A positioning and sensing structure based on optical signal changes

Abstract

The present invention relates to the field of positioning and sensing technologies, and particularly to a positioning and sensing structure based on optical signal changes. The light source layer is used to provide optical signals; the change layer is used to sense physical or chemical changes and change the optical signals after physical or chemical changes occur; the photosensitive layer is used to receive optical signals; the change layer and the photosensitive layer are arranged in sequence, and the light source layer is arranged inside, at the front end or at the rear end of the change layer. In the present invention, the light source provided by the light source layer reaches the photosensitive layer. When the change layer senses physical changes such as pressing or temperature changes, the color, brightness and other optical signals of the light emitted by the light source layer reaching the photosensitive layer will change. After multiple positioning and sensing structures are used in combination, positioning and sensing can be achieved by identifying the changes in optical signals. The structure is simple, multi-point positioning and multi-point data volume sensing can be realized.

Description

Technical Field

[0001] The present invention relates to the field of positioning sensing structures, and in particular to a positioning sensing structure based on light signal changes. Background Art

[0002] Most existing technologies use electricity as the principle structure for robot skin positioning, and its usage solutions include array structure positioning solution, loop resistance value measurement positioning solution and single-point chip positioning solution.

[0003] (1) The array positioning solution can locate the location of the action in a time-sharing manner through time-sharing loop analysis, and can also measure the magnitude of the action at the location through loop resistance. For example, the magnitude of the force at the pressed location can be measured, or if this location is a temperature sensor, the location and magnitude of the temperature change can also be measured. The array structure can measure data at multiple points through time-sharing measurement. However, the disadvantage is that there are many I / O contacts. When the array shape is square, the measurement points are also measured, and the I / O points are the least. However, many locations on the robot skin are irregular, so there is a high demand for I / O points, and more I / O interfaces are needed for electrical signal processing, so the cost is high.

[0004] (2) The loop resistance measurement solution is cheaper than the array positioning solution, but it requires a higher computational cost to calculate the locations where multiple points of action occur, and it cannot sense the pressure intensity or other factors such as temperature.

[0005] (3) Another method is to use chips to transmit data at a single point or several points. This solution can handle multi-touch and multi-point data transmission, but this solution is expensive and not suitable for large-area robot skin.

[0006] Several existing technologies fail to meet the basic requirements that robot skin must have: low cost, multi-point positioning, multi-point data perception, high response speed, and high flexibility and stability.

[0007] Therefore, it is urgent to propose a new solution that combines the characteristics of low cost, multi-point positioning, multi-point data perception, high response speed, high flexibility and stability to meet the necessary requirements of robot skin. Summary of the Invention

[0008] In order to solve the above problems, the primary purpose of the present invention is to provide a positioning perception structure based on light signal changes, which can achieve positioning and perception by identifying changes in light signals.

[0009] Another object of the present invention is to provide a positioning sensing structure based on optical signal changes, which has accurate positioning, simple structure, low cost, and is easy to promote widely.

[0010] Another object of the present invention is to provide a positioning and sensing structure based on the change of optical signals, which can achieve multi-point positioning, multi-point data volume sensing, high stability, flexibility, and low latency.

[0011] A positioning and sensing structure based on the change of optical signals, characterized by comprising

[0012] Light source layer: used to provide optical signals;

[0013] Change layer: used to sense physical or chemical changes, and change the optical signal after physical or chemical changes occur;

[0014] Photosensitive layer: used to receive optical signals;

[0015] The change layer and the photosensitive layer are arranged in sequence, and the light source layer is arranged inside, at the front end or at the rear end of the change layer. In the present invention, the signal provided by the light source layer will reach the photosensitive layer. Different materials can be used as the material of the change layer according to different requirements, so that when the change layer senses changes such as pressing, temperature change, humidity change, contact with different substances, etc., the color, brightness and other optical signals of the light emitted by the light source layer received by the photosensitive layer will change. After multiple positioning and sensing structures are used in combination, the function of positioning and sensing can be realized by identifying the change of optical signals. The structure is simple, and multi-point positioning and multi-point data volume sensing can be achieved. Specifically, when the light source layer is arranged at the front end of the change layer, it can be external natural light, LED lamp, laser paint sheet lamp, fluorescent lamp. At this time, the light source layer, the change layer and the photosensitive layer are arranged in sequence. When the change layer senses changes such as pressing, temperature change, humidity change, contact with different substances, etc., the color, brightness and other optical signals of the light emitted by the light source layer after passing through the physical change layer will change and will finally be received by the photosensitive layer, so as to realize the sensing function. When the light source layer is arranged inside the change layer, it can be a non-powered fluorescent coating, a powered laser paint, a glow-in-the-dark fluorescent paint. When the change layer senses changes such as pressing, temperature change, humidity change, contact with different substances, etc., the coating or paint of the light source layer will spread or undergo other changes, so that the optical signal received by the photosensitive layer changes. When the light source layer is arranged at the rear end of the change layer, such as arranged on the bottom surface of the change layer, it can be a non-powered fluorescent coating, a liquid laser paint, a glow-in-the-dark fluorescent paint. When the change layer senses changes such as pressing, temperature change, humidity change, contact with different substances, etc., the coating or paint of the light source layer will spread or undergo other changes, so that the optical signal received by the photosensitive layer changes.

[0016] Furthermore, the positioning and sensing structure further includes an optical fiber, an optical signal detection component for converting an optical signal into an electrical signal, and a system analysis component for analyzing and encoding electrical information. One end of the optical fiber is connected to the photosensitive layer, the other end of the optical fiber is connected to the input end of the optical signal detection component, and the output end of the optical signal detection component is connected to the system analysis component. The optical signal detection component may be an optical signal receiving device such as a camera or an optical fiber module. Specifically, during operation, the optical signal passing through the photosensitive layer is conducted to the optical signal detection component through the optical fiber. The optical signal is converted into an electrical signal through the processing of the optical signal detection component and is finally sent to the system analysis component for analysis and processing. By comparing the changes in the received electrical signals, the physical or chemical changes sensed by the specific change layer can be deduced. Among them, the optical fiber can be replaced with any light guide tube. Specifically, using extremely thin optical fibers can reduce the arrangement thickness to a tolerable range. The remaining tube walls of the optical fiber except for the upper and lower tube openings can be dyed with an opaque color to prevent the light from being conducted into other optical fibers through the light transmission of the other tube walls except for the upper and lower tube openings. One end of the optical fiber is connected to the photosensitive layer, and the other end is connected to the optical signal detection component, so that the optical signal detection component can monitor the optical signals emitted from the other end of each optical fiber at all times.

[0017] Furthermore, the positioning and sensing structure further includes a beam array. The beam array is located between the other end of the optical fiber and the optical signal detection component. The other end of the optical fiber is connected to one end of the beam array, and one end of the beam array is connected to the input end of the optical signal detection component. When multiple positioning and sensing structures are specifically applied, there will be multiple optical fibers. The beam array can bundle the tails of many optical fibers together and number them, so that it can quickly know which position the light comes from, thereby realizing convenient and efficient positioning and sensing.

[0018] Furthermore, the beam array includes a beam structure for realizing the bundling of optical fibers and a beam lens. The beam lens is located between the other end of the optical fiber and the optical signal detection component. Specifically, during operation, the beam structure can be an adhesive, an array-type fixing bracket, silica gel, etc., as long as it can bundle the tails (i.e., the other ends) of the optical fibers into an array structure. The main function of the beam lens is to focus, adjust the focus, and converge, and project the optical information of the optical fiber beam array onto the photosensitive chip in the optical signal detection component according to requirements. The setting of the beam array can greatly save the cost of the structure. In the least case, only one detection element is required to process the optical signals of all optical fibers, and there is no need for each optical fiber to correspond to a detection element. At the same time, it is also convenient to efficiently and quickly realize the positioning and sensing functions of the structure.

[0019] Further, the light source layer includes an LED lamp, a floodlight, a laser coating lamp, a fluorescent lamp, an internal light source, and an external light source. That is, the light source layer includes, but is not limited to, one of an LED lamp, external natural light, a floodlight, an electroless fluorescent coating, an electrified cold light sheet, and a liquid laser coating. Specifically, the light source layer can be an LED lamp, external natural light, a floodlight, an electroless fluorescent coating, an electrified cold light sheet, a laser lamp, or a liquid laser coating, and can be an internal light source or an external light source. When the light source layer is an electrified cold light sheet lamp, the electrified cold light sheet lamp itself can provide light. At this time, during specific operation, the brightness of the electrified cold light sheet lamp can be kept constant so that the electrified cold light sheet lamp can continuously emit light and irradiate the light towards the change layer. When used for pressing and positioning, the light source layer is located between the pressing object and the change layer, and the light source is a flexible structure or a movable structure arranged point-to-point with the photosensitive layer. Thus, a specific positioning and sensing function is achieved. When the light source layer is a floodlight, since the floodlight itself cannot emit light, it can only receive the optical signal in the environment at one end and transmit the optical signal to the change layer at the other end, thereby indirectly acting as a light source. When the light source is a flexible cold light sheet lamp, the cold light sheet lamp can serve as a large-area light source to provide light for multiple positions.

[0020] Furthermore, the variable layer includes a pressure-pressable light-transmissive glue layer, a photosensitive color-changing material, a material that changes color upon contact with different materials, a material that changes color upon sensing temperature and humidity changes, a material that changes color or light transmittance upon contact with different substances to change light flux data, and a material that changes light signals through chemical reactions. That is, the variable layer includes, but is not limited to, a light-transmissive glue layer, a photosensitive color-changing material, a material that changes color upon contact with different materials, a material that changes color upon sensing temperature and humidity changes, and a material that changes light signals through chemical reactions. Specifically, the variable layer can be a pressure-pressable light-transmissive glue layer, a photosensitive color-changing material, a material that changes color upon contact with different materials, a photosensitive color-changing material, a material that changes color upon sensing temperature and humidity changes, or a material that changes color or light transmittance upon contact with different substances to change light flux data. When the variable layer is a glue layer, it can be a high-fidelity colloid such as hydrogel. When pressed, the thickness of the hydrogel changes or the light-blocking object disperses, so that on the premise that the light signal in the light source layer is stable, the light brightness, color, etc. passing through the hydrogel change, and finally the system analysis component analyzes and encodes through the changes in the brightness, color, etc. to obtain information such as the position and force of the press, thus realizing the functions of positioning and sensing. When the variable layer is a photosensitive color-changing material, when affected by external pressure or other disturbances, the light signal received by the photosensitive color-changing material changes, so that the color of the photosensitive color-changing material changes, and then the light signal after passing through the photosensitive color-changing material also changes in terms of brightness, color, etc. Finally, the system analysis component analyzes and encodes to obtain the position and specific situation of external pressure and other disturbances. When the variable layer is a material that changes color upon sensing temperature and humidity changes, after sensing the changes in temperature and humidity, the color of the material changes, so that on the premise that the light signal in the light source layer is stable, the light signal passing through the material changes. Finally, the system analysis component analyzes and encodes to obtain the positions where temperature and humidity changes are sensed, and similarly, the specific values of the sensed temperature and humidity can be obtained.

[0021] Furthermore, the photosensitive layer includes a light-gathering lens, a light-diffusing sheet, and a light-gathering sheet. That is, the photosensitive layer includes, but is not limited to, a light-gathering lens, a light-diffusing sheet, and a light-gathering sheet. The function of the photosensitive layer is to converge light onto the optical fiber or diffuse light onto the optical fiber so that the light signals on the structures such as the light-gathering lens and the light-diffusing sheet on the photosensitive layer can all reach the other end through one end of the optical fiber. That is, it mainly collects the light passing through the variable layer and then transmits it to the optical fiber. Furthermore, the photosensitive layer is connected to the optical fiber through a light-diffusing sheet or a light-gathering structure such as a lens with a relatively large area. Its function is that when a light signal is received at any position of the light-gathering structure, it can conduct the light signal into the optical fiber and transmit it to the other end of the optical fiber through the optical fiber, so as to achieve the effect that the area of the photosensitive layer is larger than the area of the beam array at the end of the optical fiber.

[0022] Furthermore, the positioning and sensing structure further includes a support structure for mounting the light source layer, the variable layer, and the photosensitive layer. The support structure is used to fix the light source layer, the variable layer, and the photosensitive layer, so as to achieve relative stability in the positions of the three-layer structure.

[0023] The signal provided by the light source layer will reach the photosensitive layer. Different materials can be used as the material of the variable layer according to different requirements, so as to achieve the effect that when the variable layer senses changes such as pressing, temperature change, humidity change, contact with different substances, etc., the color, brightness and other optical signals of the light emitted by the light source layer received by the photosensitive layer will change. After multiple positioning and sensing structures are used in combination, the functions of positioning and sensing can be realized by identifying the change of optical signals. The structure is simple, and multi-point positioning and multi-point data volume sensing can be achieved. Description of the Drawings

[0024] Figure 1 is a schematic structural diagram of the present invention.

[0025] Figure 2 is Figure 1 an exploded structural diagram of part A in Detailed Embodiments

[0026] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0027] A positioning and sensing structure based on the change of optical signals, characterized in that it includes

[0028] Light source layer 1: used to provide optical signals;

[0029] Variable layer 2: used to sense physical changes and change the optical signals of the light passing through itself after physical changes;

[0030] Photosensitive layer 3: used to receive the optical signals passing through the variable layer;

[0031] The light source layer 1, the variable layer 2, and the photosensitive layer 3 are arranged in sequence.

[0032] In this embodiment, the positioning sensing structure also includes a support structure (not shown) for installing the light source layer, the changing layer and the photosensitive layer. The support structure is used to install the light source layer 1, the changing layer 2 and the photosensitive layer 3, so that the position of the three-layer structure is relatively stable. In a specific application, such as when applied to the skin of a robot, the support structure is the overall structure of the robot skin, and mounting holes that are compatible with the shape and size of the light source layer 1, the changing layer 2 and the photosensitive layer 3 are provided on the support structure. An additional plastic structure can also be provided as a bracket, and the plastic structure is covered with recessed positions. The recessed positions are used to place structures such as the light source layer 1, the changing layer 2 and the photosensitive layer 3, and the light source layer 1, the changing layer 2 and the photosensitive layer 3 are installed in the recessed positions to pave the recessed positions. During installation, a fixed connection or a detachable connection can be selected according to the specific usage scenario.

[0033] In this embodiment, the positioning sensing structure also includes an optical fiber 4, an optical signal detection component for converting optical signals into electrical signals, and a system analysis component for analyzing and encoding the electrical information. One end of the optical fiber 4 is connected to the photosensitive layer, the other end is connected to the input of the optical signal detection component, and the output of the optical signal detection component is connected to the system analysis component. Specifically, during operation, optical signals passing through the photosensitive layer 3 are transmitted via the optical fiber 4 to the optical signal detection component. The optical signals are processed by the optical signal detection component and converted into electrical signals, which are ultimately sent to the system analysis component for analysis and processing. By comparing the changes in the received electrical signals, the physical changes sensed by the specific change layer 2 can be inferred. The optical fiber 4 can be replaced with any light guide tube. Specifically, using extremely thin optical fibers 4 can reduce the layout thickness to a tolerable range. The optical fibers 4 can be dyed black to prevent side light transmission. One end of the optical fibers 4 is connected to the photosensitive layer 3, and the other end is connected to a camera, allowing the camera to constantly monitor the size and color of the light emitted from the other end of each optical fiber 4.

[0034] In this embodiment, the positioning sensing structure also includes a clustering array 5, which is located between the other end of the optical fiber 4 and the optical signal detection component. The other end of the optical fiber 4 is connected to one end of the clustering array 5, and one end of the clustering array 5 is connected to the input end of the optical signal detection component. In specific applications, multiple positioning sensing structures may include multiple optical fibers 4. The clustering array 5 can bundle the ends of many optical fibers 4 together and number them. This allows users to quickly identify the location of the light, thereby achieving convenient and efficient positioning sensing.

[0035] In this embodiment, the beam array 5 includes a beam structure for realizing the bundling of optical fibers and a beam lens, and the beam lens is located between the other end of the optical fiber and the optical signal detection component. During specific operation, the beam structure can be an adhesive, an array-type fixing bracket, etc., as long as it can bundle the ends (i.e., the other ends) of the optical fibers into an array structure. The main function of the beam lens is to focus, adjust the focus, and converge, and project the optical information of the optical fiber beam array onto the photosensitive chip in the optical signal detection component as required. The setting of the beam array 5 can greatly save the cost of the structure. Only one detection element is needed to process the optical signals of all the optical fibers 4, without requiring one detection element for each optical fiber 4. At the same time, it is also convenient to efficiently and quickly realize the positioning and sensing functions of the structure.

[0036] In this embodiment, the light source layer 1 includes LED lights, floodlight sheets, laser coating sheet lights, fluorescent lights, and flexible cold light sheet lights. That is, the light source layer 1 includes, but is not limited to, LED lights, floodlight sheets, laser coating sheet lights, fluorescent lights, and flexible cold light sheet lights. When the light source layer 1 is an LED light, the LED light itself can provide the light source. During specific operation, the brightness of the LED light can be made constant so that the LED light can continuously emit light and irradiate the light towards the variable layer 2. Thus, the specific positioning and sensing functions are realized. When the light source layer 1 is a floodlight sheet, since the floodlight sheet itself cannot emit light, it can only receive the optical signal in the environment at one end and transmit the optical signal to the variable layer 2 at the other end, thereby indirectly acting as a light source. When the light source 1 is a flexible cold light sheet light, the cold light sheet light can be used as a large-area light source to provide light sources for multiple positions.

[0037] In this embodiment, the variable layer 2 includes a light-transmissive glue layer, a photochromic material, a material that changes color when coming into contact with different materials, and a material that changes color when sensing temperature and humidity changes. That is, the variable layer 2 includes, but is not limited to, a light-transmissive glue layer, a photochromic material, a material that changes color when coming into contact with different materials, and a material that changes color when sensing temperature and humidity changes. When the variable layer 2 is a glue layer, it can be a hydrogel. After being pressed, the thickness of the hydrogel changes or the light-blocking object spreads out, so that on the premise that the optical signal of the light source layer is stable, the light brightness, color, etc. passing through the hydrogel will change, and finally the system analysis component analyzes and encodes through the changes in the brightness, color, etc., to obtain information such as the position and force of the press, so as to realize the functions of positioning and sensing. When the variable layer 2 is a photochromic material, when receiving external disturbances such as pressure, the optical signal received by the photochromic material will change, so that the color of the photochromic material will change, and then the optical signal after passing through the photochromic material will also change in terms of brightness, color, etc. Finally, the system analysis component analyzes and encodes to obtain the position and specific situation of external disturbances such as pressure. When the variable layer 2 is a material that changes color when sensing temperature and humidity changes, after sensing the changes in temperature and humidity, the color of the material will change, so that on the premise that the optical signal of the light source layer 1 is stable, the optical signal passing through the material will change. Finally, the system analysis component analyzes and encodes to obtain the position where the temperature change and humidity are sensed, as well as the specific values of the sensed temperature and humidity. Among them, the variable layer can also be a thumbtack-like hair device. When the hair bends, the position of the thumbtack changes and becomes light-transmissive, so as to locate its position and calculate the amplitude.

[0038] In this embodiment, the photosensitive layer 3 includes a condenser lens, a floodlight sheet, and glass. That is, the photosensitive layer 3 includes, but is not limited to, a condenser lens, a floodlight sheet, and glass. The function of the photosensitive layer 3 is to make the light converge on the same optical plane of the optical fiber, or floodlight onto the optical fiber 4 so that the optical signals on the structures such as the condenser lens and floodlight sheet on the photosensitive layer can all reach the other end through one end of the optical fiber. That is, it mainly collects the light passing through the variable layer and then transmits it to the optical fiber 4.

[0039] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A positioning sensing structure based on optical signal changes, characterized in that: include Light source layer: used to provide light signals; Change layer: used to sense physical or chemical changes and change the light signal after the physical or chemical changes occur; Photosensitive layer: used to receive light signals; The change layer and the photosensitive layer are arranged in sequence, and the light source layer is arranged inside, at the front end or at the rear end of the change layer; The positioning sensing structure further includes an optical fiber, an optical signal detection component for converting optical signals into electrical signals, and a system analysis component for analyzing and encoding the electrical information. One end of the optical fiber is connected to the photosensitive layer, the other end of the optical fiber is connected to the input end of the optical signal detection component, and the output end of the optical signal detection component is connected to the system analysis component. The positioning sensing structure further includes a cluster array, which is located between the other end of the optical fiber and the optical signal detection component. The other end of the optical fiber constitutes the cluster array, and the cluster array is connected to the input end of the optical signal detection component. The clustering array includes a clustering structure and a clustering lens for clustering the optical fibers, wherein the clustering lens is located between the other end of the optical fibers and the optical signal detection assembly; The changing layer includes a press-transmissive adhesive layer, a photochromic material, a material that changes color or transmittance after contacting different materials, a material that changes color after sensing changes in temperature and humidity, or a material that produces a chemical reaction to change the light signal.

2. The positioning sensing structure based on optical signal changes according to claim 1, characterized in that: The photosensitive layer includes a light-collecting lens, a flood film and glass.

3. The positioning sensing structure based on optical signal changes according to claim 2, characterized in that: The positioning sensing structure also includes a fixing structure for installing the light source layer, the changing layer and the photosensitive layer.

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