CN210571102U - Photoelectric multipoint array sensing type touch sensor - Google Patents
Photoelectric multipoint array sensing type touch sensor Download PDFInfo
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- CN210571102U CN210571102U CN201921407453.0U CN201921407453U CN210571102U CN 210571102 U CN210571102 U CN 210571102U CN 201921407453 U CN201921407453 U CN 201921407453U CN 210571102 U CN210571102 U CN 210571102U
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Abstract
The utility model belongs to the technical field of touch sensor, a photoelectric type multiple spot array perception type touch sensor is related to, include: the infrared transmitting tube, the phototriode, the support frame, the elastic deformation layer and the circuit board; wherein: the elastic deformation layer is arranged above the supporting frame, and the circuit board is arranged below the supporting frame; one or more sealed cavities are formed among the elastic deformation layer, the support frame and the circuit board; the sealed cavity is internally provided with a group of basic sensing units consisting of infrared emission tubes and phototriodes, and the basic sensing units are welded on the upper surface of the circuit board; the circuit board forms the bottom surface of the sealed cavity. A photoelectric sensing module is formed by a plurality of groups of infrared transmitting tubes and phototriodes, and a plurality of photoelectric sensing modules are arranged in an array mode to form a photoelectric sensing array. The utility model discloses basic sensing unit separates each other and seals in each sealed cavity, does not receive external illumination condition to disturb, has stronger environmental suitability, the stable performance.
Description
Technical Field
The utility model belongs to the technical field of touch sensor, a photoelectric type touch sensor with multiple spot array perception ability is related to.
Background
The perception level of the robot to the operation object and the operation environment determines the capability and the intelligent degree of the robot to complete the operation task. For example, robots perform complex grasping and placing tasks in unstructured environments, requiring accurate sensing and recognition of the features of objects. Typically, a visual sensor is employed to capture characteristic information of the object. However, in harsh environments, vision may fail due to dust, obstructions, shading, and lighting conditions, eventually causing the task to fail. In this case, the tactile perception capability will play an important role instead of the vision. In fact, today's robotic systems are increasingly equipped with smart paws or robotic hands with haptic perception capabilities to perform complex gripping and assembly tasks.
According to the working principle, the currently proposed tactile sensing schemes mainly include piezoresistive effect type, optical sensing type, capacitive effect type, magnetic conductance type, piezoelectric type, and the like. However, these sensors tend to be technically complex, difficult or costly to manufacture, and have low reliability, so that to date, little commercial success has been achieved with the associated efforts.
Photoelectric tactile sensors are based on the principle of total internal reflection and are generally composed of a light source and a photodetector. When the pressure applied on the interface changes, the reflection intensity and the light source frequency of the sensitive element of the sensor also change correspondingly, and the sensor has the advantages of higher spatial resolution, wider dynamic response range, smaller electromagnetic interference influence, good flexibility and portability, and great application potential, but the current photoelectric touch has lower linearity when multiple forces act together; the real-time performance of data is poor; calibration is difficult; the light source is easily interfered by the outside, and the performance stability is not enough.
SUMMERY OF THE UTILITY MODEL
The utility model provides a novel photoelectric type multiple spot array perception type touch sensor, adopt closed design, the light source does not receive external influence, has advantages such as stable, sensitive, interference immunity is good.
The utility model discloses a following technical scheme realizes:
an electro-optical multi-spot array sensing tactile sensor, comprising: the infrared transmitting tube, the phototriode, the support frame, the elastic deformation layer and the circuit board; wherein:
the elastic deformation layer is arranged above the supporting frame, and the circuit board is arranged below the supporting frame; one or more sealed cavities are formed among the elastic deformation layer, the support frame and the circuit board; the sealed cavity is internally provided with a group of basic sensing units consisting of infrared emission tubes and phototriodes, and the basic sensing units are welded on the upper surface of the circuit board; the circuit board forms the bottom surface of the sealed cavity.
Further, the basic sensing units of the multiple groups of basic sensing units are distributed in an array mode relative to the elastic deformation layer.
Preferably, a plurality of groups of infrared emission tubes and phototriodes form a photoelectric sensing module, and the plurality of photoelectric sensing modules are arranged in an array manner to form a photoelectric sensing array.
Furthermore, the photoelectric sensing array driving and data acquisition circuit comprises an MCU, a photoelectric sensing array, a photocurrent voltage conversion module and an AD conversion module which are sequentially connected, and the AD conversion module is also connected with the MCU.
Preferably, the circuit board is a resistor-equipped circuit board.
Preferably, the support frame is grid-shaped.
Preferably, the support is a black opaque support.
Preferably, the support frame and the elastically deformable layer are connected by an adhesive.
Preferably, the upper and lower surfaces of the elastic deformation layer are provided with grains, and the grains are net-shaped structures formed by two groups of stripes or are net-shaped points formed by intersection points formed by the net-shaped structures.
Preferably, the upper and lower surfaces of the elastic deformation layer are provided with raised grids.
Compared with the prior art, the utility model discloses following beneficial effect has:
(1) the infrared emission tube and the phototriode are closely arranged in parallel to form a pair; the basic sensing units formed by the infrared emission tube and the phototriodes are separated from each other and sealed in each sealed cavity, so that the infrared emission tube and the phototriodes are not interfered by external illumination conditions, and have strong environmental adaptability and stable performance.
(2) The basic sensing units of the multiple groups of basic sensing units form array distribution relative to the elastic deformation layer, have multipoint array sensing capability and can cover a wider detection range.
(3) The photoelectric sensing modules are arranged in an array mode to form a photoelectric sensing array, the photoelectric sensing array has multipoint multi-row multi-column array sensing capacity, and a large-area detection range can be covered.
(4) The utility model discloses a photoelectric type multiple spot array perception type tactile sensor can be applied to the design of manipulator, makes the manipulator system feel there is tactile feedback function, increases manipulator control system precision and stability. For example, it can be integrated into the working surface of the clamp for assembly, so that the clamp has the sensing capability of the shape, posture and clamping degree of the clamped object, thereby assisting in finishing fine assembly operation (such as shaft hole matching).
Drawings
Fig. 1 is a schematic structural diagram of an optoelectronic multi-point array sensing type tactile sensor according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a driving and data collecting circuit of the photo sensor array according to an embodiment of the present invention;
fig. 3 is a flow chart of driving and voltage collecting of the photo sensor array according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments, but the embodiments of the present invention are not limited thereto.
A photoelectric multipoint array perception type touch sensor is shown in figure 1 and comprises an infrared emission tube 1, a phototriode 2, a black opaque support frame 3, an elastic deformation layer 4 and a circuit board 5 provided with a resistor; wherein:
the support frame is in a grid shape; the elastic deformation layer is arranged above the supporting frame, and the circuit board is arranged below the supporting frame; a sealed cavity is formed among the elastic deformation layer, the support frame grid and the circuit board; the sealed cavity is internally provided with a group of basic sensing units consisting of infrared emission tubes and phototriodes, and the basic sensing units are welded on the upper surface of the circuit board; the circuit board forms the bottom surface of the sealed cavity;
the upper surface and the lower surface of the elastic deformation layer are provided with grains;
the support frame and the elastic deformation layer are connected through an adhesive.
In a preferred embodiment, the device comprises a plurality of sealed chambers, and each sealed chamber contains a group of basic sensing units consisting of infrared emission tubes and phototransistors, so that the device can cover a wider detection range.
In a preferred embodiment, a plurality of groups of infrared emission tubes and phototransistors form a photoelectric sensing module, and the plurality of photoelectric sensing modules form an array layout, so that the sensor can cover a large-area detection range.
In a preferred embodiment, the upper and lower surfaces of the elastic deformation layer are provided with raised grids 6, the texture is a net structure consisting of two groups of stripes, and each group of stripes is provided with a plurality of parallel stripes. Preferably, the two sets of stripes are perpendicular. The lines can also be mesh points formed by the intersection points of the mesh structures.
The utility model discloses the light source is the infrared emitting diode (the luminous body of infrared emission pipe) of the same model, and a plurality of light sources form array distribution for the elastic deformation layer, and after the emitting diode circular telegram, the light shines the line of elastic deformation layer inboard; due to the separation effect of the grids of the support frame, the light sources are mutually independent and do not influence each other.
The working principle of the photoelectric multipoint array perception type touch sensor is as follows: the infrared light-emitting diode is used as a light source, emitted light is received by the phototriode after being reflected by the elastic deformation layer and the four walls of the cavity, and the reflected light intensity carries pressure information, so that the phototriode generates photocurrent change, and the change reflects the pressure; the photocurrent of all sensing units is detected, and the distribution information of the externally applied pressure can be identified through pattern recognition. More specifically:
light emitted by the light source is reflected by the elastic deformation layer to reach the phototriode, the elastic deformation layer reflects light with grain information and is detected by the phototriode, and the deformation amount of the elastic deformation layer is calculated according to the information detected by the phototriode.
The data acquisition and decoding of the photocurrent are undertaken by a Micro Control Unit (MCU). The MCU drives the photoelectric multipoint array perception type touch sensor in a scanning mode, each time one group of basic sensing units are gated (namely power supply and starting signal acquisition), reads the voltage value of a conversion resistor connected with the corresponding phototriode in series, and the voltage value reflects the magnitude of corresponding photocurrent detected inside, namely the magnitude of pressure applied to the local area from the outside.
In the embodiment, a photoelectric sensing array driving and data acquisition circuit is shown in fig. 2, the photoelectric sensing array comprises photoelectric sensing modules 1-4, each photoelectric sensing module comprises 2 × 2 basic sensing units, and the total of 16 basic sensing units are formed by 4 photoelectric sensing modules; the photocurrent output by each photoelectric sensing module is converted into a voltage signal, and then the voltage signal is received and digitized by the AD conversion module.
The photoelectric sensing array driving and voltage collecting process is shown in fig. 3, a digital I/O port of an MCU is used, all sensing modules work in parallel, but a polling serial scanning mode is adopted in the modules, that is, only one basic sensing unit in each module is gated at each moment, so that all modules form 4 optical current signals, and multi-channel data collection and conversion are performed through the same AD conversion module; after 16 times of scanning, the data of all the basic sensing units in the module are collected, and a working cycle is ended. The above process is repeated continuously, so that the collected force and touch data can be kept up to date.
The utility model discloses photoelectric type multiple spot array perception type touch sensor's detection process includes: during the use, with black opaque support frame, the circuit board of elastic deformation layer and outfit resistance is connected, be close to the measured object with the elastic deformation layer, after the elastic deformation layer is contacting the measured object, the inboard line in elastic deformation layer can take place to warp, the perpendicular distance between the sensing element that elastic deformation layer and infrared emission pipe and phototriode are constituteed will also reduce, gather line deformation and perpendicular distance information between elastic deformation layer and the sensing element through phototriode, through the contrast of the image information of contact measured object front and back, calculate the deformation quantity of elastic deformation layer, can reverse estimate out the three-dimensional shape of measured object contact segment and the positional information on photoelectric type multiple spot array perception type touch sensor.
It should be noted that the deformation of the elastic deformation layer is directly related to the pressure generated when contacting the object to be measured, and the relationship needs to be calibrated. The sliding direction and the sliding sense of the measured object can be detected by continuously monitoring the position and the pressure of the measured object on the photoelectric multipoint array perception type touch sensor.
The method for calibrating the relation between the deformation amount and the pressure of the elastic deformation layer comprises the following steps: fixing the photoelectric multipoint array perception type touch sensor, applying different pressures to the surface of the photoelectric multipoint array perception type touch sensor, detecting the deformation amount of the elastic deformation layer, and storing the corresponding relation between the applied pressures and the deformation amount of the elastic deformation layer.
To sum up, the infrared emission tube and the phototriode are closely arranged in parallel to form a pair; the basic sensing units formed by the infrared emission tubes and the photosensitive electrode tubes are separated from each other and sealed in each sealed cavity, so that the infrared sensing device is not interfered by external illumination conditions, has strong environmental adaptability and stable performance, and can realize the functions of three-dimensional shape measurement, pressure sensing, sliding sense detection, sliding direction detection and the like of a contact part.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. An optoelectronic multi-point array sensing tactile sensor, comprising: the infrared transmitting tube, the phototriode, the support frame, the elastic deformation layer and the circuit board; wherein:
the elastic deformation layer is arranged above the supporting frame, and the circuit board is arranged below the supporting frame; one or more sealed cavities are formed among the elastic deformation layer, the support frame and the circuit board; the sealed cavity is internally provided with a group of basic sensing units consisting of infrared emission tubes and phototriodes, and the basic sensing units are welded on the upper surface of the circuit board; the circuit board forms the bottom surface of the sealed cavity.
2. The photoelectric multipoint array sensing touch sensor of claim 1, wherein the plurality of groups of basic sensing units are distributed in an array relative to the elastic deformation layer.
3. The photoelectric multipoint array sensing touch sensor according to claim 1, wherein a plurality of groups of infrared emission tubes and phototransistors form a photoelectric sensing module, and a plurality of photoelectric sensing modules are arranged in an array to form a photoelectric sensing array.
4. The photoelectric multipoint array sensing touch sensor as claimed in claim 3, wherein the photoelectric sensing array driving and data collecting circuit comprises an MCU, a photoelectric sensing array, a photocurrent voltage conversion module and an AD conversion module which are connected in sequence, and the AD conversion module is further connected with the MCU.
5. The photoelectric multi-spot array sensing tactile sensor according to claim 1, wherein the circuit board is a resistor-equipped circuit board.
6. The photoelectric multipoint array sensing tactile sensor of claim 1, wherein the support frame is grid-shaped.
7. The optoelectronic multi-spot array aware tactile sensor of claim 1, wherein the support is a black opaque support.
8. The photoelectric multipoint array sensing tactile sensor of claim 1, wherein the support frame and the elastic deformation layer are connected by an adhesive.
9. The photoelectric multipoint array sensing tactile sensor according to claim 1, wherein the upper and lower surfaces of the elastic deformation layer are provided with textures, and the textures are mesh structures formed by two groups of stripes or mesh points formed by intersection points of the mesh structures.
10. The photoelectric multipoint array sensing tactile sensor according to claim 1, wherein the upper and lower surfaces of the elastic deformation layer are provided with a raised grid.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921407453.0U CN210571102U (en) | 2019-08-28 | 2019-08-28 | Photoelectric multipoint array sensing type touch sensor |
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| CN201921407453.0U CN210571102U (en) | 2019-08-28 | 2019-08-28 | Photoelectric multipoint array sensing type touch sensor |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110907073A (en) * | 2019-11-29 | 2020-03-24 | 中国科学院自动化研究所 | Tactile sensor |
| CN111805562A (en) * | 2020-06-05 | 2020-10-23 | 清华大学 | Tactile sensor and robot |
| CN112485140A (en) * | 2020-11-06 | 2021-03-12 | 浙江大学 | Fruit hardness sensor integrated on flexible finger |
| CN112556894A (en) * | 2020-11-24 | 2021-03-26 | 四川省机械技术服务中心 | MEMS depth force vector and position sensor |
| CN113340518A (en) * | 2021-06-10 | 2021-09-03 | 广东省科学院半导体研究所 | Push type touch sensor |
| CN113414763A (en) * | 2021-06-21 | 2021-09-21 | 杭州电子科技大学 | Overlapped optical signal touch sensing system based on soft body arm and touch detection method thereof |
| CN114383765A (en) * | 2021-12-11 | 2022-04-22 | 上海精密计量测试研究所 | Infrared touch sensor |
| CN114636503A (en) * | 2022-01-21 | 2022-06-17 | 中国科学院深圳先进技术研究院 | Three-dimensional touch sensor based on photosensitive element |
| WO2022188218A1 (en) * | 2021-03-09 | 2022-09-15 | 中国科学院自动化研究所 | Multi-dimensional force sensor |
-
2019
- 2019-08-28 CN CN201921407453.0U patent/CN210571102U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110907073A (en) * | 2019-11-29 | 2020-03-24 | 中国科学院自动化研究所 | Tactile sensor |
| CN111805562A (en) * | 2020-06-05 | 2020-10-23 | 清华大学 | Tactile sensor and robot |
| CN111805562B (en) * | 2020-06-05 | 2023-03-10 | 清华大学 | Tactile sensor and robot |
| CN112485140B (en) * | 2020-11-06 | 2022-02-18 | 浙江大学 | Fruit hardness sensor integrated on flexible finger |
| CN112485140A (en) * | 2020-11-06 | 2021-03-12 | 浙江大学 | Fruit hardness sensor integrated on flexible finger |
| CN112556894A (en) * | 2020-11-24 | 2021-03-26 | 四川省机械技术服务中心 | MEMS depth force vector and position sensor |
| WO2022188218A1 (en) * | 2021-03-09 | 2022-09-15 | 中国科学院自动化研究所 | Multi-dimensional force sensor |
| CN113340518A (en) * | 2021-06-10 | 2021-09-03 | 广东省科学院半导体研究所 | Push type touch sensor |
| CN113414763A (en) * | 2021-06-21 | 2021-09-21 | 杭州电子科技大学 | Overlapped optical signal touch sensing system based on soft body arm and touch detection method thereof |
| CN113414763B (en) * | 2021-06-21 | 2022-04-19 | 杭州电子科技大学 | Overlapped optical signal touch sensing system based on soft body arm and touch detection method thereof |
| CN114383765A (en) * | 2021-12-11 | 2022-04-22 | 上海精密计量测试研究所 | Infrared touch sensor |
| CN114383765B (en) * | 2021-12-11 | 2023-08-25 | 上海精密计量测试研究所 | Infrared touch sensor |
| CN114636503A (en) * | 2022-01-21 | 2022-06-17 | 中国科学院深圳先进技术研究院 | Three-dimensional touch sensor based on photosensitive element |
| WO2023138281A1 (en) * | 2022-01-21 | 2023-07-27 | 中国科学院深圳先进技术研究院 | Three-dimensional tactile sensor based on photosensitive element |
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