WO2023120872A1 - 조광 부재를 포함하는 센서 어셈블리 및 이를 포함하는 전자 장치 - Google Patents
조광 부재를 포함하는 센서 어셈블리 및 이를 포함하는 전자 장치 Download PDFInfo
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- WO2023120872A1 WO2023120872A1 PCT/KR2022/013777 KR2022013777W WO2023120872A1 WO 2023120872 A1 WO2023120872 A1 WO 2023120872A1 KR 2022013777 W KR2022013777 W KR 2022013777W WO 2023120872 A1 WO2023120872 A1 WO 2023120872A1
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- Prior art keywords
- light
- sensor assembly
- control member
- light control
- image sensor
- Prior art date
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- 238000002834 transmittance Methods 0.000 claims abstract description 11
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- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
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- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
- G01L5/0076—Force sensors associated with manufacturing machines
- G01L5/009—Force sensors associated with material gripping devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
- H04N25/76—Addressed sensors, e.g. MOS or CMOS sensors
Definitions
- the present disclosure relates to a sensor assembly. More specifically, the present disclosure relates to sensor assemblies that include dimming materials.
- a tactile sensor is a sensor for determining the characteristics of the surface of an object. It can also be used to measure the softness or hardness of an object.
- a tactile sensor may be mounted and used in various electronic devices (eg, industrial robots), and the need thereof is increasing in various industrial fields.
- a tactile sensor typically acquires light reflected from the surface of an object with an image sensor (eg, a metal oxide semiconductor (CMOS)).
- CMOS metal oxide semiconductor
- tactile sensor In using a tactile sensor, various pieces of information about an object to be analyzed, such as not only surface information of an object but also distance information and object identification information, may be required. In this case, the tactile sensor and other sensors may be used in parallel.
- a sensor assembly may include a housing including an opening, a circuit board disposed inside the housing, an image sensor electrically connected to the circuit board, and reflection of light from a light transmission state through which external light may be transmitted when power is applied. and a contact member disposed adjacent to the opening and through which light is transmitted.
- the dimming member is disposed such that a longitudinal extension line of the dimming member and a longitudinal extension line of the contact member form a predetermined angle.
- the image sensor is arranged to acquire image data behind the light control member.
- the image sensor is arranged to receive light reflected from the light control member and light directly incident on the contact member.
- a control method of a sensor assembly is provided. According to the application of a housing including an opening, a circuit board disposed inside the housing, an image sensor electrically connected to the circuit board, and power, light is reflected from a light transmission state through which external light can be transmitted.
- the light control member comprises: a longitudinal extension line of the light control member; preparing a sensor assembly disposed such that an extension line of the contact member in the longitudinal direction forms a predetermined angle; adjusting the light control member to a light transmission state; identifying an external object existing beyond the light control member; Adjusting a member to a light reflection state, obtaining distance information between the external object and the sensor assembly, and acquiring surface tactile information of the external object.
- an electronic device includes a sensor assembly and a circuit board electrically connected to the sensor assembly.
- the sensor assembly includes a housing including an opening, an image sensor, a light control member that changes from a light transmitting state through which external light can pass through to a light reflection state through which light can be reflected, according to the application of power, and the opening. and a contact member through which light is transmitted.
- the light control member is disposed such that an extension line in the longitudinal direction of the light control member and an extension line in the longitudinal direction of the contact member form a predetermined angle, and when the light control member is in a light transmitting state, the image sensor controls the light control. It is arranged to acquire image data of a rear side of the member, and when the light control member is in an on state, the image sensor is arranged to receive light reflected from the light control member and light directly incident on the contact member.
- FIG. 1 is a schematic diagram of a sensor assembly according to an embodiment of the present disclosure.
- FIG. 2 is a diagram showing the internal structure of a sensor assembly according to an embodiment of the present disclosure.
- FIG 3 is a view showing a field of view range of a sensor assembly according to an embodiment of the present disclosure.
- FIG. 4 is a diagram illustrating a process of identifying an object by a sensor assembly according to an embodiment of the present disclosure.
- FIG. 5 is a diagram illustrating a distance recognition operation and a tactile sensing operation of a sensor assembly according to an exemplary embodiment of the present disclosure.
- FIG. 6 is a flowchart illustrating a control method of a sensor assembly according to an embodiment of the present disclosure.
- FIG. 7A, 7B, and 7C are diagrams illustrating the flowchart of FIG. 6 by way of example, according to an embodiment of the present disclosure.
- first, second, or first or secondary may simply be used to distinguish a given component from other corresponding components, and may be used to refer to a given component in another aspect (eg, importance or order) is not limited.
- a (e.g., first) component is said to be “coupled” or “connected” to another (e.g., second) component, with or without the terms “functionally” or “communicatively.”
- the certain component may be connected to the other component directly (eg by wire), wirelessly, or through a third component.
- module used in various embodiments of this document may include a unit implemented in hardware, software, or firmware, and is interchangeable with terms such as, for example, logic, logical blocks, parts, or circuits.
- a module may be an integrally constructed component or a minimal unit of components or a portion thereof that performs one or more functions.
- the module may be implemented in the form of an application-specific integrated circuit (ASIC).
- ASIC application-specific integrated circuit
- Various embodiments of this document may be implemented as software including one or more instructions stored in a storage medium readable by a machine.
- the processor of the device may call at least one command among one or more commands stored from a storage medium and execute it. This enables the device to be operated to perform at least one function according to the at least one command invoked.
- the one or more instructions may include code generated by a compiler or code executable by an interpreter.
- the device-readable storage medium may be provided in the form of a non-transitory storage medium.
- 'non-temporary' only means that the storage medium is a tangible device and does not contain a signal (e.g. electromagnetic wave), and this term refers to the case where data is stored semi-permanently in the storage medium. It does not discriminate when it is temporarily stored.
- each component (eg, module or program) of the components described above may include a single object or a plurality of entities, and some of the plurality of entities are separated from other components. may be placed.
- one or more components or operations among the corresponding components described above may be omitted, or one or more other components or operations may be added.
- a plurality of components eg modules or programs
- the integrated component may perform one or more functions of each of the plurality of components identically or similarly to those performed by a corresponding component of the plurality of components prior to the integration. .
- operations performed by a module, program, or other component are executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations are executed in a different order. may be added, omitted, or one or more other actions may be added.
- 1 is a schematic diagram of a sensor assembly according to an embodiment of the present disclosure.
- 2 is a diagram showing the internal structure of a sensor assembly according to an embodiment of the present disclosure.
- the sensor assembly 10 may include all or part of a housing 100, an image sensor 120, a light control member 200, a contact member 300, and a connection part 11. there is.
- the sensor assembly 10 can identify an object (eg, object 1 of FIG. 3) near the sensor assembly 10, and is capable of identifying an object (eg, object 1 of FIG. A distance may be determined, and tactile information of an object (eg, object 1 of FIG. 3 ) may be acquired.
- the sensor assembly 10 may be electrically and/or physically connected to another external device (eg, an industrial robot) through the connection unit 11 .
- the sensor assembly 10 may be controlled by a connected external electronic device (eg, an industrial robot).
- a connected external electronic device eg, an industrial robot
- movement of the sensor assembly 10 or internal operation of the sensor assembly 10 may be controlled by an electrical signal from a connected external electronic device.
- the sensor assembly 10 is mounted on a hand of an industrial robot so that tactile information can be acquired when the industrial robot grabs an object.
- the industrial robot can use the sensor assembly 10 to identify an object outside the sensor assembly 10 and determine the distance between the object and the sensor assembly 10 (for example, a finger of the industrial robot), , the tactile information of an object can be obtained by grabbing the object.
- the sensor assembly 10 may include a power source therein or be operated by being connected to an external power source.
- a circuit board (not shown) including a processor for adjusting light transmittance of the light control member 200 may be included.
- the circuit board may be electrically connected to the image sensor 120 and/or the light control member 200 .
- the processor may be programmed to process image information obtained from an image sensor (eg, the image sensor 120 of FIG. 3 ).
- the sensor assembly 10 may be connected to a power source included in the external electronic device or a processor of the external electronic device.
- the image sensor 120 may be a digital camera, that is, a camera for outputting image data as an electrical signal.
- it may be a CCD camera.
- the image sensor 120 of the present invention is not limited to a CCD camera, and for example, a digital camera using a C-MOS type image sensor may be used.
- the housing 100 may form the exterior of the sensor assembly 10 .
- the housing 100 may include a first surface 101 , a second surface 102 and a third surface 103 .
- the first surface 101 may mean a bottom surface (a surface in the -Z-axis direction) of the housing 100 .
- the second surface 102 and the third surface 103 may refer to both side surfaces of the housing 100 (both sides in the X-axis direction).
- the second surface 102 and the third surface 103 may be disposed to face each other.
- the outer edge region 102-1 of the second surface 102 and the first surface 101 may be disposed to have a predetermined angle.
- the second surface 102 may be formed so that the width gradually decreases toward the first side (+y-axis direction) of the housing 100 .
- the second surface 102 may be expressed as a tapered shape.
- the outer edge region 102-1 of the second surface 102 may have a gently curved shape.
- the second surface 102 and the third surface 103 may be symmetrical to each other.
- the description of the second surface 102 may be equally or similarly applied to the third surface 103 .
- the description of the outer edge area 102-1 of the second surface 102 may be applied to the outer edge area 103-1 of the third surface 103.
- the light control member 200 may be disposed to form at least one surface of the housing 100 .
- the light control member 200 may be disposed perpendicular to the second surface 102 and the third surface 103 so as to connect the second surface 102 and the third surface 103.
- the light control member 200 may be disposed between the second surface 102 and the third surface 103 .
- the light control member 200 may be disposed to cover an inner space of the housing formed between the second surface 102 and the third surface 103 .
- the light control member 200 may be disposed to form a predetermined angle with the first surface 101 .
- the sensor assembly 10 may achieve a stereo-camera effect.
- the light control member 200 may be formed of a material whose light transmittance can be changed.
- the reflectance of the light control member 200 may be changed according to the application of power. For example, when power is applied to the light control member 200 , light can be transmitted, and light from the outside can be incident into the housing 100 .
- the light control member 200 may reflect light when power is cut off.
- the light transmittance of the light control member 200 may be adjusted by a processor (not shown) included in the sensor assembly 10 or a processor included in a connected external electronic device.
- the image sensor 120 may be disposed inside the housing 100 to face the first side (+y-axis direction). According to an embodiment, the image sensor 120 may be disposed to receive light incident through the light control member 200 . As another example, the image sensor 120 may be arranged to receive light incident through the aperture 104 . As another example, the image sensor 120 may be disposed to receive both light incident through the aperture 104 and reflected from the light control member 200 and light incident through the aperture 104 . In this regard, it will be described later.
- the image sensor 120 may be various camera modules, but is not limited thereto. It will be appreciated that various configurations capable of receiving and sensing light may be used as long as the spirit of the present disclosure can be achieved.
- the first surface 101 may include an opening 104 .
- Light may be incident through the opening 104 and the image sensor 120 may receive it.
- the contact member 300 may be disposed below the first surface 101 (in the -Z-axis direction).
- the contact member 300 may be disposed to cover the opening 104 .
- the contact member 300 may be formed of a material capable of transmitting light and being elastic.
- the sensor assembly 10 may receive light incident through the contact member 300 and determine a distance between an object (eg, the object 1 of FIG. 3 ) and the sensor assembly 10. there is.
- the contact member 300 may be formed of an elastic material.
- the sensor assembly 10 may contact an object (eg, the object 1 of FIG. 3 ) through the contact member 300 and obtain tactile information of the object.
- the contact member 300 may be formed of an optically transparent elastic body (eg, gel).
- the contact member 300 may be formed of silicone resin such as silicone rubber, may be formed of other types of rubber or elastomer, as well as other optically transparent materials.
- the contact member 300 may be made of a translucent material.
- FIG 3 is a view showing a field of view range of a sensor assembly according to an embodiment of the present disclosure.
- the image sensor 120 may be disposed to receive light from the opening 104 and the light control member 200 .
- the description of the image sensor 120, the housing 100, and the light control member 200 of FIG. 3 may be applied to the contents of FIG. 1 .
- the view angle range Rt may be adjusted according to the arrangement angle of the image sensor 120 .
- a line extending vertically from the center of the sensing surface 121 of the image sensor 120 may correspond to the center line of the view angle range Rt.
- the image sensor 120 may be disposed such that both the light control member 200 and the opening 104 are included within the view angle range Rt.
- the view angle range Rt of the image sensor 120 may include a first view angle range R1 and a second view angle range R2.
- the first view angle range R1 may refer to a view angle range of the image sensor 120 corresponding to the light control member 200
- the second view angle range R2 may include the aperture 104 or the contact member. This may mean a field of view range of the image sensor 120 corresponding to (300).
- the first view angle range R1 and/or the second view angle range R2 may be adjusted according to the arrangement angle of the image sensor 120 .
- the view angle range Rt of the image sensor 120 includes a first view angle range R1 for receiving light incident through the light control member 200 and light incident through the opening 104 . It can also be expressed that it can be divided into a second view angle range R2 for
- the image sensor 120 receives light incident through the light control member 200 in a first view angle range R1 and identifies an object outside the sensor assembly 10. can do.
- the image sensor 120 receives light reflected through the light control member 200 in the first view angle range R1, and the sensor assembly 10 near the aperture 104 has an external object. It is possible to obtain tactile information about .
- the image sensor 120 receives light incident through the aperture 104 in the second view angle range R2 and moves the sensor assembly 10 near the aperture 104 to an external object. It is possible to obtain tactile information about .
- the first view angle range R1 and the second view angle range R2 may be equal to each other. However, this is not essential, and the first view angle range R1 and the second view angle range R2 may be configured in different ranges.
- the image sensor 120 may be disposed such that the first view angle range R1 is larger than the second view angle range R2.
- the first view angle range R1 and the second view angle range R2 are between at least a portion of the dimming member 200, the aperture 104, and/or the contact member 300 and the image sensor 120. It can be adjusted according to the arrangement relationship of According to one embodiment, the configuration of the sensor assembly 10 with respect to the normal (eg, the first axis (y-axis)) of the sensing surface 121 and the direction perpendicular (eg, the second axis (z-axis)) The field of view range of the image sensor 120 may be adjusted according to the area occupied by the light control member 200 , the opening 104 , and/or the contact member 300 .
- a configuration that occupies a relatively wide area with respect to a direction perpendicular to the normal of the sensing surface 121 eg, the dimming member 200, the aperture 104, or the contact member 300
- a corresponding field of view range could be wider
- the image sensor 120 is disposed such that the normal of the sensing surface 121 extends parallel to or similar to the first axis (y-axis)
- the light control member 200 extends along the first axis (y-axis) and the first axis (y-axis).
- the first view angle range R1 corresponding to the light control member 200 is the aperture ( 104) or the second view angle range R2 corresponding to that of the contact member 300.
- FIG. 4 is a diagram illustrating a process of identifying an object by a sensor assembly according to an embodiment of the present disclosure.
- the sensor assembly 10 may acquire visual information of the object 1 . Descriptions of the sensor assembly 10 of FIGS. 1 to 3 may be applied to the sensor assembly 10 of FIG. 4 .
- the sensor assembly 10 may identify an object 1 outside the sensor assembly 10.
- the light control member 200 when the light control member 200 is in a light transmission state, the light control member 200 may transmit light reflected from the object 1 into the sensor assembly 10 .
- the image sensor 120 may receive light transmitted from the light control member 200 and obtain visual information related to the object 1 outside the sensor assembly 10 .
- the visual information may include shape information and color (RGB) information of the object 1 .
- the image sensor 120 may obtain visual information of the object 1 existing in an area outside the sensor assembly 10 corresponding to the first view angle range R1 .
- the sensor assembly 10 may acquire tactile information of the object 2 when the light control member 200 is in a light transmission state.
- An operation of acquiring tactile information of an external object by the sensor assembly 10 can be equally applied when the light control member 200 is in a light transmission state or a light reflection state, and will be described with reference to FIG. 5 .
- FIG. 5 is a diagram illustrating a distance recognition operation and a tactile sensing operation of a sensor assembly according to an exemplary embodiment of the present disclosure.
- the sensor assembly 10 may acquire tactile information of an external object in contact with the sensor assembly 10 and/or distance information between the sensor assembly 10 and an external object.
- contents of FIGS. 1 to 4 may be applied mutatis mutandis.
- a configuration of the sensor assembly 10 of FIG. 5 may be the same as or similar to that of the sensor assembly 10 of FIGS. 1 to 4 .
- the sensor assembly 10 may acquire distance information between the sensor assembly 10 and the object 2 - 1 outside the sensor assembly 10 .
- light reflected from the object 2-1 may be incident into the housing 100 through the contact member 300 and/or the opening 104. Some of the light incident into the housing 100 may be directly transmitted to the image sensor 120 , and the remaining part may be reflected from the light control member 200 and transmitted to the image sensor 120 .
- an operation in which the sensor assembly 10 obtains distance information of the object 2-1 may be operated when the light control member 200 is in a light reflection state.
- the image sensor 120 may directly receive light incident through the opening 104 and/or the contact member 300 through the second view angle range R2 . Also, the image sensor 120 may receive light reflected from the light control member 200 through the first view angle range R1 . As the image sensor 120 receives light reflected through the light control member 200, an effect of adding a virtual image sensor 120-1 may be achieved.
- the image sensor 120 includes the first image sensor 120 receiving light in the first view angle range r1 and the second image sensor 120- receiving light in the second view angle range r2.
- the sensor assembly 10 may include a first image sensor (eg, a real image sensor) that obtains image information on light received in a first view angle range R1 by using one image sensor 120 . 120) and a second image sensor (e.g., virtual image sensor 120-1) that obtains image information on light received in the second view angle range R2. It can be. According to an embodiment, images obtained from two cameras (eg, the image sensor 120 and the virtual image sensor 120-1) having different positions of the same object (eg, the object 2-1). Based on the information, a processor (not shown) connected to the image sensor may obtain distance information between the sensor assembly 10 and the object 2-1.
- a first image sensor eg, a real image sensor
- a second image sensor e.g., virtual image sensor 120-1
- images obtained from two cameras eg., the image sensor 120 and the virtual image sensor 120-1 having different positions of the same object (eg, the object 2-1).
- a processor (not shown) connected to the image sensor may obtain distance information between
- the sensor assembly 10 may obtain tactile information of the object 2 - 2 in contact with at least a part of the sensor assembly 10 .
- the sensor assembly 10 may acquire tactile information of the surface of the object 2 - 2 in contact with the contact member 300 .
- the contact member 300 may include a pattern.
- the pattern changes the path of light passing through the contact member 300 when the contact member 300 contacts or presses the object 2-2, thereby obtaining tactile information on the surface of the object 2-2. It may mean a configuration that facilitates.
- the pattern may be formed of a material easily deformable (eg, an elastic body). Also, the pattern may be formed of the same material as the contact member 300 .
- the shape of the pattern may be changed in correspondence with the force acting on the pattern (or the contact member) while an external object is brought into contact with the contact member 300 or individually.
- a path of light passing through the pattern is changed (as the pattern or the shape of the contact member 300 is changed) so that the image sensor 120 ), and a processor (not shown) may obtain surface tactile information of the object 2-2 by analyzing it.
- a light source (not shown) may be disposed near the contact member 300 .
- the light source may be a white light source, but is not limited thereto. Light generated by the light source may be incident into the contact member 300 . Accordingly, performance of obtaining surface information of the object 2 - 2 sensed by the contact member 300 may be improved.
- FIG. 6 is a flowchart illustrating a control method of a sensor assembly according to an embodiment of the present disclosure.
- FIG. 7A, 7B, and 7C are views illustrating the flowchart of FIG. 6 by way of example, according to an embodiment of the present disclosure.
- the control method of the sensor assembly 20 includes an operation 1000 of identifying an external object, an operation 1001 of adjusting light transmittance of a light control member, and distance information to the object. It may include all or part of an operation 1002 of obtaining tactile information and/or an operation 1003 of obtaining tactile information of an object.
- the sensor assembly 20 may include a first sensor assembly 20-1 and a second sensor assembly 20-2.
- the first sensor assembly 20-1 and the second sensor assembly 20-2 may be connected to external electronic devices through connection members 21-1 and 21-2, respectively.
- an external electronic device connected to two or more sensor assemblies 20-1 and 20-2 may operate to grab the object 3.
- the first sensor assembly 20-1 and the second sensor assembly 20-2 may include the same components, and unless otherwise specified, the first sensor assembly 20-2 It is clarified in advance that the description of 1) may be applied to the second sensor assembly 20-2.
- the external electronic device may be an industrial robot, and the connection members 21-1 and 21-2 may be fingers (or components corresponding thereto) of the industrial robot.
- the sensor assembly 20 may identify an object 3 outside the sensor assembly 20 (1000).
- the operation of identifying the external object 3 by the sensor assembly 20 may be applied as described above in FIG. 4 , so duplicate descriptions are omitted.
- the external electronic device may recognize the existence of the object 3 or obtain visual information about the object 3 through the sensor assembly 20 .
- the object 1 identification operation may be performed by at least one of the first sensor assembly 20-1 and/or the second sensor assembly 20-2.
- at least one of the first sensor assembly 20-1 and/or the second sensor assembly 20-2 in which the object 1 identification operation is performed is a light control member (e.g., as shown in FIG. 4).
- the light control member 200 may be adjusted to have a light transmission state.
- the first sensor assembly 20-1 may identify the object 3 present in the sensing area A1.
- the sensing area A1 may correspond to the aforementioned first view angle range (eg, the first view angle range r1 of FIG. 4 ).
- the sensor assembly 20 when the object 3 is identified, the sensor assembly 20 may be moved to be adjacent to the object 3 by an external electronic device. For example, light reflected from the object 3 is transmitted to the inside of the sensor assembly 20 through a contact member (eg, the contact member 300 of FIG. 5 ) or an opening (eg, the opening 104 of FIG. 5 ). , the position of the sensor assembly 20 may be moved near the object 3 . As another example, in order to contact the object 1 or grab the object 3, the object 3 is positioned between the first sensor assembly 20-1 and/or the second sensor assembly 20-2, The position of the sensor assembly 20 may be moved.
- a contact member eg, the contact member 300 of FIG. 5
- an opening eg, the opening 104 of FIG. 5
- the position of the sensor assembly 20 may be moved near the object 3 .
- the object 3 in order to contact the object 1 or grab the object 3, the object 3 is positioned between the first sensor assembly 20-1 and/or the second sensor assembly 20-2, The position of the sensor assembly 20
- the sensor assembly 20 may adjust light transmittance of a light control member (eg, the light control member 200 of FIG. 5 ) ( 1001 ).
- the sensor assembly 20 may switch the light control member (eg, the light control member 200 of FIG. 5 ) into a light reflection state.
- the sensor assembly 20 may acquire distance information to the object 3 (1002).
- the first sensor assembly 20-1 and/or the second sensor assembly 20-2 transmits image information for determining the distance l1 and/or l2 to the object 3. can be obtained
- An operation for the sensor assembly 20 to determine the distance information to the object 3 is the same as or similar to that described above with reference to FIG. 5 , so duplicate descriptions will be omitted.
- the sensor assembly 20 may obtain tactile information of the object 3 (1003). Since all or part of the above description in FIG. 5 may be applied to the operation of the sensor assembly 20 to acquire tactile information of the object 3, duplicate descriptions will be omitted.
- the position of the sensor assembly 20 may be moved so as to come into contact with the object 3 by a connected external electronic device (eg, an industrial robot).
- a connected external electronic device eg, an industrial robot
- the first sensor assembly 20-1 and/or the second sensor assembly 20-2 is configured so that a contact member (eg, the contact member 300 of FIG. 5) comes into contact with the object 1,
- the location may be moved by external electronic devices connected to each other.
- the external electronic device may grab the object 3 using the sensor assembly 20 .
- the first sensor assembly 20-1 and the second sensor assembly 20-2 are formed as parts of an industrial robot, and the industrial robot includes the first sensor assembly 20-1 and the second sensor assembly 20. It is possible to grab the object (3) by adjusting the position of -2).
- the first sensor assembly 20-1 and/or the second sensor assembly 20-2 are in contact with the object 1 or in a state of grabbing the object 3, and Surface tactile information of the object 3 may be obtained from light reflected from the surface.
- multiple sensors are required or multiple sensors must be merged to form a problem in which the arrangement relationship between the sensors is complicated or the size of the merged sensors is increased. may occur.
- one aspect of the present disclosure is to provide a sensor assembly capable of acquiring various types of information with a single sensor assembly by including a light control member capable of adjusting light transmittance.
- a sensor assembly having a simple structure and miniaturization may be provided by providing a sensor assembly capable of obtaining various information of an external object corresponding to the light transmittance of the light control member.
- a housing including an opening (eg, opening 104 in FIG. 3 ) (eg, housing 100 in FIG. 1 ), a circuit board disposed inside the housing; An image sensor electrically connected to the circuit board (e.g., the image sensor 120 of FIG. 3), when power is applied, from a light transmission state through which external light can pass through to a light reflection state through which light can be reflected.
- a light control member for example, the light control member 200 of FIG. 3 configured to change transmittance, and a contact member disposed adjacent to the opening and through which light may pass (for example, the contact member 300 of FIG.
- the light control member When viewed from the side, the light control member is arranged such that an extension line in the longitudinal direction of the light control member and an extension line in the longitudinal direction of the contact member form a predetermined angle, and when the light control member is in a light transmission state, the image A sensor is arranged to acquire an image over the light control member, and when the light control member is in a light reflecting state, the image sensor receives light reflected from the light control member and light directly incident through the contact member.
- a sensor assembly arranged to do so may be provided.
- the image sensor may include a first view angle range (eg, the first view angle range r1 of FIG. 3 ) for receiving light incident from the light control member and light incident from the opening or the contact member.
- a sensor assembly including a second view angle range (eg, the second view angle range r2 of FIG. 3 ) for receiving light may be provided.
- a sensor assembly configured such that the first view angle range is wider than the second view angle range may be provided.
- the image sensor when the light control member is in a light reflection state, the image sensor may be provided with a sensor assembly capable of operating as a stereo-camera.
- the image sensor may be provided with a sensor assembly capable of obtaining distance information from the sensor assembly to an external object located near the opening.
- the sensor assembly may obtain tactile information on the surface of an external object in contact with the contact member.
- a sensor assembly may further include a pattern formed on a surface or inside of the contact member in order to obtain the surface tactile information.
- a sensor assembly further comprising a light source disposed adjacent to the contact member may be provided.
- the light source operates when the light control member is in a light reflection state
- a sensor assembly configured to transmit white light into the contact member may be provided.
- the sensor assembly may identify an external object positioned behind the light control member.
- a sensor assembly may be provided that further includes a connection part (eg, connection part 11 of FIG. 1 ) to be connected to an external electronic device.
- a connection part eg, connection part 11 of FIG. 1
- the external electronic device may be provided with a sensor assembly that is an industrial robot.
- a housing eg, housing 100 in FIG. 1
- An opening e.g., opening 104 in FIG. 1
- An image sensor electrically connected to the circuit board (e.g., the image sensor 120 of FIG. 3), according to the application of power, from a light transmission state in which external light can be transmitted to a light reflection state in which light can be reflected.
- a variable light control member eg, the light control member 200 of FIG. 3
- a contact member eg, the contact member 300 of FIG. 3
- the light control member prepares a sensor assembly (e.g., the sensor assembly 10 of FIG.
- Step 1 1) disposed so that the longitudinal extension line of the light control member and the longitudinal extension line of the contact member form a predetermined angle. Step, adjusting the light control member to a light transmission state; identifying an external object existing beyond the light control member; A control method of a sensor assembly comprising adjusting the light control member to a light reflection state, obtaining distance information between the external object and the sensor assembly, and acquiring surface tactile information of the external object is provided. It can be.
- the image sensor may include a first view angle range (eg, the first view angle range r1 of FIG. 3 ) for receiving light incident from the light control member and light incident from the opening or the contact member.
- a control method of a sensor assembly including a second view angle range (eg, the second view angle range r2 of FIG. 3 ) for receiving light may be provided.
- a control method of a sensor assembly in which the first view angle range is set to be wider than the second view angle range may be provided.
- the image sensor when the light control member is in a light reflection state, the image sensor may operate as a stereo-camera.
- a control method of a sensor assembly may be provided.
- a method for controlling a sensor assembly may further include a pattern formed on a surface or inside of the contact member in order to obtain the surface tactile information.
- the sensor assembly may be provided with a control method of the sensor assembly further including a connection part (eg, connection part 11 of FIG. 1 ) for being connected to an external electronic device.
- a connection part eg, connection part 11 of FIG. 1
- a control method of a sensor assembly in which the external electronic device is an industrial robot may be provided.
- a sensor assembly (eg, sensor assembly 10 of FIG. 1 ) and a circuit board electrically connected to the sensor assembly may be included, and the sensor assembly may include an opening (eg, opening 104 of FIG. 3 ). )), an image sensor (eg, the image sensor 120 of FIG. 3 ), and a light transmission state in which external light can be transmitted according to the application of power.
- a light control member (for example, the light control member 200 of FIG. 3 ) configured to change light transmittance to a light reflection state capable of reflecting light from the light control member, and a contact member disposed adjacent to the opening and through which light can be transmitted ( Example: Including the contact member 300 of FIG.
- the light control member when viewed from the side, the light control member is arranged such that a longitudinal extension line of the light control member and a longitudinal extension line of the contact member form a predetermined angle,
- the image sensor When the light control member is in a light transmission state, the image sensor is arranged to acquire an image beyond the light control member, and when the light control member is in a light reflection state, the image sensor transmits light reflected from the light control member and the contact member.
- An electronic device arranged to receive the light directly incident on the ? may be provided.
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Abstract
Description
Claims (14)
- 센서 어셈블리에 있어서,개구를 포함하는 하우징;상기 하우징 내부에 배치된 회로 기판;상기 회로 기판과 전기적으로 연결된 이미지 센서;전원의 인가에 따라, 외부의 광이 투과될 수 있는 광 투과 상태로부터 광을 반사시킬 수 있는 광 반사 상태로 광 투과도가 변화되도록 구성된 조광 부재; 및상기 개구와 인접하게 배치되고, 광이 투과될 수 있는 접촉 부재;를 포함하고,측면에서 볼 때, 상기 조광부재는, 상기 조광 부재의 길이 방향 연장선과 상기 접촉 부재의 길이 방향 연장선이 소정의 각도를 이루도록 배치되고,상기 조광 부재가 광 투과 상태일 때, 상기 이미지 센서는 상기 조광 부재 너머의(over) 이미지를 획득하도록 배치되고,상기 조광 부재가 광 반사 상태일 때, 상기 이미지 센서는 상기 조광 부재에서 반사된 광과 상기 접촉 부재를 통해 직접 입사된 광을 수신하도록 배치된 센서 어셈블리.
- 제1항에 있어서,상기 이미지 센서는, 상기 조광 부재로부터 입사되는 광을 수신하기 위한 제1 화각 범위와 상기 개구 또는 상기 접촉 부재로부터 입사되는 광을 수신하기 위한 제2 화각 범위를 포함하는 센서 어셈블리.
- 제1 항 또는 제2 항에 있어서,상기 제1 화각 범위는 상기 제2 화각 범위보다 넓도록 설정되는 센서 어셈블리.
- 이전의 청구항들 중 어느 하나에 있어서,상기 조광 부재가 광 반사 상태인 경우,상기 이미지 센서는 스테레오-카메라로 동작 가능한 센서 어셈블리.
- 이전의 청구항들 중 어느 하나에 있어서,상기 이미지 센서는, 상기 센서 어셈블리로부터 상기 개구 근처에 위치한 외부 오브젝트까지의 거리 정보를 획득 가능한 센서 어셈블리.
- 이전의 청구항들 중 어느 하나에 있어서,상기 센서 어셈블리는, 상기 접촉 부재와 접촉된 외부 오브젝트의 표면 촉각 정보를 획득 가능한 센서 어셈블리.
- 이전의 청구항들 중 어느 하나에 있어서,상기 접촉 부재는, 상기 표면 촉각 정보를 획득하기 위하여, 표면 또는 내부에 형성된 패턴을 더 포함하는 센서 어셈블리.
- 이전의 청구항들 중 어느 하나에 있어서,상기 접촉 부재와 인접하게 배치된 광원;을 더 포함하는 센서 어셈블리.
- 이전의 청구항들 중 어느 하나에 있어서,상기 광원은, 상기 조광 부재가 광 반사 상태인 경우 동작하며, 상기 접촉 부재 내부로 백색 광을 전달하도록 구성된 센서 어셈블리.
- 이전의 청구항들 중 어느 하나에 있어서,상기 조광 부재가 광 투과 상태인 경우,상기 센서 어셈블리는, 상기 조광 부재 뒤쪽에 위치하는 외부 오브젝트를 식별 가능한 센서 어셈블리.
- 이전의 청구항들 중 어느 하나에 있어서,외부 전자 장치와 연결되기 위한 연결부;를 더 포함하는 센서 어셈블리.
- 이전의 청구항들 중 어느 하나에 있어서,상기 외부 전자 장치는 산업용 로봇인 센서 어셈블리.
- 센서 어셈블리의 제어 방법에 있어서,상기 제1 항의 센서 어셈블리를 준비하는 단계;상기 조광 부재를 광 투과 상태로 조절하는 단계;상기 조광 부재 너머에 존재하는 외부 오브젝트를 식별하는 단계;상기 조광 부재를 광 반사 상태로 조절하는 단계;상기 외부 오브젝트와 상기 센서 어셈블리 사이의 거리 정보를 획득하는 단계; 및상기 외부 오브젝트의 표면 촉각 정보를 획득하는 단계;를 포함하는 센서 어셈블리의 제어 방법.
- 전자 장치에 있어서,상기 제1 항의 센서 어셈블리를 포함하는 전자 장치.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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EP22911511.8A EP4372345A1 (en) | 2021-12-24 | 2022-09-15 | Sensor assembly comprising dimming member, and electronic device comprising same |
CN202280084835.2A CN118435031A (zh) | 2021-12-24 | 2022-09-15 | 包括调光构件的传感器组件和包括该传感器组件的电子装置 |
US17/961,131 US12041336B2 (en) | 2021-12-24 | 2022-10-06 | Sensor assembly including light control member and electronic device including the same |
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KR10-2021-0187380 | 2021-12-24 | ||
KR1020210187380A KR20230097661A (ko) | 2021-12-24 | 2021-12-24 | 조광 부재를 포함하는 센서 어셈블리 및 이를 포함하는 전자 장치 |
Related Child Applications (1)
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US17/961,131 Continuation US12041336B2 (en) | 2021-12-24 | 2022-10-06 | Sensor assembly including light control member and electronic device including the same |
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WO2023120872A1 true WO2023120872A1 (ko) | 2023-06-29 |
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Citations (5)
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JPH06176137A (ja) * | 1992-12-10 | 1994-06-24 | Fujitsu Ltd | 指紋像入力装置 |
JP2000288973A (ja) * | 1999-04-05 | 2000-10-17 | Agency Of Ind Science & Technol | 触覚センサ |
KR20090079626A (ko) * | 2008-01-18 | 2009-07-22 | 상명대학교 산학협력단 | 비접촉식 지정맥 영상 취득 장치 |
KR20190083774A (ko) * | 2018-01-05 | 2019-07-15 | 현대자동차주식회사 | 3 채널 카메라를 활용한 차간거리 산출 장치 및 방법 |
JP2021535373A (ja) * | 2018-08-16 | 2021-12-16 | エッセンリックス コーポレーション | 表面色及び液体接触角の撮像方法 |
-
2021
- 2021-12-24 KR KR1020210187380A patent/KR20230097661A/ko unknown
-
2022
- 2022-09-15 WO PCT/KR2022/013777 patent/WO2023120872A1/ko active Application Filing
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JPH06176137A (ja) * | 1992-12-10 | 1994-06-24 | Fujitsu Ltd | 指紋像入力装置 |
JP2000288973A (ja) * | 1999-04-05 | 2000-10-17 | Agency Of Ind Science & Technol | 触覚センサ |
KR20090079626A (ko) * | 2008-01-18 | 2009-07-22 | 상명대학교 산학협력단 | 비접촉식 지정맥 영상 취득 장치 |
KR20190083774A (ko) * | 2018-01-05 | 2019-07-15 | 현대자동차주식회사 | 3 채널 카메라를 활용한 차간거리 산출 장치 및 방법 |
JP2021535373A (ja) * | 2018-08-16 | 2021-12-16 | エッセンリックス コーポレーション | 表面色及び液体接触角の撮像方法 |
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