Underwater tactile sensing device and method based on polarization imaging principle

Abstract

The invention discloses an underwater tactile sensing device and method based on a polarization imaging principle. The device is composed of tactile sensing skin, a sub-aperture real-time polarizationimaging system, a waterproof shell and a CCD camera. The tactile sensing skin is located at the foremost end of the tactile sensing device and is composed of a light guide plate and four infrared light strips, the light guide plate is of a thin plate structure with a square section, and the infrared light strips are pasted to the four side faces perpendicular to the square plane of the light guide plate respectively. The sub-aperture real-time polarization imaging system comprises a polarization imaging lens, a lens cone and a CCD camera. The polarization imaging lens is composed of a common-aperture light group, a polarization device group and a sub-aperture light group. The waterproof shell is of a barreled structure with a closed tail end and a semi-closed front end, the front end of the polarization imaging lens extends out of the front end of the waterproof shell, and the rear end of the polarization imaging lens is connected with the CCD camera through the lens cone. The front end of the polarization imaging lens and the front end of the waterproof shell are sealed and are pressed by a fixing plate, and the fixing plate is connected with the tactile sensing skin through a connecting column.

Description

technical field [0001] The invention belongs to the field of underwater tactile sensing, in particular to an underwater tactile sensing device and method based on the principle of polarization imaging. Background technique [0002] For tactile sensing, resistive sensors based on strain gauges and conductive polymers are commonly used. These typical tactile sensors are based on point measurements, which provide low spatial resolution even if multiple sensors are arranged together, making it difficult to measure the detailed distribution of contact points and detect small objects. [0003] To achieve high spatial resolution, Hiraishi, Begej et al. introduced cameras into tactile measurements. Marker-displacement-based methods are the most commonly used methods for making tactile image sensors using cameras. Usually, an elastic body is placed in front of the camera, in which several markers are arranged. When an object is squeezed against the elastomeric surface, the markers...

AI Technical Summary

Problems solved by technology

In 2018, J. Zhang built an underwater tactile force sensor array, using a mechanical structure to balance the water pressure, realizing the determination of the position of the grasped sample and the perception of force, and realizing accurate measurement under the influence of water pressure, but there is still space The problem of insufficient resolution

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