An inflatable flexible tactile device and method for measuring the surface topography of an object

By combining an inflatable flexible visual-tactile device with photometric stereoscopic technology, the problem of poor adhesion in recessed areas of traditional visual-tactile sensors has been solved, enabling accurate reconstruction of the surface morphology of parts and improving measurement accuracy.

CN119124031BActive Publication Date: 2026-01-02DALIAN MARITIME UNIVERSITY
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Patent Information

Application Number
CN202411235209.6
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-09-04
Publication Date
2026-01-02
Estimated Expiration
2044-09-04

AI Technical Summary

Technical Problem

Traditional photometric stereoscopic GelSight tactile sensors have a planar contact surface with a small deformation, making it unable to closely fit the recesses on the surface of the object being measured. This results in poor feature reconstruction in these areas, affecting the measurement accuracy of the components.

Method used

An inflatable flexible visual-tactile device is adopted. Through a sealed inflatable structure design, the flexible film is tightly attached to the surface of the object being tested under air pressure, and photometric stereoscopic technology is used for three-dimensional reconstruction to achieve accurate reconstruction of the object's surface morphology.

Benefits of technology

It improves the accuracy of object surface topography reconstruction and the overall performance of the sensor, enhancing the measurement accuracy of complex surface topography.

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Abstract

The application provides an inflatable flexible visual-tactile device and method for measuring surface topography of an object. The device comprises an inflatable flexible visual-tactile sensor, a clamp and a support, the inflatable flexible visual-tactile sensor comprises a tactile perception unit and a visual imaging unit; when the surface of the object contacts the sensor, the flexible film and the external reflective layer in the tactile perception unit are deformed, and are attached to the surface of the object under the action of the internal air pressure of the inflatable flexible visual-tactile sensor; the deformed flexible film is reconstructed in three dimensions by using photometric stereo technology, so that the reconstruction of the whole surface topography of the object and the real-time measurement of the size are realized. The device adopts a sealed inflatable structure design, omits the skeleton support to expand the effective measurement range of the flexible film, and simultaneously makes the flexible film closely attached to the surface of the measured object under the action of the air pressure, so that the accurate surface concave-convex feature information of the object is collected, and the reconstruction accuracy and the measurement accuracy of the complex surface topography of the object are significantly improved.
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