CN116576893A - Micro photoelectric bionic touch sensor and touch sensing method - Google Patents
Micro photoelectric bionic touch sensor and touch sensing method Download PDFInfo
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- CN116576893A CN116576893A CN202310648512.8A CN202310648512A CN116576893A CN 116576893 A CN116576893 A CN 116576893A CN 202310648512 A CN202310648512 A CN 202310648512A CN 116576893 A CN116576893 A CN 116576893A
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- 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
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- 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
- G01D5/28—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 deflection of beams of light, e.g. for direct optical indication
- G01D5/30—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 deflection of beams of light, e.g. for direct optical indication the beams of light being detected by photocells
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Abstract
The invention relates to the field of sensors, and provides a microminiature photoelectric bionic touch sensor and a touch sensing method. The tactile sensation method comprises the following steps: the sensing part senses external contact and deflects after receiving the external contact; the reflecting component is driven to deflect by the elastic component connected with the sensing component, and the reflecting component is used for reflecting light rays emitted by the light emitting component to the plurality of photosensitive components; determining the light intensity difference between the photosensitive members based on the light intensities received by the plurality of photosensitive members; the deflection of the sensing member is determined based on the light intensity difference, which can be used to characterize the direction and intensity of the external contact. The touch sensor is used for solving the problems that the existing touch sensor is low in integration level, single in function, easy to be interfered by environment and incapable of realizing contact sensing and close range sensing simultaneously, and improving the anti-interference capability and the detection precision.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a microminiature photoelectric bionic touch sensor and a touch sensing method.
Background
The tentacle sensor is a bionic technology, simulates the sensing and reaction mechanism of animal tentacles, is used for detecting information such as the shape, the texture and the like of an object, and can sense external force. The tentacle sensor has the advantages of high sensitivity, high resolution, high robustness, low power consumption and the like, and is widely applied to the fields of robots, autonomous navigation systems, medical equipment and the like. The whisker sensor can be used as a supplement of other perception modes such as vision, hearing and the like, and provides additional information for the robot.
The existing PSD photoelectric sensor is a device applying a photoelectric conversion principle to the sensor, and the photoelectric tentacle sensor is a sensor for measuring the offset of an external object by using the photoelectric conversion principle. When the tentacles contact external objects, the deflection of the shading sheet can lead to the movement of the color transmission light spots on the PSD sensing surface, so that the change of PSD output current is caused, and deflection displacement information can be obtained after processing.
However, the existing touch sensor has the problems of low integration level, single function, easy environmental interference and the like, and can not realize touch sensing and close range sensing at the same time.
Disclosure of Invention
The invention provides a microminiature photoelectric bionic touch sensor and a touch sensing method, which are used for solving the problems that the existing touch sensor is low in integration level, single in function, easy to be interfered by environment and incapable of realizing contact sensing and close range sensing at the same time, and improving anti-interference capability and detection precision.
The haptic sensation method provided by the invention comprises the following steps:
the sensing part senses external contact and deflects after receiving the external contact;
the reflecting component is driven to deflect by the elastic component connected with the sensing component, and the reflecting component is used for reflecting light rays emitted by the light emitting component to the plurality of photosensitive components;
determining a light intensity difference between the photosensitive members based on the light received by the plurality of photosensitive members;
the deflection of the sensing member is determined based on the light intensity difference, which can be used to characterize the direction and intensity of the external contact.
According to the haptic sensation method provided by the invention, a plurality of photosensitive members are arranged in groups, each photosensitive member group at least comprises two photosensitive members, the two photosensitive members in each photosensitive member group are symmetrically arranged based on the light emitting members, and the light intensity difference between the photosensitive members is determined based on the intensity of light received by the plurality of photosensitive members, and the method comprises the following steps:
for each photosensitive member group, a light intensity difference is determined based on the light received by the two photosensitive members in the photosensitive member group.
According to the haptic sensation method provided by the invention, the deflection condition of the perception component is determined based on the light intensity difference, and the method comprises the following steps:
converting the light intensity difference into a voltage difference signal;
determining a plurality of deflection angles of the sensing component in a plurality of directions based on the voltage difference signals, wherein the directions corresponding to the deflection angles are consistent with the directions corresponding to the photosensitive component groups;
the deflection of the sensing member is determined based on a number of deflection angles.
According to the haptic sensation method provided by the invention, a plurality of deflection angles of a perception component in a plurality of directions are determined based on voltage difference signals, and the method comprises the following steps:
and carrying out linear fitting based on the corresponding relation between the predetermined voltage difference signal and the deflection angles, and determining a plurality of deflection angles of the sensing component.
According to the haptic sensation method provided by the invention, the deflection condition of the excitation component is determined based on a plurality of deflection angles, and the method comprises the following steps:
and determining the deflection angle and the azimuth angle of the sensing component based on the pitch angle, the azimuth angle, the coordinate axis rotation representation and a plurality of deflection angles.
According to the haptic sensation method provided by the invention, the photosensitive member group comprises a first photosensitive member group and a second photosensitive member group, the first photosensitive member group and the second photosensitive member group are orthogonally arranged, a plurality of deflection angles of the sensing member in a plurality of directions are determined based on voltage difference signals, and the haptic sensation method comprises the following steps:
determining a first deflection angle based on the voltage difference of the first photosensitive member group;
the second deflection angle is determined based on the voltage difference of the second photosensitive member group.
According to the haptic sensation method provided by the invention, the deflection condition of the sensation component comprises a deflection angle and an azimuth angle of the sensation component, and the deflection condition of the sensation component is determined based on a plurality of deflection angles, and the method comprises the following steps:
the deflection angle of the sensing member satisfies the following formula (1):
the azimuth angle of the sensing part satisfies the following formula (2):
where alpha is the first deflection angle, beta is the second deflection angle,to sense the deflection angle of the component, θ senses the azimuth angle of the component.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing any of the haptic sensations methods described above when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a haptic sensation method as any one of the above.
The invention also provides a computer program product comprising a computer program which when executed by a processor implements any of the haptic sensations methods described above.
The invention also provides a tactile sensation device, comprising:
the sensing module is used for sensing external contact by the sensing component and deflecting after receiving the external contact;
the deflection module is used for driving the reflecting component to deflect through the elastic component connected with the sensing component, and the reflecting component is used for reflecting the light rays emitted by the light emitting component to a plurality of photosensitive components;
the first determining module is used for determining the light intensity difference between the photosensitive components based on the intensity of the light received by the photosensitive components;
and the second determining module is used for determining the deflection condition of the sensing component based on the light intensity difference, wherein the deflection condition of the sensing component can be used for representing the direction and the intensity of external contact.
The invention also provides a photoelectric antenna sensor, which comprises an antenna, an elastic film, a reflecting plate, an LED, a light receiving tube and a control board;
the tentacles are used for sensing external contact and deflecting after receiving the external contact;
the elastic film is used for driving the reflecting plate to deflect;
the reflecting plate is used for reflecting the light rays emitted by the light emitting component to the light sensing component;
the control board is used for determining the deflection condition of the sensing component based on the light intensity difference, and the deflection condition of the sensing component can be used for representing the direction and the intensity of external contact.
The invention also provides a robot comprising the photoelectric whisker sensor.
According to the touch sensing method provided by the invention, external contact can be sensed through the sensing component, then the sensing component can drive the elastic film and the reflecting component to deflect, and as the path of part of light rays is changed after the reflecting component deflects, light intensity difference can be generated between the photosensitive components for receiving the light rays, the deflection condition of the sensing component can be indicated based on the generated light intensity difference, and as the propagation speed of light is extremely high, the touch sensing method can have higher response rate in the process of performing touch sensing, can be used for detecting a high dynamic scene, has higher sampling frequency compared with the detection form of the existing sensor, and in addition, as the photosensitive components are provided with a plurality of light emitting components, the detection accuracy can be improved, and the interference of environment is reduced.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a photoelectric antenna sensor according to the present invention;
FIG. 2 is a schematic diagram of a photoelectric antenna sensor according to a second embodiment of the present invention;
FIG. 3 is a schematic circuit diagram of a control board according to the present invention;
FIG. 4 is a second schematic circuit diagram of the control board according to the present invention;
FIG. 5 is a flow chart of a haptic sensation method provided by the present invention;
FIG. 6 is a schematic diagram of the working principle of the photoelectric whisker sensor according to the present invention;
FIG. 7 is a schematic diagram of a second principle of operation of the photoelectric antenna sensor according to the present invention;
FIG. 8 is a third schematic diagram illustrating the working principle of the photoelectric antenna sensor according to the present invention;
FIG. 9 is a schematic diagram of a haptic sensation apparatus according to the present invention;
fig. 10 is a schematic structural diagram of an electronic device provided by the present invention.
Description of the drawings:
1-control panel; a 2-connector; 3-a binder;
4-tentacles; 5-an elastic film; 6-a support material;
7-a light shielding layer; 8-a light receiving tube; 9-LED light emitting diodes;
10-reflecting plate.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic structural diagram of a photoelectric whisker sensor according to the present invention.
FIG. 2 is a schematic diagram of a photoelectric antenna sensor according to the second embodiment of the present invention.
As shown in fig. 1 and 2, the present embodiment provides a photoelectric whisker 4 sensor, including:
the antenna 4 is arranged in the middle of the elastic film 5, and the antenna 4 is used for deflecting when being excited by the outside and driving the elastic film 5 to deflect;
a plurality of light receiving tubes 8 are arranged below the elastic film 5 for generating a light intensity difference after deflection of the elastic film 5, which can be used for indicating the deflection of the tentacles 4.
In the exemplary embodiment, the photoelectric whisker 4 sensor further includes an LED light emitting diode 9, and a plurality of light receiving tubes 8 are uniformly distributed around the LED light emitting diode 9.
In an exemplary embodiment, the bottom of the elastic film 5 is provided with a reflector 10, and the reflector 10 is used for emitting light to the light receiving tubes 8 after receiving the light of the LED 9.
In the exemplary embodiment, the reflector 10 is further configured to change the reflection path of the light when the elastic film 5 deflects, so as to generate a light intensity difference between the light receiving tubes 8.
In the exemplary embodiment, the photoelectric antenna 4 sensor further includes a voltage dividing resistor, and the light receiving tube 8 is further configured to convert the light intensity difference from a light intensity signal to a current signal;
the voltage dividing resistor is used for converting a current signal corresponding to the light intensity difference into a voltage signal.
In the exemplary embodiment, the photoelectric whisker 4 sensor further includes a control board 1 and a connector 2;
the connector 2 is used for guiding out a voltage signal corresponding to the light intensity difference to the control board 1;
the control board 1 is used for determining the deflection direction and the deflection angle of the tentacles 4 based on the voltage signals corresponding to the light intensity differences.
The material of the tentacle 4 may be nylon, and in practice, the material of the tentacle 4 may be flexibly selected according to practical situations, which is not limited in this embodiment.
The elastic film 5 may be made of a material having magnetic properties, for example, polydimethylsiloxane (PDMS) or polymethyl methacrylate (polymethyl methacrylate, PMMA).
In implementation, the photoelectric whisker 4 sensor may further include a supporting material 6 and a light shielding layer 7, where the supporting material 6 is in an outer square and inner round structure, and the inner space is in a circular truncated cone cavity structure and is used for accommodating the light receiving tube 8 and the LED light emitting diode 9, the light shielding layer 7 is used for isolating external illumination, reducing interference of external environment, improving detection accuracy of the photoelectric whisker 4 sensor, and meanwhile, as shown in fig. 2, the light shielding layer 7 is also arranged between the LED light emitting diode 9 and the light receiving tube 8, so that influence of light emitted by the side surface of the LED light emitting diode 9 on the light receiving tube 8 can be avoided, and detection accuracy is further improved.
The tentacle 4 is fixed in the middle part of the elastic film 5, and simultaneously, the elastic film 5 can also be attached to the supporting material 6 of the photoelectric tentacle 4 sensor, and the shading layer 7 is arranged at the bottommost part of the photoelectric tentacle 4 sensor. In practice, the tentacles 4 and the elastic film 5 may be fixed by the adhesive 3, the elastic film 5 and the support material 6 may be fixed by the adhesive 3, and the light shielding layer 7 and the support material 6 may be fixed by the adhesive 3.
In practical application, because the reflecting plate 10 is disposed at the bottom of the elastic film 5, the reflecting plate 10 can be stably connected with the tentacles 4 through the elastic film 5 at the upper layer, when the tentacles 4 are excited by the outside, the reflecting plate 10 is driven to deflect, and the outside excitation can be direct contact or indirect contact, for example, contact through a flow field such as air flow or the like is indirect contact, the deflection of the reflecting plate 10 indirectly influences the intensity of light sensed on the light receiving tube 8, so that light intensity difference is generated between different light receiving tubes 8, the light intensity difference can be used for indicating the deflection condition of the tentacles 4, and the deflection angle and direction information of the tentacles 4 can be obtained based on the light intensity difference, thereby being used for sensing a contact object or the flow field.
Fig. 3 is a schematic circuit diagram of the control board 1 provided by the present invention.
Fig. 4 is a second schematic circuit diagram of the control board 1 according to the present invention.
In practical application, the inside of the photoelectric whisker 4 sensor is provided with a control board 1, the light receiving tube 8 and the LED light emitting diode 9 are fixedly connected to the control board 1, the conversion from the collected light intensity signal to the voltage signal is realized through the voltage dividing resistor on the control board 1, and the converted voltage signal is LED out to the control board 1 through the connector 2 for further analog-digital conversion, and the deflection angle and the deflection direction of the whisker 4 are calculated.
Wherein fig. 3 is a circuit of the front side of the control board 1 and fig. 4 is a circuit of the back side of the control board 1.
In practice, the number of the light receiving tubes 8 may be 4, and the light receiving tubes are respectively disposed around the LED light emitting diodes 9.
The photoelectric whisker 4 sensor provided in the embodiment is a closed environment, the used light is also self-contained, and the frequency band of near infrared light is adopted, so that the influence of visible light on the detection signal of the sensor is effectively avoided, the influence of the external environment is avoided, a sensor with higher precision is easy to construct, and compared with an open light source of a traditional photoelectric touch sensor, the photoelectric whisker 4 sensor has the advantages of better resistance to the interference of the environment and smaller volume.
In addition, the sensor has higher response rate due to extremely high light propagation speed, can be used for detecting high dynamic scenes, and has higher sampling frequency compared with the existing sensor detection mode.
The sensor adopts the existing stable LED photodiode as the transducer from the detection parameter to the electrical detection quantity, belongs to a stable commercial mass production device, has the characteristics of low price, strong stability and easy acquisition, and ensures that the constructed sensor has lower cost and is easy to realize and popularize.
The novel deflection angle and azimuth angle resolving mode is provided, so that the sensor can realize the positioning of the whisker 4 position in any space through the detection of limited point light intensity, and compared with the traditional sensor, the sensor can be smaller in size and lighter in weight.
The signal output mode realized by setting the voltage dividing resistor has flexible output voltage range, can be regulated and controlled by changing the voltage dividing resistor or an input power supply, meets the requirements of different equipment on different load voltages and currents, and has higher signal to noise ratio, so that the state of the sensor can be accurately obtained without adopting expensive digital-to-analog conversion equipment at the rear end.
Fig. 5 is a schematic flow chart of a haptic sensation method according to the present invention.
As shown in fig. 5, the haptic sensation method provided by the present invention includes:
step 501, the sensing component senses external contact and deflects after receiving the external contact;
step 502, driving the reflecting component to deflect through the elastic component connected with the sensing component, wherein the reflecting component is used for reflecting light rays emitted by the light emitting component to a plurality of photosensitive components;
step 503, determining a light intensity difference between the photosensitive members based on the intensities of the light received by the photosensitive members;
at step 504, a deflection of the sensing element is determined based on the light intensity difference, which can be used to characterize the direction and intensity of the external contact.
The sensing component may be a whisker in the above embodiment, the elastic component may be an elastic film in the above embodiment, the light reflecting component may be a light reflecting plate in the above embodiment, the light emitting component may be an LED light emitting diode in the above embodiment, and the light sensing component may be a light receiving tube in the above embodiment.
In an exemplary embodiment, a plurality of photosensitive members are arranged in groups, each photosensitive member group including at least two photosensitive members, the two photosensitive members in each photosensitive member group being symmetrically arranged based on light emitting members, and a light intensity difference between the photosensitive members being determined based on light received by the plurality of photosensitive members, comprising:
for each photosensitive member group, a light intensity difference is determined based on the light received by the two photosensitive members in the photosensitive member group.
In an exemplary embodiment, determining a deflection condition of the sensing component based on the light intensity difference includes:
converting the light intensity difference into a voltage difference signal;
determining a plurality of deflection angles of the sensing component in a plurality of directions based on the voltage difference signals, wherein the directions corresponding to the deflection angles are consistent with the directions corresponding to the photosensitive component groups;
the deflection of the sensing member is determined based on a number of deflection angles.
In an exemplary embodiment, determining a number of deflection angles of the perception component in a number of orientations based on the voltage difference signal comprises:
and carrying out linear fitting based on the corresponding relation between the predetermined voltage difference signal and the deflection angles, and determining a plurality of deflection angles of the sensing component.
In implementation, the corresponding relation between the voltage difference signal and the deflection angle can be predetermined, for example, the degree of the deflection angle can be changed in the test stage, the corresponding voltage difference signal under each different deflection angle degree is recorded, and the corresponding relation between the voltage difference signal and the deflection angle is formed, so that the magnitude of the deflection angle corresponding to the voltage difference signal can be determined directly based on the corresponding relation in the actual application process.
In an exemplary embodiment, determining a deflection condition of an excitation component based on a number of deflection angles includes:
and determining the deflection angle and the azimuth angle of the sensing component based on the pitch angle, the azimuth angle, the coordinate axis rotation representation and a plurality of deflection angles.
In an exemplary embodiment, the photosensitive member group includes a first photosensitive member group and a second photosensitive member group, which are orthogonally disposed, and a plurality of deflection angles of the sensing member in a plurality of orientations are determined based on the voltage difference signals, including:
determining a first deflection angle based on the voltage difference of the first photosensitive member group;
the second deflection angle is determined based on the voltage difference of the second photosensitive member group.
In an exemplary embodiment, the deflection of the sensing element includes a deflection angle and an azimuth angle of the sensing element, and determining the deflection of the sensing element based on a number of deflection angles includes:
the deflection angle of the sensing member satisfies the following formula (1):
the azimuth angle of the sensing part satisfies the following formula (2):
where alpha is the first deflection angle, beta is the second deflection angle,in order to sense the deflection angle of the component, θ is the azimuth angle of the sensing component.
The haptic sensation method provided by the invention is further described below with reference to a photoelectric whisker sensor:
fig. 6 is a schematic diagram of a haptic sensation method according to the present invention.
Fig. 7 is a schematic diagram of a second haptic sensation method according to the present invention.
As shown in fig. 6, in an initial state that the whisker does not receive external excitation, the LED light emitting diode is powered on, the emitted light is received by 4 light receiving tubes after being reflected by the reflector, the light receiving tubes convert the received light intensity signal into a current signal, and then the current signal is converted into an analog voltage signal through the voltage dividing resistor to be output from the connector.
In practical applications, the signal in the initial state is mainly used for realizing calibration of the sensor.
After the calibration of the sensor is completed, as shown in fig. 7, when the antenna receives an external excitation signal, the antenna is directly or indirectly deflected, so as to drive the deflection of the elastic film and the reflecting plate, the path of the light ray can be changed under the reflection action of the reflecting plate, and the light intensities of the light rays received by different light receiving pipes can be different, so that a light intensity difference is generated.
As can be seen from fig. 2, the photoelectric whisker sensor may include two sets of light receiving tubes corresponding to each other, in the practical application process, the light intensity difference between the two sets of light receiving tubes may be calculated, PD1 and PD2 in fig. 7 are one set of light receiving tubes, it can be seen from fig. 7 that when the whisker drives the reflector to deflect, the light intensity received by the left light receiving tube increases, and meanwhile, the light intensity received by the right side decreases, where IPD1 and IPD2 represent the light intensities of the left light receiving tube and the right light receiving tube respectively, Δi represents the light intensity difference between the left light receiving tube and the right light receiving tube, and Δi changes from 0 in the initial state to IPD1-IPD2, and the absolute value of Δi continuously changes along with the degree of the whisker deflection angle, so that the deflection degree of the whisker in the direction of the set of light receiving tube may be indicated by observing the change of Δi. The other group of light receiving pipes is the same.
Fig. 8 is a schematic diagram of a third embodiment of the haptic sensation method according to the present invention.
In an exemplary embodiment, as shown in fig. 8, a coordinate system may be established with the connection between the tentacles and the elastic film as the center, the direction in which the tentacles do not deflect as the z-axis, and the directions of the two groups of light receiving tubes as the x-axis and the y-axis, respectively.
According to the above-described embodiment, it can be determined that the first deflection angle can be determined based on the light intensity difference when the tentacles are deflected in the plane of the light receiving tube corresponding to the x-axis, denoted as α, while the second deflection angle can be determined when the tentacles are deflected in the plane of the light receiving tube corresponding to the y-axis, denoted as β.
On the premise of determining alpha and beta, in the coordinate system, the deflection angle and the azimuth angle of the tentacles can be uniquely determined, wherein the deflection angle of the sensing component satisfies the following formula (1):
the azimuth angle of the sensing part satisfies the following formula (2):
fig. 9 is a schematic structural diagram of a haptic device according to the present invention.
As shown in fig. 9, the present invention further provides a haptic sensation apparatus, which is characterized by comprising:
the sensing module 901 is used for sensing external contact by the sensing component and deflecting after receiving the external contact;
the deflection module 902 is configured to drive, by using an elastic component connected to the sensing component, the light reflecting component to deflect, where the light reflecting component is configured to reflect light emitted by the light emitting component to the plurality of photosensitive components;
a first determining module 903, configured to determine a light intensity difference between the photosensitive members based on intensities of light received by the plurality of photosensitive members;
a second determining module 904 for determining a deflection of the sensing element based on the light intensity difference, which may be used to characterize the direction and intensity of the external contact.
The invention also provides a robot comprising the photoelectric whisker sensor in the embodiment.
In practice, the robot may be an underwater operation robot, the underwater operation robot may be provided with a photoelectric whisker sensor on the surface thereof, so as to realize deep water positioning, or may be a bionic robot, such as a fish-shaped robot, and the photoelectric whisker sensor on the surface of the fish-shaped robot may help to detect the water flow direction, the flow speed, etc.
In an exemplary embodiment, the photoelectric tentacle sensor can sense not only direct contact but also indirect contact such as a flow field, so that the photoelectric tentacle sensor can be applied to a respirator for monitoring respiration of a user.
In an exemplary embodiment, the photoelectric whisker sensor can also be used for detecting wind speed and assisting in site selection of the wind driven generator.
Fig. 10 illustrates a physical structure diagram of an electronic device, as shown in fig. 10, which may include: a processor 1010, a communication interface (Communications Interface) 1020, a memory 1030, and a communication bus 1040, wherein the processor 1010, the communication interface 1020, and the memory 1030 communicate with each other via the communication bus 1040. Processor 1010 may invoke logic instructions in memory 1030 to perform a haptic sensation method comprising:
the sensing part senses external contact and deflects after receiving the external contact;
the reflecting component is driven to deflect by the elastic component connected with the sensing component, and the reflecting component is used for reflecting light rays emitted by the light emitting component to the plurality of photosensitive components;
determining a light intensity difference between the photosensitive members based on intensities of light received by the plurality of photosensitive members;
the deflection of the sensing member is determined based on the light intensity difference, which can be used to characterize the direction and intensity of the external contact.
Further, the logic instructions in the memory 1030 described above may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method of the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of performing the haptic sensation method provided by the methods described above, the method comprising:
the sensing part senses external contact and deflects after receiving the external contact;
the reflecting component is driven to deflect by the elastic component connected with the sensing component, and the reflecting component is used for reflecting light rays emitted by the light emitting component to the plurality of photosensitive components;
determining a light intensity difference between the photosensitive members based on intensities of light received by the plurality of photosensitive members;
the deflection of the sensing member is determined based on the light intensity difference, which can be used to characterize the direction and intensity of the external contact.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the haptic sensation method provided by the methods above, the method comprising:
the sensing part senses external contact and deflects after receiving the external contact;
the reflecting component is driven to deflect by the elastic component connected with the sensing component, and the reflecting component is used for reflecting light rays emitted by the light emitting component to the plurality of photosensitive components;
determining a light intensity difference between the photosensitive members based on intensities of light received by the plurality of photosensitive members;
the deflection of the sensing member is determined based on the light intensity difference, which can be used to characterize the direction and intensity of the external contact.
The apparatus embodiments described above are merely illustrative, wherein elements illustrated as separate elements may or may not be physically separate, and elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product, which may be stored in a computer-readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the various embodiments or methods of some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of haptic perception, comprising:
the sensing part senses external contact and deflects after receiving the external contact;
the reflecting component is driven to deflect by the elastic component connected with the sensing component, and the reflecting component is used for reflecting light rays emitted by the light emitting component to the plurality of photosensitive components;
determining a light intensity difference between the photosensitive members based on intensities of the light received by the plurality of photosensitive members;
the deflection of the sensing means is determined based on the light intensity difference, which can be used to characterize the direction and intensity of the external contact.
2. A haptic sensation method as recited in claim 1 wherein a plurality of said photosensitive members are arranged in groups, each photosensitive member group including at least two of said photosensitive members, two of said photosensitive members in each said photosensitive member group being symmetrically arranged based on said light emitting member, said determining a light intensity difference between said photosensitive members based on said light received by a plurality of said photosensitive members comprising:
for each of the photosensitive member groups, a light intensity difference is determined based on light received by two of the photosensitive members in the photosensitive member group.
3. A haptic sensation method as recited in claim 2 wherein said determining a deflection condition of said sensation member based on said light intensity difference includes:
converting the light intensity difference into a voltage difference signal;
determining a plurality of deflection angles of the sensing component in a plurality of directions based on the voltage difference signal, wherein the directions corresponding to the deflection angles are consistent with the directions corresponding to the photosensitive component group;
and determining the deflection condition of the sensing component based on the deflection angles.
4. A method of haptic sensations as recited in claim 3 wherein said determining a number of deflection angles of said sensations component in a number of orientations based on said voltage difference signal comprises:
and carrying out linear fitting based on a corresponding relation between a predetermined voltage difference signal and deflection angles, and determining a plurality of deflection angles of the sensing component.
5. A method of haptic perception according to claim 3, wherein the determining the deflection of the excitation member based on the plurality of deflection angles comprises:
and determining the deflection angle and the azimuth angle of the sensing component based on the pitch angle, the azimuth angle, the coordinate axis rotation representation and the deflection angles.
6. A method according to claim 3, wherein the set of photosensitive members comprises a first set of photosensitive members and a second set of photosensitive members, the first set of photosensitive members and the second set of photosensitive members being arranged orthogonally, the determining a number of deflection angles of the sensing member in a number of orientations based on the voltage difference signal comprising:
determining a first deflection angle based on the voltage difference of the first photosensitive member group;
a second deflection angle is determined based on the voltage difference of the second photosensitive member group.
7. A method of haptic sensations as recited in claim 6 wherein said deflection conditions of said sensations means include a deflection angle and an azimuth angle of said sensations means, said determining said deflection conditions of said sensations means based on said plurality of deflection angles comprising:
the deflection angle of the sensing part satisfies the following formula (1):
the azimuth angle of the sensing component meets the following formula (2):
where alpha is the first deflection angle, beta is the second deflection angle,and theta is the azimuth angle of the sensing component, wherein the angle is the deflection angle of the sensing component.
8. A tactile sensation device, comprising:
the sensing module is used for sensing external contact by the sensing component and deflecting after receiving the external contact;
the deflection module is used for driving the reflecting component to deflect through the elastic component connected with the sensing component, and the reflecting component is used for reflecting the light rays emitted by the light emitting component to a plurality of photosensitive components;
a first determining module for determining a light intensity difference between the photosensitive members based on intensities of the light received by the plurality of photosensitive members;
and a second determining module for determining a deflection of the sensing component based on the light intensity difference, wherein the deflection of the sensing component can be used for representing the direction and the intensity of the external contact.
9. The photoelectric antenna sensor is characterized by comprising an antenna, an elastic film, a reflecting plate, an LED, a light receiving tube and a control panel;
the tentacles are used for sensing external contact and deflecting after receiving the external contact;
the elastic film is used for driving the reflecting plate to deflect;
the reflecting plate is used for reflecting the light rays emitted by the light emitting component to the photosensitive component;
the control board is used for determining deflection conditions of the sensing component based on the light intensity difference, and the deflection conditions of the sensing component can be used for representing the direction and the intensity of the external contact.
10. A robot comprising the photoelectric whisker sensor according to claim 9.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117147040A (en) * | 2023-11-01 | 2023-12-01 | 中北大学 | Flexible conformal bionic whisker sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117147040A (en) * | 2023-11-01 | 2023-12-01 | 中北大学 | Flexible conformal bionic whisker sensor |
| CN117147040B (en) * | 2023-11-01 | 2024-01-26 | 中北大学 | Flexible conformal bionic whisker sensor |
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