CN1908579A - Sensing method and device for measuring deformation of contact surface - Google Patents
Sensing method and device for measuring deformation of contact surface Download PDFInfo
- Publication number
- CN1908579A CN1908579A CN 200510088048 CN200510088048A CN1908579A CN 1908579 A CN1908579 A CN 1908579A CN 200510088048 CN200510088048 CN 200510088048 CN 200510088048 A CN200510088048 A CN 200510088048A CN 1908579 A CN1908579 A CN 1908579A
- Authority
- CN
- China
- Prior art keywords
- piece
- color
- look
- limit
- little
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
Unlike to conventional technology based on pressure, the invention for tactile sensing applies optical method to sense the shape variation of target surface.
Description
Technical field:
The present invention relates to the mechanical quantity sensory field, especially the tactile sensing of surface of contact shape and variation thereof.
Background technology:
For tactile sensing, generally all be sensed pressure, the present invention is the change of shape of sensing surface of contact, as the shape and the variation thereof of skin contact object perceptual object.
Summary of the invention:
The basic skills of the change of shape of sensing surface of contact of the present invention is: the geometric scheme of drawing some very little rules at the reverse side of sensing contact face, when surface of contact fluctuates, these little patterns can follow surface of contact moving, from the top, little pattern tilt variation can reflect (horizontal projection on limit) from the variation of figure, the VTOL (vertical take off and landing) variation on little pattern plane then can not be observed directly, if but can determine the tilt variation of each little pattern, then the little pattern with whole sensitive face all couples together, and just can draw the variation of whole sensitive face.From the known position at edge,, can know each little pattern allocation state really by inference according to the relation that links to each other.These little patterns can be that square, rectangle, hexagon etc. are like Fig. 1, when tilting, the projection meeting of its limit on surface level shortens, variation according to its length of side can calculate the angle (its direction is the method difference in addition) that little pattern tilts, begin from the edge to determine that each little pattern at angle of inclination all couples together one by one, just can restore the shape of whole sensitive face.Top view can utilize camera head.
This wherein, during top view, the little pattern position that obtains same horizontal projection is not unique, it is synthetic to be considered as 2 vergence directions as its inclination for rectangle as shown in Figure 2, promptly long limit b, d inclination and minor face a, c inclination one on the other one on the other, different obliquities all can occur under the following both of these case as can be seen but has same horizontal projection.
1, the mid point line with minor face is an axle, begins the rotation equal angular of suitable contrary both direction (spending last 30 at last 30 degree or d limit as the b limit) respectively from surface level, and two minor faces are identical (and all having shortened) in the projection of surface level.
2, be axle with the mid point line of growing the limit, begin the rotation equal angular (two minor faces are respectively last) of suitable contrary both direction respectively from surface level, two long limits are identical (and all having shortened) in the projection of surface level.
The different vergence directions that this horizontal projection is identical following three big methods are arranged respectively:
One, do not add the method for other signal.
The historical trace method from beginning known virgin state, is followed the tracks of its change procedure, and prerequisite is the sample rate with us, and change of shape is gradual change.But near the plane time, for example little pattern is a rectangle, and when horizontal projection that arrives one opposite side (or two opposite side) and actual length of side basically identical, the variation of ensuing this opposite side (or two opposite side) will be difficult to judge its direction.There is following method can assist differentiation.
A) maximal increment lambda limiting process.Situation of change according to signal limits each maximum angle amplification of sampling, and when being difficult to differentiate the direction of inclination, will get rid of above the direction of maximum angle amplification like this.
B) critical section method.Set the limit projection near being the critical section near the pitch angle of physical length,, can save calculated amount like this falling into this district or from then on distinguishing the following examination of carrying out of setting out:
I. peripheral increment relative method.Promptly make comparisons with the angle of inclination increment direction of periphery.If periphery all is a direction, and the change direction of following sampling periphery several times is still same direction, then from this direction.
Ii. self delay the setback method of relatively going.For meeting cause angle near the critical section slightly the angle of inclination direction of vibration follow the example of, not from.This is based on gets rid of the understanding of signal variation characteristic.
Iii. delay definite method.Delay to angle serious offense certain value, other report information directions, or determine direction in abutting connection with environment, push back definite again.
Two, the method for additional other signal
Above the measuring method cut apart of described little pattern, when specifically implementing, can give little pattern painted, the painted difference of adjacent little pattern, alternate as film true qualities and black; Can only be drawn in the boundary line between the little pattern, little pattern itself is not painted yet.We claim that the former is the piece method, and the latter is a gridding method.Can adopt following a) method for gridding method; The piece rule can adopt following b) method.Its sweeping presumption all is, with piece (being little pattern) or limit (mesh lines) bed hedgehopping, the bed hedgehopping of piece is alternate, be not bed hedgehopping of 1 of 1 bed hedgehopping of adjacent block, and the side direction color of its bed hedgehopping layer with by the marker color of bed hedgehopping (being the color of grid line or the color of piece) and around the color (as the film true qualities) exposed different.When face tilt, the side direction color of bed hedgehopping layer is exposed and is ingested, and exposes from the side direction color of bed hedgehopping layer different directions, can judge the vergence direction of this piece, even what of the amount of exposing are calculated the angle of inclination in view of the above.Be that example illustrates all below with the little pattern of rectangle.
A) the directed method of Bian Luse.As shown in Figure 4.Different decorative patterns on the picture on each face are represented different colors.As sparrow pecked is blue, and the oblique line decorative pattern is green, and blank is red.If certain side on limit is revealed green, then with this side of the adjacent piece in this side on (as a limit down, for the c limit that belongs to this piece together) down.After 2 avris are showed look and all determined, just can determine the sense of rotation of piece, promptly as the c limit at last how many degree, the b limit last what spend etc.If the complete level of this piece then green is not revealed on 4 limits.
B) piece reveals look directed method, as shown in Figure 5.Different decorative patterns on the picture on each face are represented different colors.As " " the shape decorative pattern is blue, "/" shape decorative pattern be green, blank is a redness.Certain side of if block is revealed green, and this side of then representing piece is on last (as a limit last, for the c limit that belongs to this piece together).After the both sides of piece are showed look and all determined, just can determine the sense of rotation of piece, promptly as a limit at last how many degree, the b limit last what spend etc.If the complete level of this piece then green is not revealed on 4 limits.
Three, briliancy is distinguished method
With big from the near briliancy of camera distance on the piece of same inclination, briliancy far away is little, relatively judges beyond this piece last.Can use the luminance variations on the piece, or the luminance variations on the limit is differentiated.
This judgement differs too little up and down and is difficult to distinguish its difference because piece is smaller during inclination, the piece of sensitive face all can be immersed in the very big transparent body of the absorption coefficient of light, to increase its variable quantity, will handle refraction problems well certainly.Dynamic range and color depth, signal to noise ratio (S/N ratio) to camera all have the higher requirement of ratio.
A) the directed method of limit luminance variations rule
B) the directed method of piece luminance variations rule
More than " two, " " three, " also can carry out in conjunction with " one, ", as can following the tracks of the vergence direction of delaying decision block, the inclination of some piece direction undetermined can show on briliancy or color after changing to certain angle, returns over definite its direction again.What have can judge direction simply according to " one, ", judges color or briliancy and need not take a sample.
Above-describedly come respectively with color, also can come respectively with gray scale, gray scale as 3 looks is replaced by 1,1/3,1/9 grey scale change or 1,1/9,1/81 etc., and each mark all has very wide interval not intersect with other marks, and the span of discrimination of each mark is also than broad.Can remove the color filter of picture pick-up device during only with gray scale.
Except that above basic skills, also has method and apparatus that some replenish, that optimize.
1, computation processing method
According to the method for routine remove to discern grid, calculate length of side inclination angle, the picture mosaic operand is bigger.Here list simpler and more direct computation processing method.
A) the record form of data.The intersecting point coordinate of record block, the i.e. coordinate at the intersection point center of grid.
B) coordinate reference.The position that intersection point is centered close to pixel coordinates is its horizontal coordinate, and promptly horizontal coordinate is reference with image device as plane, quick district.The Z coordinate is reference with one height that pushes away reference point of sensitive face, and as 0 point.X, y unit can get the picture element distance half.
C) intermediate data.Be used to help the data of quick computing, as the intersection point centre coordinate, the intersection point circular diameter.Can be directly gathered in this position in computing next time earlier, be not inconsistent to gather after doing slightly to move, until happening again.
D) set up camera target surface pixel apart from the corresponding relation of the physical size of sensitive face.
I. promptly see through the actual corresponding relation behind the camera lens, sensitive face is taken in the camera target surface and has been accounted for how many pixels, can calculate in view of the above pixel apart from the corresponding relation of the physical size of sensitive face.
Ii. for the utilization color mark, can also utilize the color filter color distribution individual processing of picture pick-up device.As adopt the Bayer color filter, and can give calculated amount usefulness by the G that pixel is many, improve angle precision; Or give to detect and reveal look usefulness, improve and reveal the look detection sensitivity; R, B then distribute to other signals, and the pixel monochromatic data might not be lower than the integrated data synthesis precision after the computing, though look that the pixel of this color of sensing is few.
E), on the basis of last secondary data, seek the variation of this secondary data, as the location of intersection point based on gradual change.And unconverted data can be rerun.
F) ask the coordinate of each intersection point.
Calculate that first operand is bigger, deposit in the time of also can dispatching from the factory.First, from pushing away a little, going out based on last secondary data recursion can be than comparatively fast.
Look for the intersection point center near last time, to look for, spread towards periphery from original planimetric coordinates point and look for, the blank at diagonal angle occurs up to circumference, and be the line look on every side; With color lump then is that 2 color lumps are alternate; With point then is the round dot center; Below also need to add the look influence that Inbound is judged.
The computing of height finally is decomposed into: 2 points point-blank (promptly preceding intersection point center), an other limit of the right-angle triangle that the discrepancy in elevation between them is straight line to be constituted in the projection and the length of straight line own of surface level.
G) processing of error
I. becoming curve by the crooked limit that causes in the piece can be similar to according to straight line and calculate
Ii. wrap-around error by reducing piece, can reduce error
Iii. the pixel error of calculation of the length of side.Pixel can reduce angular error in the piece by increasing.
Iv. the height error that is caused by angular error finally may misfit with right edge line, is distributed on the intersection point on the line finally adding up height error, as shares equally and revise its absolute altitude.
V. the banking motion of piece has surpassed 90 degree, and promptly lug boss forms crotch, and the processing more complicated of this situation needs the auxiliary of side direction photographic information.The a lot of measurement do not have this situation, then need not handle.
Vi. the not influence of computing method to us is rotated on the piece plane on self plane.Not influence when at surface level; When not at surface level, will influence the projected length of limit at surface level, but our calculating is based on such principle: 2 points point-blank, an other limit of the right-angle triangle that the discrepancy in elevation between them is straight line to be constituted in the projection and the length of straight line own of surface level.
Vii. lacking piece handles: near the piece that inserts one 90 degree in the middle of the many places of 90 degree pieces, can also push away filling of losing in the edge.
2, the edge plays pushing manipulation.
Do not set if a bit on angle or the edge, then whole porpoising can not detect.Perhaps side photography to be to calculate the position of this starting point, and promptly the side is put a grid or markings only in addition, and special the absorption calculated initial angle point depth.
Also can set an angle, the measurement under the certain pressure is that basic side is surveyed when stablizing, as long as the variation face of grid can coverage test the time, pressure can be measured with other method.
3, how sensitive face possesses the dermatoid elasticity of class.
A) sensitive face itself is flexible.
B) sensitive face is nonelastic, but the part that is connected with it is flexible.
C) the inside of sensitive face forms similar pressure bladder, as pressurized air is arranged in the capsule, also can be delivered to other elastomeric elements by liquid etc.
The calculating of this elastic pressure can be by the deformation on surface; Also can be delivered to other elastomeric elements finally comes out with general pressure sensing mode sensing; Can also do sensitive face with piezoelectric film material, direct lead-in wire is done the electric charge amplification and is obtained.
4, elastic stretching deformation computing method.
The stretcher strain meeting of sensitive face influence itself is to the calculating of degree of tilt, and a kind of way is not allow sensitive face stretcher strain or be limited in the scope of a precision permission; Another way is to calculate its level of stretch, and comprehensively goes in the tilt angle calculation of piece and the length of side to piece, and its method is as follows:
Piece surface color spray does not soak into, and when the piece face stretches, exposes piece copy for the record or for reproduction look, exposes the ratio of the picture element and the surface color picture element of true qualities, promptly represents level of stretch.It should be deducted (all being horizontal projection) when calculating the inclination angle, but the height that should add this section stretching generation when being height is converted at the inclination angle, should be the relation of tangent tg.
The length of height=(height/piece limit horizontal length of tabling look-up) * draw level that stretching increases
5, sensitive face can die sinking be a curved surface, and the mark net is a curved surface, directly portals; Outer membrane can go out with planar film hot pressing, or also can die sinking directly go out; Last bonding getting final product.
6, preferably there is sign at the edge of sensitive face.
7, the placement of stretching sampling piece: can close with other agllutination, but when seeking the border, can need his-and-hers watches look and background color to judge respectively, increase operand.So also can be arranged on the place beyond the border, as the innermost layer of circle marker, or the blank block of grid, or special certain piece in the color lump.
Shooting can be adopted the object space telecentric beam path, for the disc of confusion that occurs, also needs in the calculating to consider.
The transmission of the light of image can also be adopted optical fiber, and the direction of photography also can be a plurality of comprehensive.
Can illumination system arranged around camera, as being light source with the light emitting diode, the front adds dodging device, makes source light directly not go into camera, and the reflective photometric requirement that reaches camera of tested surface is got final product.Illuminator also can adopt similar critical illumination or jade-like stone to draw illumination, can be according to drawing conspicuous invariant to go to calculate.Except that specify with briliancy measure, less demanding to even illumination.
Description of drawings
The little pattern signal at the back side of Fig. 1 sensing surface of contact can be regular hexagon or rectangle or other.
4 limit a, the c of the little pattern of Fig. 2 rectangle are minor face, and b, d are long limit.
The little pattern of Fig. 3 is the alternate signal of rectangular color lumps, " " the shape decorative pattern is color.
Fig. 4 gridding method, ". " shape decorative pattern are that topmost as blueness, "/" shape decorative pattern is the middle layer, and as green, blank is the back side of sensing surface of contact, as redness.
Fig. 5 color lump method, " " the shape decorative pattern is topmost, as blueness, "/" shape decorative pattern is the middle layer, as green, blank is the back side of sensing surface of contact, as redness.
Fig. 6 intersection point circule method, " " the shape decorative pattern is the middle layer, as blueness, "/" shape decorative pattern is that topmost as green, blank is the back side of sensing surface of contact, as redness.
Embodiment
Example 1: gridding method or title network technique are for example
As shown in Figure 4
Find out the centre coordinate of the intersection point on limit, ask the length of side, ask difference in height by the length of side according to adjacency intersection point centre distance.Discrepancy in elevation direction (sign) is revealed look by this side of middle layer of adjacent edge and whether is determined, reveals look then for negative.
Make: can stamp out the grid that needs with painted good middle layer and upper strata are bonding, again grid is adhered to the back side of sensing surface of contact.
Also can use mold injection, 2 injection mouldings are curved surface for surface of contact, and this method is good.
Example 2: color lump method or title piece method
As Fig. 5 or shown in Figure 3
Fig. 3 without color marker declare to.Fig. 5 be adopt color marker declare to.
Find out the coordinate of the intersection point on limit, ask the length of side, ask difference in height by the length of side according to adjacency intersection point centre distance.Discrepancy in elevation direction (sign) is revealed look by the middle layer of adjacent edge and whether is determined, reveals look then for just.
Example 3: circular method of intersection
As Fig. 6, as " " the shape decorative pattern is blue, "/" shape decorative pattern be green, blank is a redness.
Without mesh lines and color lump, can be intersection point with round dot, in the two-layer color of nexine, that goes up most is thin, the color of the film that the color of round dot promptly appears, the color reflection vergence direction in middle layer, after promptly finding the round dot center, to its outer 4 direction (x, on the y) look for the middle layer look, and according to the x at round dot center, the y incremental coordinates is (apart from the distance in abutting connection with intersection point, the radius direct ratio of projection with the circle all directions) or the dew look of last time apart from record, can judge that round dot centre distance exposes the distance of look, directly hit 4 directions, the direction that finds promptly is the below, do not directly hit then flexible some pixels and look for, the red change with green change direction is defined as not revealing.Look for the center of circle also can use direct hit method according to gradual change, promptly remember length and the central coordinate of circle of circle on 2 directions of x, y of last time, measure to x two with central coordinate of circle, then telescopic variation, up to finding the border, the increment of one side is for just, and the increment of another side is added on the central coordinate of circle x for bearing, same operation y direction, so, the speed of looking for the center of circle is big or small irrelevant with circle almost, and circle can be done bigger like this; When the excessive film look of gradient loses, can look for according to the middle layer look, the middle layer look also loses, then in the end according to scarce quantity patch.The middle layer begins to reveal look from below, the thickness in middle layer is enough discerned and got final product, and is putting before this, and the thickness that the lining is 2 layers is got over Bao Yuehao, so as to not make that gradient covers circle when big.
Method for making is similar to example 1.
The change of shape of sensing surface of contact of the present invention, this variation can be to carry out under the condition of certain pressure.
Though more than be to calculate how much of surface in contact to change, also can change combine and calculate the surface of contact stressing conditions according to this with elastic force behind the inner pressurized of sensitive face.
It is the pulse sensing that typical case of the present invention uses, and similar to the sense of touch that the people refers to, vision can be corresponding with sense of touch.Describing with forefathers' finger sense can be corresponding.A more comprehensive recording means of ratio and automatic identification is judged as pulse condition more comprehensive data basis also are provided.
The present invention comprises all these and is in claim scope interior selection, modification, variation.
Claims (1)
1. a method for sensing and device of measuring contact surface deformable, it is characterized in that, the little pattern of a lot of rules is set at the back side of surface of contact, take the variation of little pattern with picture pick-up device, from its inclination situation of its change calculations, a little connect each little pattern thereby can push away, finish whole shape figure since one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510088048 CN1908579A (en) | 2005-08-01 | 2005-08-01 | Sensing method and device for measuring deformation of contact surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510088048 CN1908579A (en) | 2005-08-01 | 2005-08-01 | Sensing method and device for measuring deformation of contact surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1908579A true CN1908579A (en) | 2007-02-07 |
Family
ID=37699754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200510088048 Pending CN1908579A (en) | 2005-08-01 | 2005-08-01 | Sensing method and device for measuring deformation of contact surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1908579A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101539824B (en) * | 2008-03-20 | 2012-04-11 | 原相科技股份有限公司 | Optical control device |
| CN106104200A (en) * | 2014-03-20 | 2016-11-09 | 3M创新有限公司 | Sheet material and malformation assessment goods |
-
2005
- 2005-08-01 CN CN 200510088048 patent/CN1908579A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101539824B (en) * | 2008-03-20 | 2012-04-11 | 原相科技股份有限公司 | Optical control device |
| CN106104200A (en) * | 2014-03-20 | 2016-11-09 | 3M创新有限公司 | Sheet material and malformation assessment goods |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1264003C (en) | Optical tactile sensor | |
| CN1201261C (en) | Fingerprint inputting apparatus and identification method of the living utilizing fingerprint | |
| CN1825260A (en) | Programmable lift response for an optical navigation device | |
| CN109255323A (en) | A kind of fingerprint recognition structure, display base plate and display device | |
| CN1042296A (en) | Use moire fringe analysis and measure the pin shape measuring equipment and the method for pin shape | |
| US8625107B2 (en) | Target for motion tracking system | |
| CN1841272A (en) | Calibration method and apparatus | |
| CN1892702A (en) | Tracking apparatus | |
| WO2020165171A1 (en) | Optical tactile sensor | |
| US8548221B2 (en) | Microbead automatic recognition method and microbead | |
| CN101050998A (en) | Vertical calibrating method for CCD imaging optic axle and grading screen based on symmetric measurement | |
| CN107505120A (en) | Camera module photocentre location measurement method and measurement apparatus | |
| CN110163150A (en) | Fingerprint identification method, display device and computer readable storage medium | |
| CN1908579A (en) | Sensing method and device for measuring deformation of contact surface | |
| CN101685197B (en) | Method for evaluating tangential distortion indexes of lens of camera | |
| Scharff et al. | Rapid manufacturing of color-based hemispherical soft tactile fingertips | |
| CN1459705A (en) | Contact surface plate device having optical position detection | |
| CN100340840C (en) | Method and device for optical form measurement and/or estimation | |
| JP2008304224A (en) | Target and method of manufacturing the same | |
| CN115471482B (en) | Method for detecting defects of inner wall of small-caliber container based on computer vision | |
| CN1604335A (en) | CCD image sensor and high accuracy linear dimension measuring device and measuring method thereof | |
| CN1482491A (en) | Three-dimensional photographic technology | |
| US20240013437A1 (en) | Method for providing calibration data for calibrating a camera, method for calibrating a camera, method for producing at least one predefined point-symmetric region, and device | |
| JP2008228773A (en) | Game device, program and information storage medium | |
| CN102132239A (en) | Interactive displays |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |