Large-angle high-resolution touch sensing device and method based on bionic compound eyes

Abstract

The invention discloses a large-angle high-resolution touch sensing device and method based on bionic compound eyes. The touch sensing device comprises a curved surface light waveguide plate, a compound eye array, masks, an optical fiber light cone, an LED light source array, an LED light source fixing plate array, an LED light source fixing support array, a detector and a base, wherein the detector and the LED light source fixing support array are installed on the upper surface of the base, the detector is coupled with the tail end of the optical fiber light cone, the curved surface light waveguide plate and the compound eye array are concentrically installed above the top end of the optical fiber light cone, and the center of the sphere and the center of the detector are located on the same vertical line; and the positions between all sub-eyes of the compound eye array are filled with the masks, the LED light source fixing plate array is installed at the top of the LED light source fixing support array, and the LED light source array is placed on the LED light source fixing plate array. The angle interval between LED light sources in the LED light source array is 6 degrees.

Description

technical field [0001] The invention relates to the field of force value measurement and bionic technology, in particular to a bionic compound eye-based large-angle high-resolution tactile sensing device and method. Background technique [0002] Tactile perception is one of the basic human senses. With the development of robots in the direction of intelligence, the use of various sensors to obtain tactile information has been widely used. Compared with traditional electrical tactile sensors, such as resistive, piezoelectric, capacitive, electromagnetic, etc., optical tactile sensors It has the advantages of high resolution, small size, high sensitivity, and strong robustness. There are mainly three methods of tactile sensors based on light information. Based on the principle of reflective film, the typical one is Gelsight proposed by MIT in the United States. This system has high sensitivity, but the front-end sensing surface is flat, the sensing angle is small, and the spa...

AI Technical Summary

Problems solved by technology

However, there are still some difficulties. First, if you want to obtain contact force information in any direction, then the flexible body probe should have a convex structure. If only one deflection lens is used, the refraction angles of the leaked light at various parts of the convex structure will be inconsistent. This will produce large edge distortion; second, the force is a three-dimensional vector, but the current image sensor is a two-dimensional plane, so if you want to get the spatial distribution of the tactile force, it will inevitably require higher complexity, larger volume and manufacturing cost. higher optics

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