A large-angle high-resolution tactile sensing device and method based on bionic compound eyes

Abstract

The invention discloses a large-angle high-resolution tactile sensing device and method based on bionic compound eyes. The tactile sensing device includes a curved optical waveguide plate, a compound eye array, a mask, an optical fiber light cone, an LED light source array, and an LED light source fixed plate array. , LED light source fixed bracket array, detector and base; the detector and LED light source fixed bracket array are installed on the upper surface of the base, the detector is coupled with the end of the optical fiber light cone, the curved optical waveguide plate and the compound eye array are on the same ball The center is installed above the top 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; the mask is filled between the sub-eyes of the compound eye array, and the top of the LED light source fixing bracket array is installed with an LED The light source fixing plate array, the LED light source array is placed on the LED light source fixing plate array. The angular interval between each LED light source in the LED light source array is 6°.

Description

technical field [0001] The invention relates to the technical field of force value measurement and bionics, in particular to a large-angle and high-resolution force tactile sensing device and method based on bionic compound eyes. 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 three main methods of tactile sensors based on optical information. Based on the principle of reflective film, Gelsight is typically 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 ...

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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