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Tactile sensor, robot, elastomer, object sensing method and computing equipment

A tactile sensor and elastic body technology, applied in the fields of tactile sensor, elastic body for tactile sensor, robot, computing equipment, can solve the problem of inability to sense the three-dimensional structure information of the measured object

Pending Publication Date: 2021-02-02
NANJING ECOVACS ROBOTICS TECHNOLOGY CO LTD
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Problems solved by technology

[0003] However, the current tactile sensors cannot sense the three-dimensional structure information of the measured object

Method used

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  • Tactile sensor, robot, elastomer, object sensing method and computing equipment
  • Tactile sensor, robot, elastomer, object sensing method and computing equipment
  • Tactile sensor, robot, elastomer, object sensing method and computing equipment

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Embodiment Construction

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0048] It should be understood that the terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of this application and the appended claims are also intended to include pl...

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Abstract

The invention relates to the field of sensing control, and provides a tactile sensor, an elastomer for the tactile sensor, a robot, an object sensing method and computing equipment. The tactile sensorcomprises at least one camera; the elastomer, wherein a plurality of marking points are arranged on the elastomer; he elastomer deforms due to contact with an object so that the positions of at leastpart of the plurality of mark points are changed, and the at least one camera is used for collecting image information of the plurality of mark points after the elastomer deforms; and coordinate values of the plurality of mark points in a space coordinate system are obtained according to the acquired image information, and three-dimensional structure parameters of the object are determined basedon the coordinate values of the plurality of mark points in the space coordinate system. According to the technical scheme provided by the embodiment of the invention, the structured light and the optical tactile sensing technology are fused, and the tactile sensor has the function of sensing the three-dimensional structure information of the measured object under the condition that structured light projection equipment does not need to be added and the original size is not changed.

Description

technical field [0001] The present application relates to the field of sensing control, in particular to a tactile sensor, a robot, an elastic body for a tactile sensor, an object sensing method and a computing device. Background technique [0002] Tactile sensors are sensors used in robots to mimic the function of touch. According to the implementation principle, tactile sensors can be divided into: piezoresistive, capacitive, piezoelectric, quantum tunnel, optical, pneumatic, structural acoustic and multi-mode tactile sensors. Some of them are good at measuring the force of objects, or do a good job at sensing texture, temperature, hardness, etc. [0003] However, current tactile sensors cannot sense the three-dimensional structure information of the measured object. Contents of the invention [0004] In order to solve the above problems or at least partly solve the above technical problems, in one embodiment of the present application, a tactile sensor is provided. T...

Claims

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Application Information

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IPC IPC(8): G01B11/25G01C11/30
CPCG01B11/254G01C11/30
Inventor 薛红香于元隆
Owner NANJING ECOVACS ROBOTICS TECHNOLOGY CO LTD
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