength drift amounts as the sensing parameters of the tactile sensing points in the tactile sensor 2. Assuming that the sensing parameter includes temperature, the computer device may predict the temperature of the article 3 based on the tactile sensor 2 when the mechanical finger of the smart robot 1 approaches the article 3, or the computer device may determine the temperature of the article 3 based on the tactile sensor 2 and send a prompt message to the user controlling the smart robot 1 to prompt the user of the article 3 when the smart robot 1 grasps the article 3. Assuming that the sensing parameter includes pressure, the computer device may determine whether the pressure of each tactile sensing point is changed based on the tactile sensor 2, thereby determining that the article 3 may slip or the smart robot 1 may grab insecure when the pressure of each tactile sensing point is changed, and transmit a prompt message to the user. At this time, the user may issue an instruction to the intelligent robot 1 based on the prompt information, and control the intelligent robot 1 to re-grab the article 3 or adjust the position of the article 3 so that the article 3 no longer slides or the intelligent robot 1 firmly grabs the article 3.
Therefore, in the embodiment of the application, the computer equipment can determine the sensing parameters of each touch sensor based on the first corresponding relation between the target wavelength drift amount and the sensing parameters, so that the accuracy of testing the sensing parameters is improved; in addition, the touch sensor has high sensing spatial resolution, higher sensing sensitivity and flexibility, so that the accuracy of sensing parameter testing is higher and the applicability is stronger.
Further, for the convenience of understanding, please refer to fig. 3, and fig. 3 is a schematic structural diagram of a tactile sensor provided in an embodiment of the present application. As shown in fig. 3, a tactile sensor (e.g., tactile sensor 3) may be composed of a core, a cladding, and a waveguide grating. The inner core can be made of a photosensitive non-stretchable transparent high-light-transmission material (such as SU8 photoresist or other materials), the cladding can be made of a thermosetting stretchable transparent high-light-transmission silica gel material (such as OE-6560 photoresist or other materials), the optical refractive index of the inner core is larger than that of the cladding, the inner core can be of a serpentine structure, and the waveguide grating can be of a periodic structure. Since the inner core and the cladding are made of transparent and highly transparent materials, in order to avoid the situation that the optical path of the inner core of the tactile sensor 3 cannot be observed in an optical instrument, a layer of marker (such as black marker) can be coated on the inner core in a spin mode to mark the optical path of the inner core. Optionally, the difference between the optical refractive index of the core and the optical refractive index of the cladding may be greater than or equal to a predetermined optical refractive index difference (e.g., 0.04 or other value) to achieve bending of the tactile sensor with a smaller bending radius (e.g., 500 μm or other value), thereby increasing the sensing spatial resolution of the tactile sensor, e.g., the sensing spatial resolution may be less than or equal to 1 mm. The preset optical refractive index difference value here may be a default value set by a user or an optical refractive index difference value configured by the tactile sensor.
As shown in fig. 3, a partial enlarged view of the structure of the sensing portion (i.e., the tactile sensing point) in the tactile sensor 3 can be obtained, and the tactile sensor 3 can include a plurality of tactile sensing points (e.g., 36 or other tactile sensing points), one tactile sensing point corresponds to one waveguide grating, and the grating periods of the waveguide gratings corresponding to different tactile sensing points are different, so that different tactile sensing points can be distinguished according to the grating periods of the waveguide gratings. Referring to fig. 4, fig. 4 is a schematic structural diagram of a tactile sensing point according to an embodiment of the present disclosure. As shown in fig. 4, the tactile sensing point of the tactile sensor 3 may be structured as shown in 4a of fig. 4, in which a waveguide grating periodically changing with a grating period is arranged around a core (e.g., a core with a 2 μm line width or other core line widths), such as a waveguide grating with a rectangular periodic structure having the same height as the core. In other words, the waveguide grating is periodically distributed at the periphery of the inner core. A cross-sectional top view of the core of the tactile sensing point structure as shown at 4a in fig. 4 can be seen at 4b in fig. 4. the cladding can surround the waveguide grating and the core, the core periphery is a waveguide grating with a periodic structure, and the core periphery also has a marker (e.g., a black marker) that can be used to mark the core optical path to clearly view the core optical path in the optical instrument.
In some possible embodiments, the waveguide grating may be a rectangular periodic structure, a triangular periodic structure, a cylindrical periodic structure, or other shape periodic structure, and the waveguide grating may be flush with the core, the waveguide grating may be not flush with the core, the waveguide grating may not have a contact surface with the core, the waveguide grating may have a contact surface with the upper surface of the core, or have other positional or other contact relationships with the core. The waveguide grating may be a waveguide grating obtained by combining one or two of the waveguide grating structures, and may be determined according to a practical application scenario, which is not limited herein. For convenience of description, a specific structure of the waveguide grating will be exemplified below with reference to fig. 5. Referring to fig. 5, fig. 5 is a schematic structural diagram of a waveguide grating according to an embodiment of the present application. Because light can be transmitted not only inside the inner core waveguide but also near the inner core waveguide, a waveguide grating with a periodic structure can be made outside the inner core waveguide, so that the inner core waveguide generates Bragg reflection for the normal work of the touch sensor. As shown in fig. 5a, the waveguide grating 10 may be a rectangular periodic structure with a height different from the core, as shown in fig. 5b, the waveguide grating 11 may be a triangular periodic structure with a height different from the core, as shown in fig. 5c, the waveguide grating 12 may be a cylindrical periodic structure with a height different from the core and no contact surface with the core, as shown in fig. 5d, and the waveguide grating 13 may be a rectangular periodic structure with a contact surface with the upper surface of the core.
In some possible embodiments, the surface of the tactile sensor may be provided with at least one circular truncated cone (e.g., 9 circular truncated cones or circular truncated cones of other values), at least three tactile sensing points may be completely covered under one of the at least one circular truncated cones, the at least three tactile sensing points are arranged in a central symmetrical distribution, and a central position of one circular truncated cone coincides with a symmetrical center of the at least three tactile sensing points. Referring to fig. 6, fig. 6 is a schematic structural diagram of a tactile sensor according to an embodiment of the present disclosure. As shown in fig. 6, at least one truncated cone (e.g., 9 truncated cones) may be disposed on the surface of the tactile sensor 3 as shown in fig. 3, at least three tactile sensing points (e.g., 4 tactile sensing points) may be completely covered by one truncated cone (e.g., 10), the center position of the truncated cone 10 may coincide with the symmetric center of its 4 tactile sensing points, or the edge of the truncated cone 10 may be aligned with the edge of the ring-shaped marker covered by it. Referring to fig. 7 together, fig. 7 is a schematic structural diagram of a touch sensor according to an embodiment of the present disclosure. As shown in fig. 7, the tactile sensor 7 may include 27 tactile sensing points, 9 circular truncated cones may be disposed on the surface of the tactile sensor 7, one circular truncated cone (e.g., circular truncated cone 20) may cover 3 tactile sensing points, and the center position of the circular truncated cone 10 may coincide with the symmetry center of the 3 tactile sensing points covered by the circular truncated cone.
In the embodiment of the application, the Young modulus of the material for manufacturing the touch sensor is low, so that the touch sensor is more easily deformed by pressure to generate a changed optical signal, and the sensing sensitivity is improved; because the serpentine structure of the inner core can resist bending and stretching, the performance of the sensor can not be influenced, and the touch sensor is more flexible; meanwhile, the touch sensor is provided with the waveguide grating with the periodic structure, so that the sensing space resolution of the touch sensor is improved.
Referring to fig. 8, fig. 8 is a schematic flowchart illustrating a parameter testing method of a touch sensor according to an embodiment of the present disclosure. As shown in fig. 8, the method may be performed by a computer device, which may be a physical terminal integrated with a tactile sensor, and thus the method may also be performed by a tactile sensor in a computer device. For convenience of description, the following will be described taking a computer device as an example, and the method may include the following steps S101 to S103:
and step S101, acquiring grating spectrums of all the touch sensing points corresponding to all the waveguide gratings, and determining target wavelength drift amounts corresponding to all the touch sensing points based on the grating spectrums of all the touch sensing points.
In some possible implementations, the computer device may determine the effective refractive index of the core based on the shape, size, optical refractive index of the core, and optical refractive index of the cladding. Further, the computer device may determine a grating period of any waveguide grating based on the preset reflection wavelength, the effective refractive index of the inner core, and the order of any waveguide grating to obtain a grating period of each waveguide grating. The preset reflection wavelength may be a wavelength set by a user or a default wavelength value. It should be appreciated that the formula by which the computer device determines the grating period Λ of any waveguide grating may be as shown in equation (1) below:
Figure BDA0002825740090000101
where λ may represent a predetermined reflection wavelength, neffThe effective refractive index of the inner core can be expressed, n can be an order of any waveguide grating, n is a positive integer, for example, the order of a 1-order waveguide grating is 1, that is, n is 1, and the order of an n-order waveguide grating is n.
Further, the computer device may determine the grating period of each waveguide grating based on the above formula (1), and may determine each tactile sensing point corresponding to each waveguide grating based on the grating period of each waveguide grating since the grating period of each waveguide grating is different. When the temperature of each touch sensing point changes, the touch sensor material slightly expands, so that the grating period of the waveguide grating is increased, and meanwhile, the refractive index of the touch sensor material is changed due to the elasto-optic effect caused by the temperature change, so that the effective refractive index of the inner core is changed. It can be obtained that, since the change in temperature causes the shift of the center wavelength of the concave peak in the transmission spectrum of each tactile sensing point or the shift of the center wavelength of the convex peak in the reflection band of each tactile sensing point, the magnitude of the temperature change can be determined by the magnitude of the shift of the center wavelength (which may be simply referred to as the wavelength shift). When the pressure of each tactile sensing point changes, the central wavelength of the concave peak on the transmission spectrum of each tactile sensing point shifts or the central wavelength of the convex peak on the reflection band of each tactile sensing point shifts, so that the magnitude of the pressure change can be judged according to the magnitude of the wavelength shift. At this time, the computer device may collect a grating spectrum (e.g., a transmission spectrum or a reflection spectrum) of each of the tactile sensing points based on the spectrometer, and determine a target wavelength shift amount corresponding to each of the tactile sensing points based on the transmission spectrum or the reflection spectrum of each of the tactile sensing points. The target wavelength drift amount corresponding to one touch sensing point may be the same or different, and may be specifically determined according to an actual application scenario, which is not limited herein.
In some possible embodiments, the grating spectrum of the tactile sensing point may be a transmission spectrum including a first transmission band and a second transmission band, and the second transmission band may be a transmission band shifted from the first transmission band. The transmission waveband before the sensing parameter of the touch sensing point is changed can be collectively called as a first transmission waveband, and the transmission waveband after the sensing parameter of the touch sensing point is changed can be collectively called as a second transmission waveband. The computer device can determine a first transmission wavelength corresponding to a first dip in a first transmission band and a second transmission wavelength corresponding to a second dip in a second transmission band from the transmission spectrum of any of the tactile sensing points. The second concave peak is a concave peak corresponding to the first concave peak in the second transmission band, for example, the ith concave peak in the first transmission band corresponds to the ith concave peak in the second transmission band. Further, the computer device may determine a target wavelength shift amount corresponding to any one of the tactile sensing points based on a first transmission wavelength corresponding to the first concave peak and a second transmission wavelength corresponding to the second concave peak, so as to obtain the target wavelength shift amount corresponding to each tactile sensing point. Specifically, the computer device may determine a difference between the first transmission wavelength and the second transmission wavelength as a target wavelength drift amount corresponding to any one of the tactile sensing points, so as to obtain a target wavelength drift amount corresponding to each of the tactile sensing points.
In some possible embodiments, the grating spectrum of the tactile sensing point may be a reflection spectrum including a first reflection band and a second reflection band, and the second reflection band is a reflection band shifted from the first reflection band. The reflection waveband before the sensing parameter of the touch sensing point is changed can be collectively referred to as a first reflection waveband, and the reflection waveband after the sensing parameter of the touch sensing point is changed can be collectively referred to as a second reflection waveband. The computer device can determine a first reflected wavelength corresponding to a first hump in a first reflection band and a second reflected wavelength corresponding to a second hump in a second reflection band from the reflection spectrum of any tactile sensing point. The second convex peak is a convex peak corresponding to the first convex peak on the second reflection band, for example, an ith convex peak on the first reflection band corresponds to an ith convex peak on the second reflection band. Further, the computer device may determine a target wavelength shift amount of any one of the tactile sensing points based on a first reflection wavelength corresponding to the first convex peak and a second reflection wavelength corresponding to the second convex peak, so as to obtain a target wavelength shift amount corresponding to each of the tactile sensing points. Specifically, the computer device may determine a difference between the first reflection wavelength and the second reflection wavelength as a target wavelength shift amount corresponding to any one of the touch sensing points, so as to obtain a target wavelength shift amount corresponding to each touch sensing point.
Step S102, acquiring multiple groups of first corresponding relations between the wavelength drift amounts and the sensing parameters, and determining the sensing parameters corresponding to the target wavelength drift amounts from the multiple groups of first corresponding relations based on the target wavelength drift amounts.
In some possible embodiments, the computer device may obtain a plurality of sets of first correspondences between the wavelength drift amounts and the sensing parameters from the sensor database, where the data format of the plurality of sets of first correspondences may be a table, a key-value pair, or other data format. The sensing parameters may include temperature, pressure, or other parameters, among others. The sensor database may include a plurality of sets of first corresponding relationships between the wavelength drift amounts and the sensing parameters, which are pre-stored by the user, or a plurality of sets of first corresponding relationships between the wavelength drift amounts and the sensing parameters, which are configured by the touch sensor as a default. For example, sets of first correspondences between the amount of wavelength drift and the sensing parameters in the sensor database may be as shown in table 1 below. Wherein, table 1 is a corresponding relationship table of wavelength drift amount and sensing parameters.
TABLE 1
Amount of wavelength drift Sensing a parameter
Amount of wavelength drift 1 Sensing parameter 1
… …
Wavelength drift amount m Sensing parameter m
Further, after acquiring the multiple sets of first corresponding relationships between the wavelength drift amounts and the sensing parameters, the computer device may determine, based on each target wavelength drift amount, the sensing parameter corresponding to each target wavelength drift amount from the multiple sets of first corresponding relationships. Assuming that the sensing parameter includes a pressure, the larger the target wavelength shift amount is, the larger the pressure corresponding to the target wavelength shift amount is. Assuming that a plurality of sets of first corresponding relationships between the wavelength drift amounts and the sensing parameters are shown in table 1, if any one target wavelength drift amount corresponding to any one touch sensing point is the wavelength drift amount 1, the computer device may determine, based on m sets of first corresponding relationships in table 1, that the sensing parameter corresponding to any one target wavelength drift amount is the sensing parameter 1 corresponding to the wavelength drift amount 1, and may further determine the sensing parameter corresponding to each target wavelength drift amount.
Step S103, determining the sensing parameters corresponding to the target wavelength drift amount as the sensing parameters of the tactile sensing points.
In some possible implementations, the sensed parameter may include temperature, pressure, or other parameters. The touch sensor may be disposed at a grasping portion (e.g., a mechanical finger) of the intelligent robot, and when the intelligent robot grasps an object, the computer device may directly determine the temperature of the object, assuming that the sensing parameter is the temperature. Assuming that the sensing parameter is pressure, the computer device may determine that an object slides or the intelligent robot grips insecurely when the pressure of each tactile sensing point changes, and send a prompt message to the user. At this moment, the user can issue an instruction to the intelligent robot based on the prompt information, control the intelligent robot to grab the article again or adjust the position of the article, so that the article does not slide any more or the intelligent robot firmly grabs the article.
In this embodiment, after determining each tactile sensing point corresponding to each waveguide grating, the computer device may determine a target wavelength drift amount corresponding to each tactile sensing point based on a grating spectrum of each tactile sensing point, where the target wavelength drift amount may be subsequently used to determine a sensing parameter of each tactile sensing point. Furthermore, the computer device may determine the sensing parameter corresponding to each target wavelength drift amount from the plurality of sets of first corresponding relationships based on each target wavelength drift amount, and determine the sensing parameter corresponding to each target wavelength drift amount as the sensing parameter (such as temperature or pressure) of each touch sensing point, so that the sensing parameter of each touch sensing point may be accurately tested based on each target wavelength drift amount.
Further, please refer to fig. 9, fig. 9 is a flowchart illustrating a parameter testing method of a touch sensor according to an embodiment of the present application. As shown in fig. 9, the method may be performed by a computer device, which may be a physical terminal integrated with a tactile sensor, and thus the method may also be performed by a tactile sensor in a computer device. For convenience of description, the following will be described taking a computer device as an example, and the method may include the following steps S201 to S205:
step S201, collecting a grating spectrum of each tactile sensing point corresponding to each waveguide grating, and determining a target wavelength drift amount corresponding to each tactile sensing point based on the grating spectrum of each tactile sensing point.
Step S202, a plurality of groups of first corresponding relations between the wavelength drift amounts and the sensing parameters are obtained, and the sensing parameters corresponding to the target wavelength drift amounts are determined based on the target wavelength drift amounts and the first corresponding relations.
In step S203, the sensing parameters corresponding to the target wavelength drift amounts are determined as the sensing parameters of the tactile sensing points.
For specific implementation of steps S201 to S203, refer to the description of steps S101 to S103 in the embodiment corresponding to fig. 8, and the description will not be repeated here.
Step S204, a plurality of groups of second corresponding relations are obtained.
In some possible embodiments, the computer device may obtain a plurality of sets of second correspondences from the sensor database, where a set of second correspondences includes a correspondence between the pressure of each tactile sensing point covered under one circular table and the tangential force of the circular table. The data format of the plurality of sets of second correspondences may be a table, a key-value pair, or other data format. The sensor database may include a plurality of sets of second correspondences pre-stored by the user, or a plurality of sets of second correspondences configured by default for the tactile sensor.
Step S205, determining, from the plurality of sets of second correspondence relationships, a tangential force corresponding to the pressure of each target tactile sensing point based on the pressure of each target tactile sensing point covered by the target circular truncated cone in the at least one circular truncated cone, and determining the tangential force corresponding to the pressure of each target tactile sensing point as the tangential force of the target circular truncated cone.
In some possible implementations, after acquiring the plurality of sets of second correspondences, the computer device may determine a tangential force of the target circular table from the plurality of sets of second correspondences based on the pressure of each target tactile sensing point covered by the target circular table. In the embodiment of the application, any one of the at least one circular truncated cone can be called as a target circular truncated cone. The tangential forces of different truncated cones may be the same or different. Because a circular table on the touch sensor can cover at least three waveguide gratings with different periods, when the circular table receives positive pressure, the stress of the covered at least three waveguide gratings is consistent, when the circular table receives the positive pressure and the tangential force at the same time, the stress of the covered at least three waveguide gratings is inconsistent, and the magnitude and the direction of the tangential force applied to the circular table can be judged through sensing signals (such as the wavelength drift of the touch sensing points) generated when the stress of the covered at least three waveguide gratings is inconsistent. For example, the maximum pressure of the target tactile sensing point 1 among the target tactile sensing points covered by the target circular truncated cone indicates that the direction of the tangential force applied to the target circular truncated cone is inclined to the direction of the target tactile sensing point 1.
In this embodiment, after determining each tactile sensing point corresponding to each waveguide grating, the computer device may determine a target wavelength drift amount corresponding to each tactile sensing point based on a grating spectrum of each tactile sensing point, where the target wavelength drift amount may be subsequently used to determine a sensing parameter of each tactile sensing point. Further, the computer device may determine, based on each target wavelength drift amount, a sensing parameter corresponding to each target wavelength drift amount from the plurality of sets of first corresponding relationships, and determine the sensing parameter corresponding to each target wavelength drift amount as a sensing parameter (such as temperature or pressure) of each tactile sensing point, so that the temperature or pressure of each tactile sensing point may be accurately measured based on each target wavelength drift amount. In addition, the computer equipment can also determine the tangential force of the target circular truncated cone in at least one circular truncated cone based on the pressure of each touch sensing point, the tangential force of the circular truncated cone can be tested while the temperature or the pressure of each touch sensing point is tested, and the touch sensor has high sensing spatial resolution, higher sensing sensitivity and flexibility, higher accuracy of sensing parameter testing and stronger applicability.
Further, please refer to fig. 10, fig. 10 is a schematic structural diagram of a parameter testing apparatus of a touch sensor according to an embodiment of the present application. The parameter testing means of the touch sensor may be a computer program (comprising program code) running on a computer device, e.g. the parameter testing means of the touch sensor is an application software; the parameter testing device of the touch sensor can be used for executing corresponding steps in the method provided by the embodiment of the application. As shown in fig. 10, the parameter testing apparatus 1 of the touch sensor may be operated in a computer device, which may be the server 10 in the embodiment corresponding to fig. 1, or in a touch sensor, which may be the touch sensor 3 in fig. 3. The parameter testing apparatus 1 of the tactile sensor may include: a refractive index determination module 10, a grating period determination module 20, a sensing point determination module 30, a drift amount determination module 40, a first determination module 50, a second determination module 60, an acquisition module 70, and a tangential force determination module 80.
And the drift amount determining module 40 is configured to collect the grating spectrum of each touch sensing point, and determine a target wavelength drift amount corresponding to each touch sensing point based on the grating spectrum of each touch sensing point, where one touch sensing point corresponds to one target wavelength drift amount.
The grating spectrum of the touch sensing point is a transmission spectrum, the transmission spectrum comprises a first transmission waveband and a second transmission waveband, and the second transmission waveband is a transmission waveband after the first transmission waveband is shifted;
the drift amount determination module 40 may include: a first wavelength determination unit 401 and a first drift amount determination unit 402.
A first wavelength determination unit 401, configured to determine, from the transmission spectrum of any one of the tactile sensing points, a first transmission wavelength corresponding to a first concave peak on a first transmission waveband and a second transmission wavelength corresponding to a second concave peak on a second transmission waveband, where the second concave peak is a concave peak corresponding to the first concave peak on the second transmission waveband;
a first drift amount determining unit 402, configured to determine a target wavelength drift amount corresponding to any one of the tactile sensing points based on a first transmission wavelength corresponding to the first concave peak and a second transmission wavelength corresponding to the second concave peak, so as to obtain a target wavelength drift amount corresponding to each of the tactile sensing points.
For specific implementation manners of the first wavelength determining unit 401 and the first drift amount determining unit 402, reference may be made to the description of step S101 in the embodiment corresponding to fig. 8, and details will not be further described here.
The grating spectrum of the touch sensing point is a reflection spectrum, the reflection spectrum comprises a first reflection waveband and a second reflection waveband, and the second reflection waveband is a reflection waveband after the first reflection waveband is shifted;
the drift amount determination module 40 includes: a second wavelength determination unit 403 and a second drift amount determination unit 404.
A second wavelength determining unit 403, configured to determine, from the reflection spectrum of any tactile sensing point, a first reflection wavelength corresponding to a first convex peak on a first reflection band and a second reflection wavelength corresponding to a second convex peak on a second reflection band, where the second convex peak is a convex peak corresponding to the first convex peak on the second reflection band;
and a second drift amount determining unit 404, configured to determine a target wavelength drift amount of any one of the tactile sensing points based on the first reflection wavelength corresponding to the first convex peak and the second reflection wavelength corresponding to the second convex peak, so as to obtain a target wavelength drift amount corresponding to each of the tactile sensing points.
For specific implementation manners of the second wavelength determining unit 403 and the second drift amount determining unit 404, reference may be made to the description of step S101 in the embodiment corresponding to fig. 8, and details will not be further described here.
The first determining module 50 is configured to obtain multiple sets of first corresponding relationships between the wavelength drift amounts and the sensing parameters, and determine the sensing parameters corresponding to each target wavelength drift amount from the multiple sets of first corresponding relationships based on each target wavelength drift amount.
And a second determining module 60, configured to determine a sensing parameter corresponding to each target wavelength drift amount as a sensing parameter of each tactile sensing point, where the sensing parameter includes temperature or pressure.
The parameter testing device 1 of the tactile sensor further includes:
a refractive index determination module 10 for determining an effective refractive index of the core based on the shape, size, optical refractive index of the core and optical refractive index of the cladding;
a grating period determining module 20, configured to determine a grating period of any waveguide grating based on a preset reflection wavelength, an effective refractive index of the inner core, and an order of any waveguide grating, so as to obtain a grating period of each waveguide grating;
and the sensing point determining module 30 is configured to determine, based on the grating period of each waveguide grating, each tactile sensing point corresponding to each waveguide grating.
The sensing parameters of the touch sensing points comprise the pressure of the touch sensing points;
the parameter testing device 1 for a tactile sensor further includes:
the obtaining module 70 is configured to obtain a plurality of groups of second corresponding relationships, where a group of second corresponding relationships includes a corresponding relationship between a pressure of each tactile sensing point covered under one circular truncated cone and a tangential force of the circular truncated cone;
and the tangential force determining module 80 is configured to determine, from the plurality of sets of second corresponding relationships, a tangential force corresponding to the pressure of each target tactile sensing point based on the pressure of each target tactile sensing point covered by the target circular truncated cone in the at least one circular truncated cone, and determine the tangential force corresponding to the pressure of each target tactile sensing point as the tangential force of the target circular truncated cone.
For specific implementation manners of the refractive index determining module 10, the grating period determining module 20, the sensing point determining module 30, the drift amount determining module 40, the first determining module 50, the second determining module 60, the obtaining module 70, and the tangential force determining module 80, reference may be made to the description of steps S101 to S103 in the embodiment corresponding to fig. 8 and/or the description of steps S201 to S205 in the embodiment corresponding to fig. 9, which will not be described again. In addition, the beneficial effects of the same method are not described in detail.
Further, please refer to fig. 11, where fig. 11 is a schematic structural diagram of a computer device according to an embodiment of the present application. As shown in fig. 11, the computer device 1000 may be the server 10 in the corresponding embodiment of fig. 1, and the computer device 1000 may include: at least one processor 1001, such as a CPU, at least one network interface 1004, a user interface 1003, memory 1005, at least one communication bus 1002. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display (Display) and a Keyboard (Keyboard), and the network interface 1004 may optionally include a standard wired interface and a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 1005 may optionally also be at least one storage device located remotely from the aforementioned processor 1001. As shown in fig. 11, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a device control application program.
In the computer apparatus 1000 shown in fig. 11, the network interface 1004 is mainly used for network communication with the user terminal; the user interface 1003 is an interface for providing a user with input; and the processor 1001 may be used to invoke a device control application stored in the memory 1005 to implement:
acquiring grating spectrums of all touch sensing points corresponding to all waveguide gratings, and determining target wavelength drift amounts corresponding to all touch sensing points on the basis of the grating spectrums of all touch sensing points, wherein one touch sensing point corresponds to one target wavelength drift amount;
acquiring a plurality of groups of first corresponding relations between the wavelength drift amount and the sensing parameters, and determining the sensing parameters corresponding to the target wavelength drift amount based on the target wavelength drift amount and the plurality of groups of first corresponding relations;
and determining the sensing parameters corresponding to the drift amount of each target wavelength as the sensing parameters of each touch sensing point, wherein the sensing parameters comprise temperature or pressure.
It should be understood that the computer device 1000 described in this embodiment of the present application may perform the description of the parameter testing method for the tactile sensor in the embodiment corresponding to fig. 8 and/or fig. 9, and may also perform the description of the parameter testing apparatus 1 for the tactile sensor in the embodiment corresponding to fig. 10, which is not repeated herein. In addition, the beneficial effects of the same method are not described in detail.
Further, here, it is to be noted that: an embodiment of the present application further provides a computer-readable storage medium, and the computer-readable storage medium stores therein a computer program executed by the aforementioned parameter testing apparatus 1 for a tactile sensor, and the computer program includes program instructions, and when the processor executes the program instructions, the description of the parameter testing method for the tactile sensor in the embodiment corresponding to fig. 8 and 9 can be executed, and therefore, details will not be repeated here. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. As an example, program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network, which may comprise a block chain system.
In one aspect of the application, 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 processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to execute the parameter testing method of the tactile sensor provided in the embodiment of the present application.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The computer readable storage medium may be the parameter testing apparatus of the tactile sensor provided in any of the foregoing embodiments or an internal storage unit of the device, such as a hard disk or a memory of an electronic device. The computer readable storage medium may also be an external storage device of the electronic device, such as a plug-in hard disk, a Smart Memory Card (SMC), a Secure Digital (SD) card, a flash card (flash card), and the like, which are provided on the electronic device. The computer readable storage medium may further include a magnetic disk, an optical disk, a read-only memory (ROM), a Random Access Memory (RAM), and the like. Further, the computer readable storage medium may also include both an internal storage unit and an external storage device of the electronic device. The computer-readable storage medium is used for storing the computer program and other programs and data required by the electronic device. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.
The terms "first", "second", and the like in the claims, in the description and in the drawings of the present invention are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments. The term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the scope of the present application, so that the present application is not limited thereto, and all equivalent variations and modifications can be made to the present application.

Claims (12)

1. A touch sensor is characterized by comprising an inner core, a cladding and a waveguide grating, wherein the cladding wraps the waveguide grating and the inner core, the waveguide grating is of a periodic structure, and the inner core is of a serpentine structure;
the touch sensor comprises a plurality of touch sensing points, one touch sensing point corresponds to one waveguide grating, and grating periods of the waveguide gratings corresponding to different touch sensing points are different.
2. A tactile sensor according to claim 1, wherein said inner core is made of a light-sensitive non-stretchable transparent highly light-transmissive material, said cladding is made of a thermosetting stretchable transparent highly light-transmissive silicone material, and the optical refractive index of said inner core is greater than the optical refractive index of said cladding.
3. A tactile sensor according to claim 1 or 2, wherein the waveguide grating is a rectangular periodic structure, a triangular periodic structure or a cylindrical periodic structure, and the waveguide grating is at the same height as the core, the waveguide grating is at a different height from the core, the waveguide grating has no contact surface with the core, or the waveguide grating has a contact surface with the upper surface of the core.
4. A tactile sensor according to claim 1 or 2, wherein the surface of the tactile sensor has at least one truncated cone, at least three tactile sensing points are completely covered under one truncated cone, the structure of the at least three tactile sensing points is a centrosymmetric structure, and the center position of the one truncated cone coincides with the symmetry center of the at least three tactile sensing points.
5. A method for parametric testing of a tactile sensor, the method being adapted for use with the tactile sensor of claims 1-4, the method comprising:
acquiring grating spectrums of all touch sensing points corresponding to all waveguide gratings, and determining target wavelength drift amounts corresponding to all touch sensing points on the basis of the grating spectrums of all touch sensing points, wherein one touch sensing point corresponds to one target wavelength drift amount;
acquiring multiple groups of first corresponding relations between wavelength drift amounts and sensing parameters, and determining the sensing parameters corresponding to the target wavelength drift amounts from the multiple groups of first corresponding relations based on the target wavelength drift amounts;
and determining the sensing parameters corresponding to the drift amount of each target wavelength as the sensing parameters of each touch sensing point, wherein the sensing parameters comprise temperature or pressure.
6. The method of claim 5, further comprising:
determining an effective refractive index of the core based on a shape, size, optical refractive index of the core, and optical refractive index of the cladding;
determining the grating period of any waveguide grating based on a preset reflection wavelength, the effective refractive index of the inner core and the order of any waveguide grating so as to obtain the grating period of each waveguide grating;
and determining each touch sensing point corresponding to each waveguide grating based on the grating period of each waveguide grating.
7. The method of claim 5, wherein the grating spectrum of the tactile sensing point is a transmission spectrum, the transmission spectrum comprises a first transmission band and a second transmission band, and the second transmission band is a transmission band shifted from the first transmission band;
the determining the target wavelength drift amount corresponding to each tactile sensing point based on the grating spectrum of each tactile sensing point includes:
determining a first transmission wavelength corresponding to a first concave peak on a first transmission waveband and a second transmission wavelength corresponding to a second concave peak on a second transmission waveband from a transmission spectrum of any touch sensing point, wherein the second concave peak is a concave peak corresponding to the first concave peak on the second transmission waveband;
and determining a target wavelength drift amount corresponding to any one touch sensing point based on a first transmission wavelength corresponding to the first concave peak and a second transmission wavelength corresponding to the second concave peak so as to obtain the target wavelength drift amount corresponding to each touch sensing point.
8. The method of claim 5, wherein the grating spectrum of the tactile sensing points is a reflection spectrum, the reflection spectrum comprises a first reflection band and a second reflection band, and the second reflection band is a reflection band shifted from the first reflection band;
the determining the target wavelength drift amount corresponding to each tactile sensing point based on the grating spectrum of each tactile sensing point includes:
determining a first reflection wavelength corresponding to a first convex peak on a first reflection waveband and a second reflection wavelength corresponding to a second convex peak on a second reflection waveband from a reflection spectrum of any touch sensing point, wherein the second convex peak is a convex peak corresponding to the first convex peak on the second reflection waveband;
and determining a target wavelength drift amount of any one touch sensing point based on a first reflection wavelength corresponding to the first convex peak and a second reflection wavelength corresponding to the second convex peak so as to obtain a target wavelength drift amount corresponding to each touch sensing point.
9. The method of claim 5, wherein the sensing parameter of each tactile sensing point comprises a pressure of the each tactile sensing point;
the method further comprises the following steps:
acquiring a plurality of groups of second corresponding relations, wherein each group of second corresponding relations comprises corresponding relations between the pressure of each tactile sensing point covered under one circular table and the tangential force of the circular table;
and determining the tangential force corresponding to the pressure of each target tactile sensing point from the plurality of groups of second corresponding relations based on the pressure of each target tactile sensing point covered by the target circular truncated cone in at least one circular truncated cone, and determining the tangential force corresponding to the pressure of each target tactile sensing point as the tangential force of the target circular truncated cone.
10. A parameter testing apparatus for a tactile sensor, comprising:
the drift amount determining module is used for acquiring the grating spectrum of each touch sensing point corresponding to each waveguide grating, and determining the target wavelength drift amount corresponding to each touch sensing point on the basis of the grating spectrum of each touch sensing point, wherein one touch sensing point corresponds to one target wavelength drift amount;
the first determining module is used for acquiring multiple groups of first corresponding relations between the wavelength drift amounts and the sensing parameters and determining the sensing parameters corresponding to the target wavelength drift amounts based on the target wavelength drift amounts and the multiple groups of first corresponding relations;
and the second determining module is used for determining the sensing parameters corresponding to the target wavelength drift amounts as the sensing parameters of the tactile sensing points, wherein the sensing parameters comprise temperature or pressure.
11. A computer device, comprising: a processor, memory, and a network interface;
the processor is coupled to a memory and a network interface, wherein the network interface is configured to provide data communication functionality, the memory is configured to store program code, and the processor is configured to invoke the program code to perform the method of any of claims 5-9.
12. A computer-readable storage medium, characterized in that it stores a computer program comprising program instructions which, when executed by a processor, perform the method of any of claims 5-9.
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