Touch sensor, touch event detection method and device and intelligent robot
A tactile sensor and event technology, applied in the sensor field, can solve problems such as the inability to detect the position where the tactile sensor is pressed, and the insufficient data of the tactile sensor.
Active Publication Date: 2020-05-15
TENCENT TECH (SHENZHEN) CO LTD
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[0004] When the pressure is detected by the above method, the tactile sensor can only detect the magnitude of the pressure, but cannot detect the pressured position on the tactile sensor, and the data obtained by the measurement of the tactile sensor is not comprehensive enough
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[0037] In order to make the purpose, technical solution and advantages of the present application clearer, the implementation manners of the present application will be further described in detail below in conjunction with the accompanying drawings.
[0038] First of all, the nouns involved in the embodiments of the present application are introduced:
[0039] Optical waveguide: refers to a dielectric device that guides light waves to propagate in it. Optical waveguides are classified according to the geometry of the waveguide core, including: slab (or planar) dielectric waveguides, strip (rectangular) dielectric waveguides, circular dielectric waveguides, non-circular dielectric waveguides and ridge dielectric waveguides. The optical waveguide includes a waveguide inner core and a cladding, and the refractive index of the waveguide inner core is greater than that of the cladding. Materials used to make optical waveguides include silicon-based (such as silicon dioxide) and po...
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The invention discloses a touch sensor, a touch event detection method and device and an intelligent robot, and relates to the field of sensors. The touch sensor comprises a waveguide inner core, a cladding and a light absorption layer. The first surface of the waveguide inner core is wrapped in the cladding. The cladding is provided with a groove parallel to the waveguide inner core, the top of the groove is connected with the light absorption layer, the bottom of the groove is provided with an opening parallel to the waveguide inner core, and the second surface of the waveguide inner core isexposed out of the bottom of the groove through the opening. The inner wall of the groove, the bottom of the groove and the light absorption layer form a cavity, the second surface of the waveguide inner core is in contact with the light absorption layer in an external force extrusion state, and the second surface of the waveguide inner core is separated from the light absorption layer through the cavity in a non-stressed extrusion state. The input end of the waveguide inner core is connected with the light source, the output end of the waveguide inner core is connected with the photoelectricreceiver, and the sizes of the cross sections of a core body of the waveguide inner core in at least two positions are different.
Description
technical field [0001] The embodiments of the present application relate to the field of sensors, and in particular to a tactile sensor, a touch event detection method and device, and an intelligent robot. Background technique [0002] A tactile sensor is a sensor used to imitate tactile functions, and can perform tactile measurements on contact objects, such as contact position, contact force, etc. Among them, those based on the optical principle, especially the optical waveguide principle, are widely used because of their advantages such as no chemical inertness, no electromagnetic interference, and light weight. [0003] In related technologies, the waveguide inner core can bind the light so that the light can pass through the waveguide inner core. When the waveguide is deformed or bent under pressure, the light in the waveguide inner core leaks out of the waveguide inner core due to the deformation of the waveguide. , so that the output light intensity at the end of the...
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IPC IPC(8): G01L1/24G01B11/00
CPCG01L1/242G01B11/00G01B11/002B25J9/1602B25J9/1694B25J13/084
Inventor 黎雄张中郑宇张正友
Owner TENCENT TECH (SHENZHEN) CO LTD