KR102233746B1 - Apparatus for measuring for 3d external force using soft tactile sensor and method for 3d position, direction and magnitude of external force using the same - Google Patents

Abstract

An embodiment of the present invention provides a technology to use a simple structure of elastic body, to form a tactile sensor, to use changes in the light reflected in the elastic body, and to measure the direction, size, or the like of the contact force working on the elastic body. According to an embodiment of the present invention, the apparatus for measuring a three-dimensional external force using a soft tactile sensor comprises: an elastic unit whose lower surface is formed in a shape of a flat surface, and whose shape is transformed by an external force because of elasticity; a substrate unit formed on a lower side of a lower surface of the elastic unit by being apart from a lower surface of the elastic unit; a light emission unit formed on an upper surface of the substrate unit to irradiate light toward a lower surface of the elastic unit; and a plurality of sensors for the intensity of radiation, which are formed on an upper surface of the substrate unit to be placed around the light emission unit, and to detect the light irradiated from the light emission unit and reflected in a lower surface of the elastic unit.

Description

A 3D external force measuring device using a soft tactile sensor and a method for measuring the 3D position, direction and size of the external force using the same {APPARATUS FOR MEASURING FOR 3D EXTERNAL FORCE USING SOFT TACTILE SENSOR AND METHOD FOR 3D POSITION, DIRECTION AND MAGNITUDE OF EXTERNAL FORCE USING THE SAME}

The present invention relates to a three-dimensional external force measuring apparatus using a soft tactile sensor and a method for measuring the three-dimensional position, direction, and size of an external force using the same, and more particularly, to form a tactile sensor using an elastic body having a simple structure, and The present invention relates to a technique for measuring the direction and magnitude of a contact force applied to an elastic body by using a change in light reflected by the same elastic body.

Recently, for recognition of a user's motion, a device that recognizes a motion by contact with a user, such as a touch pad, or a device that analyzes and recognizes a user's motion recognized by a camera, such as a motion recognition system, in 3D In this way, the technology related to direct recognition of the user's motion is increasing.

However, in the input device that has been recently developed and studied as described above, the position coordinates recognized as two dimensions have been changed into electrical signals for information related to pressurization using the conventional capacitance method, piezo resistance method, etc. There is a limitation, and coordinates recognized as 3D are recognized using image processing or a change in magnetic field, but there is a problem in that the recognition rate is low.

In the Republic of Korea Patent Registration No. 10-1839444 (name of the invention: a force measuring device and a robot arm including the force measuring device), a pipe-shaped body having an axial direction, and a body in the form of a pipe are attached to the surface of the body to tension the body. And an optical fiber type strain gauge that measures compression along at least three directions. Here, the optical fiber type strain gauge is attached to the surface of the body and extends along the axial direction of the body, at least three optical fiber grating elements, a light source providing light to each optical fiber grating element, and each optical fiber grating element A force measurement device including a photodetector for detecting light reflected from or transmitted through each optical fiber grating element is disclosed.

Korean Patent Registration No. 10-1839444

An object of the present invention for solving the above problems is to form a tactile sensor using an elastic body of a simple structure formed of a soft material, and the position of the force action point according to the contact between the device and the user by using such a tactile sensor. , To measure the direction of the force and the magnitude of the external force.

The technical problem to be achieved by the present invention is not limited to the technical problems mentioned above, and other technical problems that are not mentioned can be clearly understood by those of ordinary skill in the technical field to which the present invention belongs from the following description. There will be.

The configuration of the present invention for achieving the above object, the lower surface is formed in the shape of a plane, and has elasticity to the shape deformed by an external force; A substrate portion spaced apart from the lower surface of the elastic portion and formed under the lower surface of the elastic portion; A light emitting unit formed on an upper surface of the substrate and irradiating light toward a lower surface of the elastic unit; And a plurality of light-amount sensors formed on the upper surface of the substrate part, disposed around the light-emitting part, and detecting light reflected from the lower surface of the elastic part by being irradiated from the light-emitting part. The amount of light measured by each of the plurality of light-amount sensors varies, and the position and direction of the three-dimensional action of the external force are measured using a curve graph, which is a graph formed using data of the amount of light detected by each of the plurality of light-amount sensors. do.

In an exemplary embodiment of the present invention, the shape of the curve graph may change according to a change in the position or direction of the three-dimensional action of the external force on the elastic part.

In an embodiment of the present invention, it may further include a control unit that analyzes the shape of the curve graph and determines a three-dimensional action position and direction of the external force.

In an embodiment of the present invention, the control unit may determine the magnitude of an external force applied to the elastic unit by analyzing the shape of the curve graph.

In an embodiment of the present invention, the controller may perform deep learning to learn the curve graph, and recognize the 3D action position and direction of the external force, and the magnitude of the external force through deep learning.

In an embodiment of the present invention, the elastic part may be formed in the shape of a cylinder.

In an embodiment of the present invention, the light emitting part may be located in the center of the substrate part, and the light amount sensor may be disposed based on the light emitting part.

The configuration of the present invention for achieving the above object includes: a first step in which the elastic portion is deformed by an external force with respect to an external force acting point of the elastic portion; A second step in which the light irradiated from the light emitting part is reflected on the lower surface of the elastic part while the elastic part is deformed, and the amount of reflected light is measured by the light amount sensor; A third step of forming the curve graph, which is a graph formed using data of the amount of light detected by each of the plurality of light sensor; And a fourth step in which the control unit matches the curve graph with the reference graph stored in the control unit, analyzes the curve graph, and determines the three-dimensional action position and direction of the external force and the magnitude of the external force.

The effect of the present invention according to the above configuration is to form a tactile sensor by forming an elastic body in contact with the user into a simple structure and forming a soft material such as a sponge, so that a soft tactile sensor that increases durability with a simple structure can be formed. I can do it.

In addition, the effect of the present invention is to measure the reflected light that is formed by reflecting light on the elastic body and changes due to the deformation of the elastic body, and analyzes the external force acting on the elastic body using a graph using such reflected light, so that numerical information of the external force Is that the accuracy of the product is improved.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a schematic diagram of a partial configuration of a 3D external force measuring apparatus according to an embodiment of the present invention.
2 is a schematic diagram of an arrangement of a light emitting unit and a light amount sensor according to an embodiment of the present invention.
3 and 4 are images of a 3D external force measuring apparatus according to another embodiment of the present invention.
5 and 6 are graphs of changes in reflected light sensed by a light amount sensor according to an embodiment of the present invention.
7 is a data table for an experiment using a 3D external force measuring device according to an embodiment of the present invention.
8 is a graph showing a change in the amount of reflected light measured by a light amount sensor according to a pressing depth of an elastic part according to an exemplary embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be implemented in various different forms, and therefore is not limited to the exemplary embodiments described herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, bonded)" with another part, it is not only "directly connected", but also "indirectly connected" with another member in the middle. "Including the case. In addition, when a part "includes" a certain component, it means that other components may be further provided, rather than excluding other components unless specifically stated to the contrary.

The terms used in the present specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present specification, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof does not preclude in advance.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic diagram of a partial configuration of a 3D external force measuring apparatus according to an embodiment of the present invention, and FIG. 2 is a schematic diagram of an arrangement of a light emitting unit 400 and a light amount sensor 110 according to an embodiment of the present invention. It is a schematic diagram. 3 and 4 are images of a 3D external force measuring apparatus according to another exemplary embodiment of the present invention. Here, (a) of FIG. 3 is an image of the light emitting portion 400 and the light amount sensor 110 installed on the substrate portion 300, and (b) of FIG. 3 is an image of the elastic portion 200. And, Figure 4 is an image of the three-dimensional external force measuring apparatus of the present invention in a state in which the substrate portion 300 and the elastic portion 200 are combined.

As shown in Figures 1 to 4, the three-dimensional external force measuring apparatus of the present invention, the lower surface is formed in a planar shape, and has elasticity, the elastic portion 200 that is deformed by an external force; A substrate portion 300 spaced apart from the lower surface of the elastic portion 200 and formed under the lower surface of the elastic portion 200; A light emitting unit 400 formed on the upper surface of the substrate unit 300 and irradiating light toward the lower surface of the elastic unit 200; And a plurality of light-quantity sensors formed on the upper surface of the substrate part 300, disposed around the light-emitting part 400, and detecting light reflected from the light-emitting part 400 and reflected on the lower surface of the elastic part 200 ( 110); includes. And, according to the deformation of the elastic part 200, the amount of light measured by each of the plurality of light amount sensors 110 changes, and a curve graph is formed using data of the amount of light detected by each of the plurality of light amount sensors 110, Using the curve graph, the position and direction of the three-dimensional action of the external force can be measured. Here, the external force may be generated by contacting a part of the body such as a user's finger with the elastic portion 200 and then providing a force, but is not limited thereto, and includes all external forces applied to the elastic portion 200. I can. The external force action point may be a point at which the external force is applied in the elastic portion 200. In addition, a soft tactile sensor may be formed by combining the elastic part 200, the substrate part 300, the light emitting part 400, and the plurality of light amount sensors 110.

The light-emitting unit 400 may be formed of an LED, but is not limited thereto, and any light-emitting body capable of irradiating uniform light in all directions may be used. When the elastic portion 200 is deformed, the shape of the lower surface of the elastic portion 200 is also changed, and accordingly, the reflection angle of the reflected light at each portion of the lower surface of the elastic portion 200 is changed, so that the shape of the lower surface of the elastic portion 200 According to the change, the amount of reflected light transmitted to each light amount sensor 110 may vary.

The elastic part 200 may be formed in a cylindrical shape. In the exemplary embodiment of the present invention, the elastic portion 200 is described as having a cylindrical shape, but the shape of the elastic portion 200 is not necessarily limited thereto. The elastic part 200 may be formed in various shapes such as a polygonal column shape or a spherical shape. In addition, the lower portion of the elastic portion 200 may be formed in the shape of a column such as a cylinder, and the upper portion of the elastic portion 200 may be formed in a hemispherical shape. However, in the following description, a case in which the elastic part 200 is a cylinder will be described.

The substrate portion 300 may have a substrate side wall 320 formed in a wall shape along the edge of the substrate base 310 forming a lower portion, and the substrate base 310 is a lower portion of the elastic portion 200. It may be formed in a shape corresponding to. That is, in the embodiment of the present invention, the substrate base 310 may be formed in the shape of a disk.

In addition, as shown in FIGS. 2 and 3 (a), the light-emitting unit 400 is located at the center of the substrate unit 300, and the light amount sensor 110 may be disposed with respect to the light-emitting unit 400. . Specifically, as shown in Figure 2, the light amount sensor 110 is disposed at uniform intervals along the two-axis directions (x-axis direction and y-axis direction) passing through the center of the substrate and the center of the light emitting unit 400 , The photosensor 110 may be disposed at uniform intervals along the axial direction formed between the x-axis and y-axis.

Alternatively, as shown in (a) of FIG. 3, a plurality of light amount sensors 110 are combined to form one light amount sensor part 100, and each light amount sensor part 100 is in the x-axis direction and y-axis It may be arranged at equal intervals from the center of the light emitting unit 400 in four directions with respect to the direction.

Although the position of the light-emitting unit 400 and the position of the light amount sensor 110 are not limited as described above, a plurality of curve graphs are formed by the three-dimensional external force measuring device of the present invention, but detected by each light amount sensor 110 In order to reduce the error ratio of each of the plurality of curve graphs by equalizing the efficiency, it may be desirable to arrange the light emitting unit 400 and the light amount sensor 110 as described above. However, if it is not easy to arrange the light-quantity sensor 110 based on the light-emitting unit 400 according to the shape of the substrate base 310, a plurality of light-quantity sensors 110 may be arranged in different shapes. I can.

The elastic portion 200 may be coupled to the substrate portion 300 while being fitted to the substrate side wall 320. In this case, an adhesive is applied to the contact surface between the elastic portion 200 and the substrate side wall 320 so that the elastic portion ( 200) and the substrate part 300 may be adhesively bonded. Accordingly, even if an external force is applied to the elastic portion 200, only the deformation of the elastic portion 200 is performed, and a phenomenon in which the elastic portion 200 is separated from the substrate portion 300 can be prevented. In addition, the substrate part 300 may be combined with a plurality of wire parts 500, and one wire part 500 supplies electricity to the light amount sensor 110 and simultaneously transmits the signal of the light amount sensor 110 to the control unit. I can deliver. In addition, the other wire part 500 may supply electricity to the light emitting part 400.

5 and 6 are graphs of changes in reflected light sensed by the light amount sensor 110 according to an embodiment of the present invention. Here, (a) of FIG. 5 shows a change in the amount of reflected light measured by the first light amount sensor 111 according to a change in the magnitude of the external force when an external force is provided in the x-axis direction of FIGS. 2 to 4 It is a graph, and (b) of FIG. 5 shows the change in the amount of reflected light measured by the first light amount sensor 111 according to a change in the magnitude of the external force when an external force is provided in the y-axis direction of FIGS. 2 to 4 This is the graph shown. And, FIG. 6 is a graph showing a change in the amount of reflected light measured by the first light amount sensor 111 according to a change in the magnitude of the external force when an external force is provided in the z-axis direction of FIG. 4. Here, the axial direction may mean an arrow direction. In FIGS. 5 and 6, the vertical axis may indicate the amount of light (luminosity, light intensity (lux)), and the horizontal axis may indicate the magnitude of the external force (force(N)).

As shown in Figs. 5 and 6, when external forces are applied in the x, y, and z-axis directions, each reflected light generated by each external force is measured to determine the change in the amount of reflected light according to the change of the external force. You can create a curve graph. That is, the shape of each of the plurality of curve graphs may change according to a change in the position or direction of the three-dimensional action of the external force on the elastic part 200.

Specifically, as shown in Figs. 2 and 5, as shown in Fig. 2, the light emitting unit 400 and the light amount sensor 110 are arranged, and the first light amount sensor 111 for each external force in the x-axis direction and the y-axis direction In the case where the change in the amount of reflected light is measured, the direction of the external force in the x-axis direction and the direction of the external force in the y-axis direction are formed equally for the first light amount sensor 111, and Fig. 5(a) for each external force change. As shown in the curve graph of) and the curve graph of FIG. 5(b), the shape of each curve graph may be formed to be substantially the same or the same. And, when a change in the amount of reflected light is measured by the second light amount sensor 112 for each external force in the x-axis direction and the y-axis direction, the direction of the external force in the x-axis direction and the direction of the external force in the y-direction are the second light amount sensor 112 The shape of each curve graph for each external force change may be formed differently from each other, so that the shape of each curve graph may be formed differently.

In addition, such matters may be applied equally to the case where the external force acts differently even if the external force acts in the same direction as well as the direction in which the external force acts. Specifically, as two external forces are sequentially applied in the a direction, one external force is applied to the upper end of the elastic part 200, and the other external force may be applied to the lower end of the elastic part 200, and in this case, each The graph of the change in the amount of reflected light due to the change in the external force of may be formed differently.

According to the above principle, the control unit can analyze the shape of each of the plurality of curve graphs and determine the three-dimensional action position and direction of the external force, and at the same time, analyze the shape of each of the plurality of curve graphs and provide it to the external force action point. It is possible to determine the magnitude of the external force.

First, it is possible to measure the magnitude of the external force by using a curve graph. Specifically, as shown in FIG. 5, in the curve graph of the first light amount sensor 111 caused by external forces in the x-axis direction and the y-axis direction, the amount of reflected light increases as the magnitude of each external force increases. Accordingly, the controller may determine the magnitude of the external force according to the amount of reflected light. However, as shown in the curve graph of FIG. 5 (a), a reduction section may occur after the curve graph converges, which may be caused by decreasing the amount of reflected light according to the shape change of the elastic part 200, and the controller Such matters can also be used as judgment data. In addition, as shown in FIG. 6, in the curve graph of the first light amount sensor 111 caused by an external force in the z-axis direction, the amount of reflected light decreases as the magnitude of the external force increases, and accordingly, the control unit increases the amount of reflected light. Accordingly, the magnitude of the external force can be determined.

In addition, the determination of the position and direction of a three-dimensional action of an external force using a curve graph will be described. As shown in (a) and (b) of Fig. 5, when an external force in the x-axis direction and an external force in the y-axis direction are applied, a similar curve graph is generated for the external force in the x-axis direction and the external force in the y-axis direction. , The controller may determine the three-dimensional action position and direction of the external force by dividing the external force in the x-axis direction and the external force in the y-axis direction using a curve graph or the like by the second light intensity sensor 112.

And, as another embodiment, when an external force acts in a direction opposite to the x-axis direction of FIGS. 2 to 4 or in the direction opposite to the y-axis direction, the third light intensity sensor 113 is shown in FIG. 5(a). Curve graphs such as) and (b) may be formed, and in this case, the control unit analyzes the curve graph by the third light intensity sensor 113, and the external force is applied in the opposite direction to the x-axis direction or the y-axis direction. It can be determined that it works. As described above, by analyzing the curve graph by the other light amount sensor 110, it is possible to determine whether it is in the opposite direction to the x-axis direction or the opposite direction to the y-axis direction.

In addition, when an external force acts in the z-axis direction of FIGS. 2 to 4, a curve graph as shown in FIG. 6 may be formed by the first light intensity sensor 111 according to the change of the external force. In this case, the controller By analyzing the curve graph by the first light intensity sensor 111, it may be determined that an external force acts in the z-axis direction.

The same principle as described above can be applied equally even if the axial direction is the same, even if the position of the external force acting point is different.

7 is a data table for an experiment using a 3D external force measuring apparatus according to an embodiment of the present invention, and FIG. 8 is a pressing depth (mm) for the elastic part 200 according to an embodiment of the present invention. It is a graph of the change in the amount of reflected light measured by the light amount sensor 110. Specifically, the data and graphs of FIGS. 7 and 8 show that when pressing the pressing point corresponding to the position of the first light intensity sensor 111 in a direction parallel to the z-axis direction on the upper surface of the elastic part 200 It may be a light amount change data and a reference graph using the same, and as shown in FIG. 7, an experiment is performed by varying the depth (mm) of pressing the pressing point, and the light amount change data for the case of performing such an experiment 12 times. It can be a reference graph. In the graph of FIG. 8, the vertical axis represents the amount of light (luminosity, light intensity (lux)), and the horizontal axis represents the pressing depth (mm).

As shown in FIG. 8, one curve graph may be generated by a plurality of experiments, and a reference graph, which is a curve graph generated by a plurality of experiments, may be previously stored in the control unit, and the control unit is a plurality of reference graphs. By comparing and analyzing each curve graph by each light amount sensor 110, it is possible to determine the three-dimensional position of the external force acting point and the direction and magnitude of the external force. Here, the reference graph may be formed by an average value of light quantity data with respect to the pressing depth of each pressing point through a plurality of experiments.

As described above, the reference graph can represent the case where the external force of the external force is 0 to the maximum, and the cover graph is formed in the same external force range as the reference graph, or the cover graph is the external force range of the reference graph. The cover graph may have a partial shape of the reference graph by being formed in a partial range of. Specifically, since the deformation of the elastic portion 200 by the action of an external force is continuously performed, when the elastic portion 200 is deformed from the initial shape to one shape, a predetermined force starts when the external force of the external force is zero. When the cover graph is formed in the range of up to and the elastic part 200 is deformed from one shape to another, the range from the magnitude of the external force corresponding to one shape to the magnitude of the external force corresponding to the other shape. A cover graph can be formed at

The controller may compare the cover graph and the reference graph, then select a reference graph matched with the cover graph, and perform analysis and determination on the 3D action position and direction of the external force and the magnitude of the external force using the matched reference graph. have.

Each curve graph in FIGS. 5 and 6 is a graph formed by deriving an average value of the amount of light for a plurality of times of external force action while changing the magnitude of the external force. For convenience of explanation, the amount of reflected light of the light sensor 110 is measured. It was described as a graph by. Specifically, in FIGS. 5 and 6, a solid line may represent a reference graph, and a dotted line may be a graph line within a 10% error range of the reference graph. Here, when the curve graph formed by the action of the external force is located within 10% of the error range compared to the reference graph, the control unit determines that the curve graph forms the same pattern as the reference graph, and based on the reference graph, 3 It is possible to determine the dimensional position and the direction and magnitude of the external force. In the above, the error range is described as 10%, but the error range is not limited thereto, and the error range can be changed.

In the above, the control unit measures the three-dimensional action position and direction of the external force, and the magnitude of the external force by using a curve graph measured by each of the first to the third light sensor 111 among the plurality of light sensor 110. Although the above is described, the control unit determines the 3D position and direction and the magnitude of the external force by using all curve graphs by all the light sensor 110, and the principle may be the same as the above. And, the control unit comprehensively analyzes a plurality of curve graphs by the plurality of light sensor 110, and for this purpose, the control unit performs deep learning to learn the curve graph, and the position and direction of the three-dimensional action of the external force through deep learning. And the size can be recognized.

In FIGS. 5A and 6B and 6, the measurement point, which is a dot filled with color, is the actual measurement data of the amount of reflected light relative to the external force in each axis (x-axis, y-axis, or z-axis) direction (Measured X -data, Measured Y-data and Measured Z-data), and test points that are not filled with color are tested for each axis (x-axis, y-axis, or z-axis) in the same way as the actual measurement before the actual measurement. ) Test measurement data (Test X-data, Test Y-data, and Test Z-data) of the amount of reflected light relative to the external force in the direction can be displayed.

As shown in the distribution of measurement points in FIGS. 5 and 6, the actual measurement value may be formed beyond the error range of the reference graph, and the control unit forms a curve graph reflecting the actual measurement value. The actual measured values outside the range may be excluded from the curve graph formation, and the actual measured values may be excluded through deep learning. Specifically, each of the plurality of curve graphs formed by the action of one external force on the elastic part 200 forms a constant graph pattern within an error range, and the controller may learn data about this. In addition, when a plurality of such curve graphs form a constant graph pattern, one curve graph by one light amount sensor 110 may be matched with one reference graph.

Here, the control unit can select any one curve graph that deviates from such a certain graph pattern, and in forming the selected curve graph, the actual measured value that causes a tendency different from the trend of the matched reference graph is excluded. The error can be minimized. Accordingly, it is possible to significantly reduce the measurement error of the three-dimensional action position and direction of the external force and the magnitude of the external force. The deep learning algorithm may be any one of a deep neural network, a convolutional neural network, or a recurrent neural network.

A computer having the three-dimensional external force measuring device of the present invention having the above configuration is manufactured, and the user performs an operation while providing an external force to the three-dimensional external force measuring device of the present invention, It is possible to change the position of the object to be moved, and to manipulate the moving speed. Here, the movement for changing the position of the motion object is related to the three-dimensional action position and direction of the external force on the elastic unit 200, and the moving speed of the motion object may be related to the magnitude of the external force on the elastic unit 200. .

Hereinafter, a method of measuring a three-dimensional position, direction, and size of an external force using the three-dimensional external force measuring apparatus of the present invention will be described.

In the first step, the elastic portion 200 may be deformed by an external force. Next, in the second step, while the elastic part 200 is deformed, the light irradiated from the light emitting part 400 is reflected on the lower surface of the elastic part 200, and the amount of reflected light is measured by the light amount sensor 110. Can be. Then, in the third step, a curve graph may be formed using data of the amount of light sensed by each of the plurality of light amount sensors 110. Thereafter, in a fourth step, the controller may match the curve graph with the reference graph stored in the controller, and analyze the curve graph to determine the 3D action position and direction of the external force, and the magnitude of the external force.

With the above configuration, since the elastic part 200 in contact with the user is formed in a simple structure and made of a soft material such as a sponge to form a soft tactile sensor, a tactile sensor that increases durability with a simple structure can be formed. have. In addition, the light is formed by being reflected by the elastic part 200, and the reflected light that changes due to the deformation of the elastic part 200 is measured using the light quantity sensor 110, and the elastic part is formed by using a curve graph using such reflected light. Since the external force applied to 200 is analyzed, the accuracy of numerical information of the external force can be improved.

The above description of the present invention is for illustrative purposes only, and those of ordinary skill in the art to which the present invention pertains will be able to understand that other specific forms can be easily modified without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative and non-limiting in all respects. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as being distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the claims to be described later, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention.

100: light amount sensor unit
110: light amount sensor
111: first light intensity sensor
112: second light intensity sensor
113: third light intensity sensor
200: elastic part
300: substrate portion
310: substrate base
320: substrate side wall
400: light emitting part
500: electric wire part

Claims (9)

An elastic portion having a lower surface formed in a planar shape, having elasticity, and being deformed in shape by an external force;
A substrate portion spaced apart from the lower surface of the elastic portion and formed under the lower surface of the elastic portion;
A light emitting unit formed on an upper surface of the substrate and irradiating light toward a lower surface of the elastic unit;
A plurality of light-quantity sensors formed on the upper surface of the substrate, disposed around the light-emitting part, and sensing light reflected from the light-emitting part and reflected on the lower surface of the elastic part; And
And a controller configured to receive signals from the plurality of light-amount sensors, form a plurality of curve graphs using data of the amount of light detected by each of the plurality of light-amount sensors, and comprehensively analyze the shapes of the plurality of curve graphs; and,
The amount of light measured by each of the plurality of light amount sensors changes according to the deformation of the elastic part,
The control unit compares each of the plurality of curve graphs with each of a plurality of reference graphs stored in advance to determine the three-dimensional action position and direction of the external force, and the magnitude of the external force,
One curve graph by one light amount sensor is matched with one reference graph, and the actual measured values causing a tendency different from the tendency of the one reference graph are excluded from the one curve graph,
3D external force measurement apparatus using a soft tactile sensor, characterized in that errors in each of the plurality of curve graphs are minimized, and measurement errors for each of the three-dimensional action position and direction of the external force and the magnitude of the external force are reduced.
The method according to claim 1,
3D external force measuring apparatus using a soft tactile sensor, characterized in that the shape of the curve graph changes according to a change in the position or direction of the 3D action of the external force on the elastic part.
delete delete The method according to claim 1,
The control unit performs deep learning to learn the curve graph, and recognizes the position, direction, and magnitude of the three-dimensional action of the external force through deep learning.
The method according to claim 1,
The elastic part is a three-dimensional external force measuring device using a soft tactile sensor, characterized in that formed in the shape of a cylinder.
The method according to claim 1,
The 3D external force measuring apparatus using a soft tactile sensor, characterized in that the light emitting part is located in the center of the substrate part, and the light amount sensor is disposed based on the light emitting part.
A computer equipped with a three-dimensional external force measurement device using a soft tactile sensor according to any one of claims 1 and 2 and 5 to 7.
In the method for measuring the three-dimensional position, direction, and size of an external force using a three-dimensional external force measuring device using the soft tactile sensor of claim 1,
A first step in which the elastic portion is deformed by an external force;
A second step in which the light irradiated from the light emitting part is reflected on the lower surface of the elastic part while the elastic part is deformed, and the amount of reflected light is measured by the light amount sensor;
A third step of forming the curve graph using data of the amount of light detected by each of the plurality of light amount sensors; And
And a fourth step of the control unit matching the curve graph with the reference graph stored in the control unit and analyzing the curve graph to determine the three-dimensional action position and direction of the external force and the magnitude of the external force. 3D position, orientation and size measurement method.

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