Tactile sensor and device with same

Abstract

The invention provides a tactile sensor and a device with the tactile sensor, the tactile sensor comprises a shell, a shooting assembly, a touch layer and a reflecting piece, a transparent part is arranged on the shell, and the touch layer is connected with one end, far away from the shell, of the transparent part; the touch layer comprises one or more specific patterns, the reflecting part is arranged in the shell and faces the touch layer, an inclination angle is formed between the plane where the reflecting part is located and the plane where the touch layer is located, and the inclination angle ranges from 15 degrees to 65 degrees; the shooting assembly is arranged in the shell, and the shooting end of the shooting assembly faces the reflecting part. According to the touch screen, the deformation of the specific pattern on the touch layer when the touch layer is in contact with the object is reflected to the shooting assembly through the reflecting piece, so that the shooting assembly analyzes the changed pattern through an advanced image processing algorithm to generate detailed touch information; and by adjusting the relative angle among the reflecting piece, the touch layer and the shooting assembly, the overall thickness of the touch sensor is effectively reduced, the overall size is reduced, and the application range is wider.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a tactile sensor and a device having the same. Background Art

[0002] In recent years, the application of robotics technology has developed rapidly in both industrial and civilian fields. The manipulator is the final actuator of the robot's work, and its performance directly determines the robot's working ability. Similar to humans, the development of a manipulator with high versatility and dexterity is very necessary. For the gripping operation system of the manipulator, tactile sensors are necessary components to generate effective feedback to maintain a stable grip during movement.

[0003] Existing tactile sensors have poor detection sensitivity and resolution, and are complex in structure and large in size. Summary of the invention

[0004] In view of this, the present invention proposes a tactile sensor and a device having the same, and the specific scheme is as follows:

[0005] In the first part, the present invention provides a tactile sensor, comprising: a housing, a shooting component, a touch layer and a reflector, wherein a transparent portion is provided on the housing, and the touch layer is connected to an end of the transparent portion away from the housing;

[0006] The touch layer includes one or more specific patterns, the reflector is arranged in the housing and faces the touch layer, and a plane where the reflector is located forms an inclined angle with a plane where the touch layer is located, and the range of the inclined angle includes 15°-65°;

[0007] The shooting component is arranged in the shell, and the shooting end of the shooting component faces the reflecting member; the reflecting member is used for causing one or more specific patterns on the touch layer to change when the touch layer is deformed, and the changed pattern passes through the transparent part and is reflected by the reflecting member, so that the shooting component shoots the changed pattern and obtains touch information according to the changed pattern.

[0008] In a specific embodiment, the housing includes a first accommodating cavity for accommodating the reflective element and a second accommodating cavity for accommodating the photographing assembly, and the first accommodating cavity is connected to the second accommodating cavity;

[0009] A direction from the transparent portion to the touch layer is set as a thickness direction of the first accommodating cavity, and the thickness of the first accommodating cavity gradually increases along the direction from the first accommodating cavity to the second accommodating cavity.

[0010] In a specific embodiment, the touch layer includes an elastic transparent layer, a pattern layer, a background layer and a wear-resistant layer in sequence along the direction from the reflector to the transparent portion; the pattern layer includes one or more specific patterns, and when the wear-resistant layer is deformed, the pattern layer is squeezed, so that one or more specific patterns on the pattern layer change, and the changed patterns pass through the elastic transparent layer and the transparent portion in sequence and are reflected by the reflector.

[0011] In a specific embodiment, the shell includes an outer shell, a support seat and a base; one end of the support seat is connected to the outer shell, the other end of the support seat is connected to the base, and one end of the base away from the support seat is connected to one end of the outer shell away from the support seat; the outer shell, the support seat and the base form the lighting space;

[0012] The shooting component is arranged on the support seat; the reflector and the lighting component are arranged on the shell; an opening matching the transparent part is opened on the base, and the transparent part is connected to the base through the opening, so that the reflector passes through the opening and penetrates the transparent part to reflect the changing pattern on the touch layer to the shooting component, and the lighting component passes through the opening and penetrates the transparent part to illuminate the touch layer.

[0013] In a specific embodiment, the shooting assembly includes a circuit board and a camera that are separately arranged, the circuit board is arranged on the support seat, and the circuit board is electrically connected to the camera;

[0014] The support base is provided with a groove matching the camera, the camera is connected to the support base via the groove, and the camera is arranged at the center point of the side where the support base is connected to the base.

[0015] In a specific embodiment, a lighting component is further included; a lighting space is formed in the shell, the lighting component is arranged in the shell, and the lighting component is used to illuminate the lighting space, the reflector and the touch layer.

[0016] In a specific embodiment, the lighting assembly includes one or more lighting lamps, and the one or more lighting lamps are arranged on the side of the shell along the direction from the support base to the reflector, and a protrusion is provided on the transparent part, and the one or more lighting lamps form an inclined angle with the protrusion.

[0017] In a specific embodiment, the projection of the transparent portion on the touch layer is greater than or equal to the area formed by the specific pattern on the pattern layer;

[0018] The specific pattern includes one or more of a dot pattern, a color block pattern, and a thermal pattern.

[0019] In a specific embodiment, the plane where the shooting component is located forms an angle with the plane where the touch layer is located, and the angle ranges from 30° to 80°;

[0020] The distance between the shooting end of the shooting component and the virtual image formed by the touch layer after being reflected by the reflector is in the range of 15 mm to 65 mm.

[0021] In the second part, the present invention provides a device, including the tactile sensor mentioned in the above technical solution.

[0022] Beneficial effects:

[0023] The present invention provides a tactile sensor and a device having the same, which uses a reflective component to reflect the deformation of a specific pattern on a touch layer when it contacts an object to a shooting component, so that the shooting component analyzes the changing pattern through an advanced image processing algorithm to generate detailed touch information; and by adjusting the relative angles among the reflective component, the touch layer and the shooting component, the overall thickness of the tactile sensor is effectively reduced, the overall volume is reduced, and the scope of application is wider. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is an exploded view of the three-dimensional structure of a tactile sensor according to an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of the three-dimensional structure of a tactile sensor according to an embodiment of the present invention;

[0026] Figure 3 is a structural schematic diagram of a tactile sensor shooting component according to an embodiment of the present invention;

[0027] Figure 4 is a sectional view of a three-dimensional structure of a tactile sensor according to an embodiment of the present invention;

[0028] Figure 5 Schematic diagram of the distance between the tactile sensor shooting component and the virtual image according to an embodiment of the present invention.

[0029] Figure numerals: 1-shell; 11-outer shell; 12-support seat; 121-groove; 13-base; 131-opening; 2-shooting component; 21-circuit board; 22-camera; 3-illumination component; 31-illumination lamp; 4-touch layer; 41-elastic transparent layer; 42-pattern layer; 43-background layer; 44-wear-resistant layer; 5-reflector; 6-transparent part; 61-raised part; a-first accommodating cavity; b-second accommodating cavity; A-virtual image. DETAILED DESCRIPTION

[0030] In the following, various embodiments of the present disclosure will be described more fully. The present disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein, but the present disclosure should be understood to cover all adjustments, equivalents and / or alternatives that fall within the spirit and scope of the various embodiments of the present disclosure.

[0031] The terms used in the various embodiments disclosed in the present invention are only used for the purpose of describing specific embodiments and are not intended to limit the various embodiments disclosed in the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise specified, all terms used herein (including technical terms and scientific terms) have the same meaning as the meanings commonly understood by ordinary technicians in the field of the various embodiments disclosed in the present invention. The terms (such as the terms defined in the generally used dictionary) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in the various embodiments disclosed in the present invention.

[0032] Example 1

[0033] This embodiment provides a tactile sensor, which reflects the deformation of a specific pattern on the touch layer when it touches an object to the camera component through a reflector, so that the camera component analyzes the change pattern through an advanced image processing algorithm to generate detailed touch information, thereby providing interactive feedback to the user, ensuring high sensitivity and accuracy of touch detection capabilities, with a simple structure, reducing processing difficulty and installation complexity. The specific solution is as follows:

[0034] A tactile sensor, such as the one Figure 1 As shown, it includes: a housing 1, a shooting assembly 2, a touch layer 4 and a reflector 5, a transparent portion 6 is provided on the housing 1, and the touch layer 4 is connected to an end of the transparent portion 6 away from the housing 1;

[0035] The touch layer 4 includes one or more specific patterns, the reflector 5 is arranged in the housing 1 and faces the touch layer 4, and the plane where the reflector 5 is located forms an inclined angle with the plane where the touch layer 4 is located, and the range of the inclined angle includes 15°-65°;

[0036] The shooting component 2 is arranged in the shell 1, and the shooting end of the shooting component 2 faces the reflective element 5; the reflective element 5 is used to change one or more specific patterns on the touch layer 4 when the touch layer 4 is deformed, and the changed pattern passes through the transparent part 6 and is reflected by the reflective element 5, so that the shooting component 2 shoots the changed pattern and obtains touch information based on the changed pattern.

[0037] This embodiment provides a tactile sensor with a compact structure and powerful functions, which mainly includes a housing 1, a camera assembly 2, a touch layer 4 and a reflector 5. The housing 1 is the main structure of the sensor, and a transparent portion 6 is provided on it. The transparent portion 6 is made of a highly light-transmitting material, so that the reflector 5 can reflect the image changes on the touch layer 4 without hindrance and be captured by the camera assembly 2. In practical applications, as shown in the attached figure, Figure 2 As shown, the housing 1 is designed as a wedge-shaped structure, so that it can realize the grasping and information recognition of objects in a narrower space. The reflector 5 is arranged inside the housing 1, and its side facing the touch layer 4 can efficiently reflect light and enhance the image capture effect. The shooting component 2 is installed inside the housing 1, and its shooting end is accurately aligned with the reflector 5 to capture the reflected image information.

[0038] Furthermore, the touch layer 4 is the core part of the sensor, and one or more specific patterns are distributed on the touch layer 4. When the touch layer is deformed by external force, the specific pattern can produce recognizable changes and be reflected by the reflector 5 to the shooting component 2, so that the shooting component 2 can shoot the changed pattern and obtain touch information based on the changed pattern.

[0039] In practical applications, the plane where the reflector 5 is located forms an inclination angle between 15° and 65° with the plane where the touch layer 4 is located, so that the overall thickness of the touch sensor (i.e., the thickness of the touch sensor from the touch layer 4 to the transparent portion 6) is effectively reduced while ensuring the function of the touch sensor, and the overall volume is reduced, which is more convenient to use. If the inclination angle of the reflector 5 is less than 15°, although the thickness of the sensor can be reduced, due to the small inclination angle of the reflector 5, the incident angle (the light emitted from the touch layer 4 is reflected on the reflector 5, and the light is captured by the reflector 5) and the reflection angle (the light from the reflector 5 to the shooting component 2) are too small, resulting in a too small distance between the shooting component 2 and the touch layer 4, which is difficult to achieve in the actual installation process, and may result in poor reflection effect, affecting the imaging effect; if the inclination angle of the reflector 5 is greater than 65°, although a good reflection effect can be ensured, due to the large inclination angle of the reflector 5, the incident angle and the reflection angle are too large, resulting in a large relative height between the shooting component 2 and the touch layer 4, which will increase the overall thickness of the sensor, which is not conducive to practical application. Therefore, the angle range of 15°-65° not only ensures a good reflection effect, but also can control the overall thickness and volume of the sensor, making it easy to use.

[0040] Furthermore, in practical applications, a lens is selected as the reflector 5. As an optical element, the lens has excellent reflection and focusing properties. In the tactile sensor of this embodiment, the lens can accurately reflect light to ensure that the pattern changes on the touch layer 4 can be clearly projected onto the shooting component 2. The high-precision reflection of the lens helps the shooting component to capture more subtle pattern changes, thereby improving the accuracy and sensitivity of the tactile sensor; the lens also has a certain focusing effect, which can focus light in a specific area, helping the shooting component 2 to capture pattern changes more clearly and reduce the impact of external interference and noise on touch information.

[0041] In practical applications, in order to ensure that the performance requirements of the tactile sensor are met, attention should be paid to the selection of lens materials, curvature, etc. The selection of lens materials is crucial to its optical performance and durability. Common lens materials include glass, plastic, etc. The curvature of the lens will affect its reflection and focusing effects. According to the specific needs of the tactile sensor, lenses with different curvatures can be selected to achieve the best reflection and focusing effects. Furthermore, in order to enhance the optical performance and durability of the lens, a coating can be applied on its surface. For example, an anti-reflective coating can reduce the reflection and scattering of light and improve the capture effect of the shooting component; an anti-scratch coating can protect the lens from scratches and wear.

[0042] In practical applications, various types of optical elements such as plane mirrors, reflecting prisms, curved reflecting mirrors, beam splitters, etc. can be selected as the reflecting element 5 according to actual needs to achieve the best reflection and focusing effects.

[0043] In a specific embodiment, as shown in the attached Figure 4 As shown, the housing 1 includes a first accommodating chamber a for accommodating the reflector 5 and a second accommodating chamber b for accommodating the shooting assembly 2, and the first accommodating chamber a is connected to the second accommodating chamber b;

[0044] The direction from the transparent portion 6 to the touch layer 4 is set as the thickness direction of the first accommodating cavity a, and the thickness of the first accommodating cavity a gradually increases along the direction from the first accommodating cavity a to the second accommodating cavity b.

[0045] In this embodiment, the shell 1 is designed as a wedge-shaped structure, so that it can grasp objects and recognize information in a narrower space, so that while ensuring the function of the tactile sensor, the overall thickness of the tactile sensor is effectively reduced, the overall volume is reduced, and the scope of application is wider.

[0046] In a specific embodiment, the touch layer 4 includes an elastic transparent layer 41, a pattern layer 42, a background layer 43 and a wear-resistant layer 44 in sequence along the direction from the reflector 5 to the transparent portion 6; the pattern layer 42 includes one or more specific patterns, and when the wear-resistant layer 44 is deformed, the pattern layer 42 is squeezed, so that one or more specific patterns on the pattern layer 42 change, and the changed patterns pass through the elastic transparent layer 41 and the transparent portion 6 in sequence and are reflected by the reflector 5.

[0047] As attached Figure 1 As shown, the touch layer 4 is the core part of the sensor, integrating multiple functional layers to achieve tactile sensing. Among them, the elastic transparent layer 41 can absorb and disperse the pressure generated during touch, and protect the underlying pattern layer 42; one or more specific patterns are carefully designed on the pattern layer 42, and these patterns will change when subjected to pressure; the background layer 43 provides a stable support and background for the pattern layer; and the wear-resistant layer 44, as the outermost layer, directly contacts with external objects and has extremely high wear resistance and durability. Specifically, in practical applications, the length range of the touch layer 4 includes 15mm-45mm; the width range of the touch layer 4 includes 10mm-40mm. The elastic transparent layer 41 includes a silicone layer, and the thickness range of the elastic transparent layer 41 includes 2mm-6mm; the hardness range of the elastic transparent layer 41 includes Shore hardness A5-A30. The thickness range of the background layer 43 includes 0.1mm-1.5mm, and the thickness range of the wear-resistant layer 44 includes 0.1mm-1.5mm.

[0048] In actual applications, when the wear-resistant layer 44 is touched or pressed, it squeezes the pattern layer 42, causing the pattern to deform. These changes then pass through the elastic transparent layer 41 and the transparent portion 6, and then are reflected by the reflector 5, and are finally captured and recorded by the camera assembly 2. By analyzing the captured pattern changes, the sensor can accurately identify the touch position, force, direction and other information, achieve high-resolution tactile reconstruction, and can measure the direction of the contact object, thereby marking and tracking its compression force, shear force, and torsion force.

[0049] In a specific embodiment, as shown in the attached Figure 3 As shown, the housing 1 includes a shell 11, a support seat 12 and a base 13; one end of the support seat 12 is connected to the shell 11, the other end of the support seat 12 is connected to the base 13, and one end of the base 13 away from the support seat 12 is connected to one end of the shell 11 away from the support seat 12; the shell 11, the support seat 12 and the base 13 form a lighting space;

[0050] The shooting component 2 is arranged on the support base 12; the reflector 5 and the lighting component 3 are arranged on the shell 11; an opening 131 matching the transparent part 6 is opened on the base 13, and the transparent part 6 is connected to the base 13 through the opening 131, so that the reflector 5 passes through the opening 131 and penetrates the transparent part 6 to reflect the changing pattern on the touch layer 4 to the shooting component 2, and the lighting component 3 passes through the opening 131 and penetrates the transparent part 6 to illuminate the touch layer 4.

[0051] In this embodiment, the housing 1 is composed of three parts: an outer shell 11, a support base 12 and a base 13, which together form a lighting space to provide a working environment for various components inside the sensor.

[0052] The shooting assembly 2 is arranged on the supporting base 12, and the reflecting member 5 and the lighting assembly 3 are installed on the housing 11, with reasonable layout and compact structure.

[0053] The base 13 is provided with an opening 131 matching the transparent portion 6, ensuring that the transparent portion 6 can be firmly connected to the base 13, and also allowing the reflector 5 to pass through the opening 131 and penetrate the transparent portion 6, thereby effectively reflecting the changing pattern on the touch layer 4 to the camera assembly 2. At the same time, the lighting assembly 3 can also pass through the opening 131 and penetrate the transparent portion 6 to provide bright and uniform lighting for the touch layer 4, ensuring that the camera assembly 2 can capture high-quality image information.

[0054] In a specific embodiment, the shooting assembly 2 includes a circuit board 21 and a camera 22 which are separately arranged. The circuit board 21 is arranged on the support seat 12, and the circuit board 21 is electrically connected to the camera 22;

[0055] The support base 12 is provided with a groove 121 matching the camera 22 . The camera 22 is connected to the support base 12 via the groove 121 , and the camera 22 is arranged at the center point of the side where the support base 12 is connected to the base 13 .

[0056] In this embodiment, the shooting component 2 is mainly composed of two parts: a circuit board 21 and a camera 22. The relative positions of the circuit board 21 and the camera 22 are independent, so that the positions and angles of the two can be adjusted at will, and the overall height of the sensor is minimized. The circuit board 21, as the core control unit of the shooting component, is firmly set on the support base 12 and is electrically connected to the camera 22 to ensure the accuracy and stability of data transmission.

[0057] Furthermore, a groove 121 matching the camera 22 is provided on the support base 12, providing a stable installation position for the camera 22, so that the camera can capture the target image more accurately. The camera 22 is arranged at the center point of the side where the support base 12 is connected to the base 13, ensuring that the camera 22 can capture more comprehensive and clear image information, providing a more reliable and efficient shooting experience.

[0058] In a specific embodiment, a lighting assembly 3 is also included; a lighting space is formed in the housing 1, and the lighting assembly 3 is arranged in the housing 1, and the lighting assembly 3 is used to illuminate the lighting space, the reflector 5 and the touch layer 4. Further, the lighting assembly 3 is also installed inside the housing 1, and a uniform lighting space is constructed inside the housing; the lighting assembly 3 can not only provide sufficient light for the lighting space, but also illuminate the reflector 5 and the touch layer 4, ensuring that the shooting assembly 2 can capture high-quality images. In practical applications, the visibility of the pattern on the touch layer 4 can also be enhanced through a specific light layout.

[0059] In a specific embodiment, as shown in the attached Figure 4 As shown, the lighting assembly 3 includes one or more lighting lamps 31, and the one or more lighting lamps 31 are arranged on the side of the shell 11 along the direction from the support seat 12 to the reflector 5, and a protrusion 61 is provided on the transparent part 6, and the one or more lighting lamps 31 form an inclined angle with the protrusion 61.

[0060] In this embodiment, the lighting assembly 3 is composed of one or more lighting lamps 31, which are evenly distributed on the side of the housing 11 along the direction from the support seat 12 to the reflector 5. In order to further optimize the lighting effect, a protrusion 61 is designed on the transparent part 6. An inclined angle is formed between the protrusion 61 and the lighting lamp 31, so that the light emitted by the lighting lamp 31 can be refracted and focused by the protrusion 61, and irradiated onto the touch layer 4 more evenly, thereby improving the lighting quality and the clarity of image capture.

[0061] In a specific embodiment, the projection of the transparent portion 6 on the touch layer 4 is greater than or equal to the area formed by the specific pattern on the pattern layer 42, ensuring that the shooting component 2 can completely capture the image on the touch layer 4 through the transparent portion 6, and enabling the lighting component 3 to completely illuminate the touch layer 4 through the transparent portion 6.

[0062] In a specific embodiment, the specific pattern includes one or more of a dot pattern, a color block pattern, and a thermal pattern. The dot pattern is formed by densely or sparsely arranged dots, and can be used for functional applications, such as a QR code, data encoding, or anti-counterfeiting mark; the color block pattern is composed of color blocks of different colors, shapes, and sizes, which can produce a strong visual impact and rich sense of hierarchy, and convey specific information; the thermal pattern is a visual expression method that simulates heat distribution or energy flow, and usually uses color gradients (such as from cold to warm tones) to show the density, intensity, or change trend of data.

[0063] In a specific embodiment, the plane where the camera assembly 2 is located forms an angle with the plane where the touch layer 4 is located, and the angle ranges from 30° to 80°;

[0064] The distance between the shooting end of the shooting component 2 and the virtual image A formed by the touch layer 4 after being reflected by the reflector 5 ranges from 15 mm to 65 mm.

[0065] In this embodiment, the installation plane of the shooting component 2 and the plane where the touch layer 4 is located form an angle between 30° and 80°, aiming to achieve clear imaging through cooperation with the reflector 5, so that the overall thickness of the touch sensor is effectively reduced while ensuring the function of the touch sensor, and the overall volume is reduced, so that the scope of application is wider. Further, considering the shooting quality, the convenience of operation and the compactness of the overall structure of the device, as shown in the attached Figure 5 As shown, the touch layer 4 forms a virtual image A after being reflected by the reflector 5 , and the distance between the virtual image A and the shooting end of the shooting component 2 is h, and the range of h includes 15mm-65mm.

[0066] Example 2

[0067] This embodiment provides a device, including the tactile sensor mentioned in Embodiment 1. In practical applications, the device includes but is not limited to bionic skin, bionic hand, bionic head, bionic leg, bionic foot and other devices.

[0068] The present invention provides a tactile sensor and a device having the same, which uses a reflective component to reflect the deformation of a specific pattern on a touch layer when it contacts an object to a shooting component, so that the shooting component analyzes the changing pattern through an advanced image processing algorithm to generate detailed touch information; and by adjusting the relative angles among the reflective component, the touch layer and the shooting component, the overall thickness of the tactile sensor is effectively reduced, the overall volume is reduced, and the scope of application is wider.

[0069] Those skilled in the art will appreciate that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required for implementing the present invention. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be changed accordingly and located in one or more devices different from the present implementation scenario.

Claims

1. A tactile sensor, characterized in that: include: A housing, a shooting assembly, a touch layer, and a reflector, wherein the housing is provided with a transparent portion, and the touch layer is connected to an end of the transparent portion away from the housing; The touch layer includes one or more specific patterns, the reflector is disposed in the housing and faces the touch layer, and a plane where the reflector is located forms an inclination angle with a plane where the touch layer is located, and the inclination angle ranges from 15° to 65°; The shooting component is arranged in the shell, and the shooting end of the shooting component is facing the reflective component; the reflective component is used to change one or more specific patterns on the touch layer when the touch layer is deformed, and the changed pattern passes through the transparent part and is reflected by the reflective component, so that the shooting component can shoot the changed pattern and obtain touch information based on the changed pattern.

2. The tactile sensor according to claim 1, wherein The housing includes a first accommodating cavity for accommodating the reflector and a second accommodating cavity for accommodating the shooting assembly, and the first accommodating cavity is connected to the second accommodating cavity; A direction from the transparent portion to the touch layer is set as a thickness direction of the first accommodating cavity, and the thickness of the first accommodating cavity gradually increases along the direction from the first accommodating cavity to the second accommodating cavity.

3. The tactile sensor according to claim 1, wherein The touch layer includes an elastic transparent layer, a pattern layer, a background layer and a wear-resistant layer in sequence along the direction from the reflector to the transparent portion; the pattern layer includes one or more specific patterns, and when the wear-resistant layer is deformed, the pattern layer is squeezed, so that the one or more specific patterns on the pattern layer change, and the changed patterns sequentially pass through the elastic transparent layer and the transparent portion and are reflected by the reflector.

4. The tactile sensor according to claim 1, wherein The housing includes an outer shell, a support base, and a base; one end of the support base is connected to the outer shell, the other end of the support base is connected to the base, and an end of the base away from the support base is connected to an end of the outer shell away from the support base; the outer shell, the support base, and the base form the lighting space; The shooting assembly is arranged on the support seat; the reflector and the lighting assembly are arranged on the shell; an opening matching the transparent part is opened on the base, and the transparent part is connected to the base through the opening, so that the reflector passes through the opening and penetrates the transparent part to reflect the changing pattern on the touch layer to the shooting assembly, and the lighting assembly passes through the opening and penetrates the transparent part to illuminate the touch layer.

5. The tactile sensor according to claim 4, wherein The shooting assembly includes a circuit board and a camera that are separately arranged, the circuit board is arranged on the support base, and the circuit board is electrically connected to the camera; The support base is provided with a groove matching the camera, the camera is connected to the support base through the groove, and the camera is arranged at the center point of the side where the support base is connected to the base.

6. The tactile sensor according to claim 4, wherein It also includes a lighting component; a lighting space is formed in the shell, and the lighting component is arranged in the shell, and the lighting component is used to illuminate the lighting space, the reflector and the touch layer.

7. The tactile sensor according to claim 6, wherein: The lighting assembly includes one or more lighting lamps, and the one or more lighting lamps are arranged on the side of the shell along the direction from the support seat to the reflector, and a protrusion is provided on the transparent part, and the one or more lighting lamps form an inclined angle with the protrusion.

8. The tactile sensor according to claim 3, wherein The projection of the transparent portion on the touch layer is greater than or equal to the area formed by the specific pattern on the pattern layer; The specific pattern includes one or more of a dot pattern, a color block pattern, and a thermal pattern.

9. The tactile sensor according to claim 1, wherein The plane where the shooting component is located forms an angle with the plane where the touch layer is located, and the angle ranges from 30° to 80°; The distance between the shooting end of the shooting component and the virtual image formed by the touch layer after being reflected by the reflective component ranges from 15 mm to 65 mm.

10. A device, characterized in that: The tactile sensor comprises the tactile sensor according to any one of claims 1 to 9.

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