Tactile sensor, tactile sensor system and program

Abstract

The present invention provides a tactile sensor, which comprises: a transmissive portion, which comprises a first surface capable of contacting a grasped object and a second surface which is the back side of the first surface; a photographing portion, which is capable of photographing an image of an object existing on the first surface side of the transmissive portion from the second surface side; and a reflecting portion, which is arranged on the second surface side of the transmissive portion so as to reflect light from at least a portion of the transmissive portion and guide the light into the photographing field of view of the photographing portion.

Description

Technical Field

[0001] The present invention relates to a tactile sensor, a tactile sensor system and a program. Background Art

[0002] Conventionally, as a method of realizing a touch sensor, there is known a method of detecting an object that comes into contact with the outer surface of a rubber surface layer (for example, refer to Patent Document 1).

[0003] Prior art documents

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Publication No. 2000-288973 Summary of the invention

[0006] Problems to be solved by the present invention

[0007] In the conventional tactile sensor, the imaging optical axis of the imaging unit is parallel to the normal direction of the rubber surface (hereinafter referred to as the contact surface). The imaging unit images the contact surface and detects the gripping state of the object by detecting the displacement of the contact surface when the object contacts the contact surface.

[0008] Here, the size of the tactile sensor may be smaller when the object to be touched is smaller. When miniaturizing the tactile sensor, shortening the distance between the imaging unit that captures the object and the contact surface and miniaturizing the imaging unit itself are issues.

[0009] In the tactile sensor of the prior art, when the distance between the imaging part and the contact surface is to be shortened, a lens with a wide imaging field angle must be used. When a lens with a wide imaging field angle is used, there are problems such as deformation and ensuring the amount of light. In addition, when the imaging part is to be miniaturized, since the miniaturization of the imaging part is accompanied by a decrease in image sensitivity, there is also a limit, and it is impossible to make the tactile sensor smaller than the imaging part. That is, when considering the miniaturization of the tactile sensor, it is difficult to maintain the image quality by shortening the distance between the imaging part and the contact surface, and there is a limit to the miniaturization of the imaging part.

[0010] That is, according to the conventional method, there is a problem that it is not easy to miniaturize the tactile sensor.

[0011] The present invention has been made in view of such circumstances, and an object of the present invention is to provide a tactile sensor, a tactile sensor system, and a program that can be easily miniaturized.

[0012] Means of solving the problem

[0013] A tactile sensor according to one embodiment of the present invention comprises: a transmissive portion having a first surface capable of contacting an object to be grasped and a second surface serving as the back side of the first surface; a photographing portion capable of photographing an image of an object existing on the first surface side of the transmissive portion from the second surface side; and a reflecting portion arranged on the second surface side of the transmissive portion so as to reflect light from at least a portion of the transmissive portion and guide the light into a photographing field of view of the photographing portion.

[0014] In addition, in a tactile sensor according to one embodiment of the present invention, at least a portion of the transparent portion is deformed along the shape of a grasped object in contact with the first surface, and the photographing portion is capable of photographing both an image of the object existing on the first surface side and an image of a mark attached to the transparent portion indicating the deformation of the transparent portion from the second surface side.

[0015] Furthermore, in the touch sensor according to one aspect of the present invention, the imaging unit is arranged so that an imaging optical axis of the imaging unit and a normal line of the second surface of the transmissive unit have an intersection.

[0016] In the touch sensor according to one aspect of the present invention, the reflecting section includes a plurality of reflecting surfaces whose normal lines have different angles with respect to the imaging optical axis of the imaging section.

[0017] In addition, in a tactile sensor of one embodiment of the present invention, the photographing unit photographs both a first image and a second image as images of the transparent portion, the first image being an image of the photographing target area of ​​the transparent portion formed by light that enters without passing through the reflecting portion, and the second image being an image of the photographing target area of ​​the transparent portion formed by light that is reflected by the reflecting portion and incident.

[0018] In addition, in the tactile sense involved in one embodiment of the present invention, the transparent portion has a plurality of regions whose normal lines have different angles with respect to the photographing optical axis of the photographing portion, and the photographing portion can respectively photograph images of the object existing on the first surface side formed by light respectively incident through the plurality of regions of the transparent portion.

[0019] A tactile sensor system according to one embodiment of the present invention includes: the tactile sensor described above; and a detection unit that acquires an image captured by the imaging unit and detects a contact state of an object with respect to the first surface based on the acquired image.

[0020] In addition, one embodiment of the present invention involves a program that executes, on a computer connected to a tactile sensor, an image acquisition step of acquiring an image captured by the imaging unit, and a detection step of detecting a contact state of the object relative to the first surface based on the image acquired by the image acquisition step, wherein the tactile sensor comprises: a transparent portion having a first surface capable of contacting a grasped object and a second surface serving as the back side of the first surface; a photographing portion capable of capturing an image of an object existing on the first surface side of the transparent portion from the second surface side; and a reflecting portion arranged on the second surface side of the transparent portion to reflect and guide light from at least a portion of the transparent portion into a photographing field of view of the photographing portion.

[0021] Effects of the Invention

[0022] According to the present invention, it is possible to provide a tactile sensor, a tactile sensor system, and a program that can be easily miniaturized. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a diagram showing an example of a robot system in an embodiment.

[0024] Figure 2 FIG. 1 is a diagram showing an example of a tactile sensor module in the embodiment.

[0025] Figure 3 It is a diagram showing an example of a cross-sectional view of the touch sensor in the embodiment.

[0026] Figure 4 This is a diagram showing an example of the imageable range of the image pickup unit in the embodiment.

[0027] Figure 5 It is a diagram showing an example of an image captured by the imaging unit in the embodiment.

[0028] Figure 6 This is a diagram showing an example of a cross-sectional view of the touch sensor when a grasped object contacts a contact surface in the embodiment.

[0029] Figure 7 This is a diagram showing an example of an image captured by the tactile sensor when a grasped object contacts a contact surface in the embodiment.

[0030] Figure 8 It is a diagram showing an example of a robot system control unit in the embodiment.

[0031] Fig. 9 It is a diagram showing an example of the operation of the robot system control unit in the embodiment.

[0032] Fig.10It is a diagram showing an example of a cross-sectional view of the touch sensor in the second embodiment.

[0033] Fig.11 This is a diagram showing an example of the imageable range of the image capturing unit in the second embodiment.

[0034] Fig.12 It is a diagram showing an example of a cross-sectional view of a touch sensor according to the third embodiment.

[0035] Fig.13 This is a diagram showing an example of an imageable range of the image capturing unit in the third embodiment.

[0036] Fig.14 It is a diagram showing an example of a cross-sectional view of a touch sensor according to a fourth embodiment.

[0037] Fig.15 It is a diagram showing an example of the imageable range of the image pickup unit in the fourth embodiment.

[0038] Fig.16 It is a diagram showing an example of a cross-sectional view of a touch sensor according to a fifth embodiment.

[0039] Fig.17 This is a diagram showing an example of the imageable range of the image pickup unit in the fifth embodiment. DETAILED DESCRIPTION

[0040] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0041] [Configuration of Robot System 100]

[0042] Figure 1 1 is a diagram showing an example of a robot system 100 in the embodiment. The robot system 100 in the present embodiment grasps an object while detecting a grasping state by contacting the grasped object.

[0043] In the present embodiment, the robot system 100 includes a tactile sensor module 10 , a robot system control unit 90 , a distal end portion 110 , an upper arm portion 120 , a joint portion 130 , a lower arm portion 140 , a main horizontal axis portion 150 , a main vertical axis portion 160 , and a base portion 170 .

[0044] The base portion 170 is a portion connected to the main longitudinal axis portion 160 .

[0045] The main longitudinal axis portion 160 is a portion connecting the main transverse axis portion 150 and the base portion 170. The main longitudinal axis portion 160 is controlled by the robot system controller 90 so that the main transverse axis portion 150 is displaced around the main longitudinal axis portion 160.

[0046] The main transverse axis portion 150 is a portion connecting the lower arm portion 140 and the main longitudinal axis portion 160 . The main transverse axis portion 150 is controlled by the robot system control unit 90 so that the lower arm portion 140 is displaced around the main transverse axis portion 150 .

[0047] The lower arm portion 140 is a portion connecting the joint portion 130 and the main transverse axis portion 150 .

[0048] The joint 130 is a part connecting the upper arm 120 and the lower arm 140. The joint 130 is controlled by the robot system control unit 90 so that the upper arm 120 is displaced around the joint 130.

[0049] The upper arm portion 120 is a portion connecting the distal end portion 110 and the joint portion 130 .

[0050] The tip portion 110 is connected to the touch sensor module 10. The posture (for example, position and direction) of the tip portion 110 is controlled by the robot system control unit 90. The posture of the touch sensor module 10 changes as the posture of the tip portion 110 changes.

[0051] The touch sensor module 10 detects the contact state of the grasped object and outputs information indicating the detected contact state of the grasped object to the robot system control unit 90 .

[0052] The robot system control unit 90 obtains the information output by the tactile sensor module 10 .

[0053] The robot system control unit 90 displaces each part (the front end 110, the upper arm 120, the joint 130, the lower arm 140, the main horizontal axis 150, and the main vertical axis 160) of the robot system 100 through a driving device (not shown), thereby moving the tactile sensor module 10. The robot system control unit 90 controls the robot system 100 based on the information obtained from the tactile sensor module 10.

[0054] Figure 2 1 is a diagram showing an example of a tactile sensor module 10 in an embodiment. The tactile sensor module 10 in this embodiment includes a sensor connection portion 11, a first tactile sensor 1a, and a second tactile sensor 1b. In the following description, the posture of the tactile sensor module 10 is sometimes represented by a three-dimensional rectangular coordinate system of an x-axis, a y-axis, and a z-axis.

[0055] The sensor connection portion 11 is a portion that connects the front end portion 110 to the first touch sensor 1 a and the second touch sensor 1 b .

[0056] The first touch sensor 1a is connected to the sensor connecting portion 11. The first touch sensor 1a includes a first transmission portion contact surface 40a.

[0057] The second touch sensor 1b is connected to the sensor connection portion 11. The second touch sensor 1b includes a second transmission portion contact surface 40b.

[0058] The first tactile sensor 1a and the second tactile sensor 1b are arranged at positions where the first transparent portion contact surface 40a and the second transparent portion contact surface 40b are opposite to each other. The sensor connection part 11 has a driving device (not shown) that displaces the first tactile sensor 1a and the second tactile sensor 1b (or one of these sensors, which are the same in the following description) in the y-axis direction based on an instruction from the robot system control part 90. The tactile sensor module 10 grasps the grasped object located between the first tactile sensor 1a and the second tactile sensor 1b by driving the first tactile sensor 1a and the second tactile sensor 1b in the y-axis direction.

[0059] [Configuration of the Touch Sensor 1]

[0060] Figure 3 FIG. 1 is a diagram showing an example of a cross-sectional view of a touch sensor in an embodiment. Figure 2 The sectional view of the first touch sensor 1a on the xy plane is shown. The direction of the touch sensor module 10 is represented by a three-dimensional rectangular coordinate system of an x-axis, a y-axis, and a z-axis.

[0061] In addition, since the first tactile sensor 1a and the second tactile sensor 1b have the same configuration, the first tactile sensor 1a will be described, and the description of the second tactile sensor 1b will be omitted.

[0062] The first touch sensor 1a includes a first imaging unit 30a, a first reflecting unit 20a, a first transmissive unit 43a, a first mark 45a, a first transmissive unit contact surface 40a, a first transmissive unit non-contact surface 47a, a first hard layer 70a, and a first frame 50a.

[0063] In addition, in other words, the following description will be respectively given as the photographing section 30, the first reflecting section 20a as the reflecting section 20, the first transparent section 43a as the transparent section 43, the first mark 45a as the mark 45, the first transparent section contact surface 40a as the transparent section contact surface 40, the first transparent section non-contact surface 47a as the transparent section non-contact surface 47, the first hard layer 70a as the hard layer 70, and the first frame 50a as the frame 50.

[0064] The frame 50 holds the imaging unit 30 , the reflecting unit 20 , the transmitting unit 43 , and the hard layer 70 .

[0065] The transmissive portion 43 is made of a transparent material that transmits light, and includes a transmissive portion contact surface 40 and a transmissive portion non-contact surface 47. A specific material of the transmissive portion 43 is, for example, a silicone material having a thickness of 2 mm and a transmittance of approximately 94%.

[0066] The transmissive portion contact surface 40 is a surface that can contact the grasped object among the front and back surfaces of the transmissive portion 43. The transmissive portion non-contact surface 47 is a surface that does not contact the grasped object among the front and back surfaces of the transmissive portion 43.

[0067] In the following description, the surface of the transparent portion 43 that can contact the grasped object (i.e., the transparent portion contact surface 40) is also referred to as the front surface or the first surface, and the surface that does not contact the grasped object (i.e., the transparent portion non-contact surface 47) is also referred to as the back surface or the second surface. That is, the transparent portion 43 includes the transparent portion contact surface 40 as the contact surface that can contact the grasped object, and the transparent portion non-contact surface 47 as the back surface of the contact surface and the non-contact surface that does not contact the grasped object.

[0068] In addition, the transmissive portion 43 is made of a transparent material. In this example, at least a portion of the transmissive portion 43 is deformed along the shape of the grasped object that contacts the transmissive portion contact surface 40 as a contact surface.

[0069] A plurality of marks 45 are arranged at predetermined positions of the transparent portion 43. In one example of the present embodiment, the marks 45 refer to opaque components arranged at the positions of the grid points divided at equal intervals inside the transparent portion 43. In addition, the marks 45 are arranged inside the transparent portion 43, but are not limited to this, and may also be set on the transparent portion contact surface 40, and may also be set on the transparent portion non-contact surface 47. In addition, the case where the marks 45 are discretely arranged at the positions of the grid points is described, but is not limited to this. The marks 45 may also be a grid pattern or other continuous patterns. In addition, the pattern of the marks 45 may also be an irregular pattern to facilitate detection of the gripping condition of the gripped object. The marks 45 are described as opaque components, but are not limited to this, and may also be translucent components or transparent components as long as the displacement of the gripped object when in contact can be optically identified.

[0070] The hard layer 70 is provided at a position in contact with the transmission portion non-contact surface 47 of the transmission portion 43. The hard layer 70 is made of a transparent and hard material such as acrylic resin. The hard layer 70 restricts the amount of deformation of the transmission portion 43 when the grasped object is grasped.

[0071] In addition, in this embodiment, the transmissive portion 43 and the hard layer 70 are described as independent components. However, the hard layer 70 may be omitted as long as the deformation amount of the transmissive portion 43 when the grasped object is grasped is within a predetermined range.

[0072] The reflecting unit 20 includes a reflecting surface such as a mirror that reflects light. The reflecting surface is disposed on the non-contact surface side of the transmitting unit 43. The reflecting unit 20 reflects the light that has passed through the transmitting unit 43 and guides the reflected light to the imaging unit 30.

[0073] The reflecting portion 20 reflects light from at least a portion of the transmissive portion 43. That is, the reflecting portion 20 is disposed on the non-contact surface (e.g., the transmissive portion non-contact surface 47) side of the transmissive portion 43, reflects light from at least a portion of the transmissive portion 43 and guides it into the imaging field of view of the imaging portion 30.

[0074] The imaging unit 30 is arranged on the side of the non-contact surface 47 of the transmissive unit 43. More specifically, the imaging unit 30 is arranged so that the imaging optical axis OA of the imaging unit 30 and the normal line N41 of the non-contact surface 47 of the transmissive unit 43 intersect (the imaging optical axis OA and the normal line N41 are not parallel).

[0075] The imaging unit 30 captures an image within the imaging field angle centered on the imaging optical axis OA and outputs the imaging result as image information. The imaging unit 30 can capture an image of an object existing on the transmissive portion contact surface 40 side of the transmissive portion 43 from the transmissive portion non-contact surface 47 side.

[0076] Here, the light transmitted through the transmissive portion 43 includes an image of an object existing on the transmissive portion contact surface 40 side of the transmissive portion 43. In addition, the light transmitted through the transmissive portion 43 includes an image of the mark 45 disposed on the transmissive portion 43 (i.e., an image of the transmissive portion 43 or an image of the transmissive portion). That is, the imaging unit 30 can capture both an image of an object existing on the transmissive portion contact surface 40 side of the transmissive portion 43 as a contact surface side and an image of the mark added to the transmissive portion 43 indicating the deformation of the transmissive portion 43 from the transmissive portion non-contact surface 47 side as a non-contact surface side.

[0077] In addition, the imageable range of the imaging unit 30 includes an image formed by light that passes through the transmissive unit 43 and is reflected by the reflecting unit 20, and an image formed by light that passes through the transmissive unit 43 and directly reaches the imaging unit 30 without passing through the reflecting unit 20. In the following description, an image formed by light that passes through the transmissive unit 43 and directly reaches the imaging unit 30 without passing through the reflecting unit 20 is also referred to as a direct image. In addition, an image formed by light that passes through the transmissive unit 43 and is reflected by the reflecting unit 20 is also referred to as a reflected image. Figure 4 and Figure 5 The imageable range of the image capturing unit 30 will be described.

[0078] [Imageable Range of Image Capture Unit 30]

[0079] Figure 41 is a diagram showing an example of an imageable range of the image pickup unit 30 in the embodiment. The image pickup range of the image pickup unit 30 included in the touch sensor 1 will be described.

[0080] In this example, the imageable range of the image capturing unit 30 is determined by the geometrical relationship between the field angle A10 of the image capturing unit 30 and the arrangement of the reflecting unit 20. The imageable range of the image capturing unit 30 includes an area where a direct image can be captured and an area where a reflected image can be captured.

[0081] For example, when the incident angle of light entering the reflecting portion 20 from the transmission portion contact surface 40 side is the first incident angle IA10 , the light entering the reflecting portion 20 is emitted in the direction of the first reflection angle RA10 .

[0082] When the incident angle of the light entering the reflecting portion 20 from the transmission portion contact surface 40 side is the second incident angle IA20 , the light entering the reflecting portion 20 is emitted in the direction of the second reflection angle RA20 .

[0083] When the incident angle of light entering the reflecting portion 20 from the transmission portion contact surface 40 side is the third incident angle IA30, the light entering the reflecting portion 20 is emitted in the direction of the third reflection angle RA30 (in this example, the imaging optical axis OA).

[0084] When an image formed by the light emitted from the reflecting section 20 (ie, a reflected image) is included in the viewing angle A10 , the imaging section 30 can image the light emitted from the reflecting section 20 .

[0085] The first imaging range AR1 is a range in which the imaging unit 30 can capture a direct image, and is a range in which the imaging unit 30 cannot capture a reflected image.

[0086] The second imaging range AR2 is a range in which the imaging unit 30 can capture both a direct image and a reflected image.

[0087] The third imaging range AR3 is a range in which the imaging unit 30 cannot capture a direct image, and is a range in which the imaging unit 30 can capture a reflected image.

[0088] Figure 5 : is a diagram showing an example of a captured image of the imaging unit 30 in the embodiment. The captured image P includes a direct view captured image R and a reflected view captured image M as image components. The captured image P is composed of x c Axis and y c The x-axis is represented by a two-dimensional orthogonal coordinate system. c y c Plane representation Figure 4 The image plane of the yz plane is captured in .

[0089] The directly-viewed imaged mark RM is an image obtained by the image capturing unit 30 capturing a direct image of the mark 45 .

[0090] The reflected-view photographed mark MM is an image obtained by the imaging unit 30 capturing a reflected image of the mark 45 .

[0091] Below, refer to Figure 4 and Figure 5 , the first object OB1 to the third object OB3 are taken as an example for explanation.

[0092] In this example, the first object OB1 exists in the first imaging range AR1. In this case, the imaging unit 30 can capture a direct image of the first object OB1, but cannot capture a reflected image of the first object OB1.

[0093] The second object OB2 exists in the second imaging range AR2. In this case, the imaging unit 30 can capture a direct image and a reflected image of the second object OB2.

[0094] The third object OB3 exists in the third imaging range AR3. In this case, the imaging unit 30 cannot capture a direct image of the third object OB3 but can capture a reflected image of the third object OB3.

[0095] The shooting unit 30 shoots both the first image and the second image as images of the transmissive unit 43, wherein the first image is an image of the shooting object area of ​​the transmissive unit 43 formed by light that is incident without passing through the reflecting unit 20, and the second image is an image of the shooting object area of ​​the transmissive unit 43 formed by light that is reflected and incident from the reflecting unit 20.

[0096] That is, the imaging unit 30 can simultaneously capture the direct-view image R and the reflected-view image M.

[0097] [When the Gripped Object Contacts the Transmittable Section Contact Surface 40]

[0098] Figure 6 1 and 2 are diagrams showing an example of a cross-sectional view of the touch sensor when a grasped object contacts the contact surface in the embodiment. As an example, a case where the object OB4 contacts the transmissive portion contact surface 40 will be described.

[0099] In this example, the object OB4 as the grasped object contacts the transparent portion contact surface 40. The range in which the object OB4 contacts the transparent portion contact surface 40 is defined as the object detection range ODA. Before and after the object contacts the transparent portion contact surface 40, the mark 45 located in the object detection range ODA is displaced. The imaging unit 30 captures the mark 45 in the object detection range ODA in a time series.

[0100] In this example, the object OB4 exists at a position that straddles the second imaging range AR2 and the third imaging range AR3. Therefore, both direct viewing and reflected viewing are possible.

[0101] Figure 7 1 is a diagram showing an example of an image captured by the touch sensor when a grasped object contacts a contact surface in the embodiment. The captured image P includes a direct view captured image R and a reflected view captured image M as image components. The figure shows a captured image P when the object OB4 contacts the transparent portion contact surface 40.

[0102] The direct view image capture mark RM is captured in the direct view image R. Here, the direct view object detection range RODA is a range captured as the direct view image R in the object detection range ODA.

[0103] The reflection view photographed mark MM is photographed in the reflection view photographed image M. Here, the reflection view object detection range MODA is a range photographed as the reflection view photographed image M in the object detection range ODA.

[0104] Here, the direct image of the marker 45 will be described by comparing the position of the marker 45 before the contact of the object OB4 and the position of the marker 45 after the contact of the object OB4 .

[0105] The pre-contact direct-view mark image RMB is the direct-view captured mark RM before the object OB4 comes into contact with the transmissive portion contact surface 40 in the direct-view object detection range RODA.

[0106] The post-contact direct-view mark image RMA is the direct-view captured mark RM after the object OB4 has come into contact with the transmissive portion contact surface 40 in the direct-view object detection range RODA.

[0107] Here, the difference in the position of the marker 45 in the image due to the time change is represented by the marker vector. As shown in the figure, the difference in the position in the image occurs between the direct view marker image RMB before contact and the direct view marker image RMA after contact. The direct view marker vector RAR represents the difference between the direct view marker image RMB before contact and the direct view marker image RMA after contact. The robot system 100 can detect the gripping state of the object OB4 by obtaining the direct view marker vector RAR.

[0108] In addition, similarly to the direct image, the reflected image of the marker 45 can also be represented by a marker vector indicating the difference in position of the marker 45 in the image due to time change. That is, as shown in the figure, a difference in position in the image occurs between the reflected-view marker image MMB before contact and the reflected-view marker image MMA after contact. The reflected-view marker vector MAR indicates the difference between the reflected-view marker image MMB before contact and the reflected-view marker image MMA after contact. The robot system 100 can detect the gripping state of the object OB4 by obtaining the reflected-view marker vector MAR.

[0109] [When the Gripped Object Contacts the Transmittable Section Contact Surface 40]

[0110] Figure 8 It is a diagram showing an example of the robot system control unit 90 in the embodiment.

[0111] The robot system control unit 90 includes a robot control unit 91 , an input unit 92 , an output unit 93 , and a gripping state detection unit 80 .

[0112] The robot control unit 91 includes a microcomputer (all not shown), memories such as RAM (Random Access Memory) and ROM (Read Only Memory), and a communication unit for communicating with external devices.

[0113] The input unit 92 acquires information from sensors such as a pressure sensor, a position sensor, a temperature sensor, and an acceleration sensor, a camera, a microphone (none of which are shown), and the like.

[0114] The output unit 93 outputs a driving signal to a motor (not shown) or the like for driving the robot (not shown).

[0115] The grip state detection section 80 includes an image acquisition section 81 , an image processing section 82 , a control section 83 , and a reference state storage section 84 .

[0116] In the robot system 100 , the gripping state detection unit 80 as a detection unit acquires the image captured by the imaging unit 30 , and detects the contact state of the object with respect to the transparent portion contact surface 40 based on the acquired image.

[0117] The gripping state detection unit 80 provides the detected gripping state to the robot control unit 91 .

[0118] The image acquisition unit 81 acquires information of the image captured by the imaging unit 30. The image acquisition unit 81 supplies the image captured by the imaging unit 30 to the image processing unit 82.

[0119] In this example, the image acquired by the imaging unit 30 is described as a still image, but the information acquired by the imaging unit 30 may be a moving image.

[0120] The image processing unit 82 acquires an image from the image acquisition unit 81. The image processing unit 82 performs a process of detecting the position of the mark 45 based on the acquired image.

[0121] The reference state storage unit 84 stores the position information of the mark 45 in the state where the object is not detected, that is, the reference position information. That is, the reference state storage unit 84 stores the reference position information of the direct view shooting mark RM in which the mark 45 is shot in the direct view shooting image R, and the reference position information of the reflected view shooting mark MM in which the mark 45 is shot in the reflected view shooting image M.

[0122] The control unit 83 obtains the reference position information of the direct view imaging mark RM, the reference position information of the reflected view imaging mark MM, and the detection result of the position of the mark 45 from the image processing unit 82. The detection result of the position of the mark 45 includes the position information of the direct view imaging mark RM and the position information of the reflected view imaging mark MM.

[0123] In addition, the control unit 83 obtains the reference position information of the direct view shooting mark RM and the reference position information of the reflected view shooting mark MM from the reference state storage unit 84. The control unit 83 obtains the displacement of the direct view shooting mark RM (for example, the direct view mark vector RAR) based on the position information of the direct view shooting mark RM represented by the captured image P and the reference position information of the direct view shooting mark RM obtained from the reference state storage unit 84. In addition, the control unit 83 obtains the displacement of the reflected view shooting mark MM (for example, the reflected view mark vector MAR) based on the position information of the reflected view shooting mark MM represented by the captured image P and the reference position information of the reflected view shooting mark MM obtained from the reference state storage unit 84.

[0124] The control unit 83 outputs the displacement information of the marker 45 to the robot control unit 91. The displacement information of the marker 45 indicates the gripping state of the gripping object. That is, the control unit 83 detects the gripping state of the gripping object.

[0125] Alternatively, the control unit 83 may determine that the object is in contact with the transmissive portion contact surface 40 when the displacement amount of the marker 45 exceeds a predetermined value.

[0126] In addition, the control unit 83 may be such that the image acquisition unit 81 outputs the image captured by the imaging unit 30 to the robot control unit 91. The image captured by the imaging unit 30 includes an image of an object existing on the transparent portion contact surface 40 side of the transparent portion 43. That is, the image captured by the imaging unit 30 includes an image of the external environment that can be observed through the transparent portion 43. According to the gripping state detection unit 80 configured in this way, regardless of whether the object is in contact with the transparent portion contact surface 40, the robot control unit 91 can grasp the situation around the transparent portion contact surface 40.

[0127] Fig. 9 1 is a diagram showing an example of the operation of the robot system control unit 90 in the embodiment. Fig. 9 An example of the operation of the robot system control unit 90 will be described.

[0128] (Step S10) The image acquisition unit 81 acquires information of the image captured by the imaging unit 30. The image acquisition unit 81 supplies the image acquired by the imaging unit 30 to the image processing unit 82.

[0129] (Step S20) The image processing unit 82 acquires an image from the image acquisition unit 81. The image processing unit 82 processes the acquired image. The image processing unit 82 recognizes the range of the direct view image R and the range of the reflected view image M of the captured image P. The image processing unit 82 provides the position information of the direct view image marker RM existing in the range of the direct view image R, the position information of the reflected view image marker MM existing in the range of the reflected view image M, and the captured image P to the control unit 83. The control unit 83 acquires the position information of the direct view image marker RM, the position information of the reflected view image marker MM, and the captured image P from the image processing unit 82. In addition, the control unit 83 acquires the position information of the direct view image marker RM and the position information of the reflected view image marker MM in the state where the object is not detected from the reference state storage unit 84. The control unit 83 compares the position information of the direct view image marker RM and the position information of the reflected view image marker MM acquired from the image processing unit 82 with the position information of the direct view image marker RM and the position information of the reflected view image marker MM acquired from the reference state storage unit 84.

[0130] (Step S30) If there is a difference in the comparison result (step S30: Yes), the control unit 83 determines that the object is in contact with the transmissive portion contact surface 40, and the process proceeds to step S40. If there is no difference in the comparison result (step S30: No), the control unit 83 determines that the object is not in contact with the transmissive portion contact surface 40, and the process proceeds to step S10.

[0131] (Step S40) The control unit 83 notifies the robot control unit 91 of the gripping state. Specifically, the control unit 83 notifies the robot control unit 91 of the displacement information of the direct view imaging mark RM and the reflected view imaging mark MM. In addition, the control unit 83 simultaneously provides the robot control unit 91 with the imaging image P when the displacement is detected.

[0132] [Second embodiment]

[0133] Fig.10 It is a diagram showing an example of a cross-sectional view of the touch sensor in the second embodiment.

[0134] In the above-described embodiment, the reflection part 20 is described as a single plane. The second embodiment is different from the above-described embodiment in that the reflection part 20 has a plurality of different angles.

[0135] In the second embodiment, the touch sensor 1 includes a plurality of reflection parts 20 having different angles. In this example, the touch sensor 1 includes a first angle reflection part 21 and a second angle reflection part 22. (Hereinafter, in this embodiment, when the first angle reflection part 21 and the second angle reflection part 22 are not distinguished, the reflection part 20 is referred to as the reflection part)

[0136] The normal line N21 is a normal line of the first angle reflecting portion 21 .

[0137] The normal line N22 is the normal line of the second angle reflecting portion 22 .

[0138] Here, the normal line N21 and the normal line N22 intersect at the intersection IP. That is, the touch sensor 1 includes a plurality of reflection surfaces whose normal lines have different angles with respect to the imaging optical axis OA of the imaging unit 30 .

[0139] In the second embodiment, the touch sensor 1 includes a plurality of reflection parts 20 having different angles from each other. Thus, even when the imaging unit 30 has the same viewing angle A10 as that of the first embodiment, a wider range can be observed.

[0140] In addition, in this example, the reflector 20 is composed of a plurality of reflectors (a first angle reflector 21 and a second angle reflector 22) having different angles. These reflectors may also be composed of different reflector components. In addition, a reflector having the same effect may be formed by forming a plurality of reflectors having different angles on one reflector component.

[0141] Fig.111 is a diagram showing an example of the capture range of the capture unit 30 in the second embodiment. In the second embodiment, the captured image P includes a direct view captured image R, a reflected view captured image M1 corresponding to the first angle reflection unit 21, and a reflected view captured image M2 corresponding to the second angle reflection unit 22 as components of the image. (Hereinafter, in this embodiment, the reflected view captured image M1 corresponding to the first angle reflection unit 21 and the reflected view captured image M2 corresponding to the second angle reflection unit 22 are referred to as the reflected view captured image M.)

[0142] Similar to the first embodiment, a direct view photographed mark RM is photographed in the direct view photographed image R. Also, in the reflected view photographed image M, a reflected view photographed mark MM is photographed.

[0143] The imaging unit 30 detects the gripping state by observing the direct view imaging mark RM and the reflected view imaging mark MM.

[0144] [Third Embodiment]

[0145] Fig.12 This is a diagram showing an example of a cross-sectional view of a touch sensor in accordance with the third embodiment.

[0146] In the above-described embodiment, the transmission portion contact surface 40 is described as a flat surface. The third embodiment is different from the above-described embodiment in that the transmission portion contact surface 40 has a plurality of different angles (that is, has a curved surface).

[0147] In the third embodiment, the touch sensor 1 includes a plurality of transparent portion contact surfaces 40 having different angles. In this example, the touch sensor 1 includes a first angle transparent portion contact surface 41 and a second angle transparent portion contact surface 42. (Hereinafter, in this embodiment, when the first angle transparent portion contact surface 41 and the second angle transparent portion contact surface 42 are not distinguished, the transparent portion contact surface 40 is referred to.)

[0148] The normal line N41 is a normal line of the first angle transmission portion contact surface 41 .

[0149] The normal line N42 is a normal line of the second angle transmission portion contact surface 42 .

[0150] Here, the normal line N41 and the normal line N42 intersect at the intersection IP. That is, the transmissive portion 43 includes a plurality of regions whose normal lines have different angles with respect to the imaging optical axis OA of the imaging portion 30. The imaging portion 30 can capture images of an object existing on the transmissive portion contact surface 40 side formed by light incident through the plurality of regions of the transmissive portion 43, respectively.

[0151] In the third embodiment, the tactile sensor 1 has a plurality of transparent contact surfaces 40 having different angles, thereby enabling observation of a wider range even when the photographing unit 30 is the same field of view angle A10 as in the first embodiment. In particular, in the third embodiment, by providing a second angle transparent contact surface 42, observation of a wider range relative to the x-axis direction is enabled. Therefore, when the robot system control unit 90 moves the position of the tactile sensor module 10 in the x-axis direction, the image captured by the photographing unit 30 of the tactile sensor 1 can detect in advance a collision with an object located in the traveling direction.

[0152] That is, in the third embodiment, the touch sensor 1 detects an object existing in the advancing direction by including the second angle transmission portion contact surface 42. Therefore, the touch sensor 1 can avoid collision with an object existing in the advancing direction.

[0153] Fig.13 1 is a diagram showing an example of the photographable range of the photographing unit 30 in the third embodiment. In the third embodiment, the photographed image P includes, as constituent elements of the image, a direct view photographed image R1 corresponding to the first angle transmission portion contact surface 41, a direct view photographed image R2 corresponding to the second angle transmission portion contact surface 42, and a reflected view photographed image M. (Hereinafter, in this embodiment, when the direct view photographed image R1 corresponding to the first angle transmission portion contact surface 41 and the direct view photographed image R2 corresponding to the second angle transmission portion contact surface 42 are not distinguished, the direct view photographed image R is referred to.)

[0154] Similar to the first embodiment, a direct view photographed mark RM is photographed in the direct view photographed image R. Also, in the reflected view photographed image M, a reflected view photographed mark MM is photographed.

[0155] The imaging unit 30 detects the gripping state by observing the direct view imaging mark RM and the reflected view imaging mark MM.

[0156] [Fourth Embodiment]

[0157] Fig.14 This is a diagram showing an example of a cross-sectional view of a touch sensor in a fourth embodiment.

[0158] In the second embodiment described above, an embodiment in which the reflective portion 20 has a plurality of different angles is described. In addition, in the third embodiment described above, an embodiment in which the transmissive portion contact surface 40 has a plurality of different angles is described. The fourth embodiment is different from the above embodiments in that the reflective portion 20 has a plurality of different angles and the transmissive portion contact surface 40 has a plurality of different angles.

[0159] In the fourth embodiment, the touch sensor 1 includes a plurality of reflective portions 20 having different angles. In addition, the touch sensor 1 includes a plurality of transmissive portion contact surfaces 40 having different angles. In this example, the touch sensor 1 includes a first angle reflective portion 21, a second angle reflective portion 22, a first angle transmissive portion contact surface 41, and a second angle transmissive portion contact surface 42. (Hereinafter, in this embodiment, when the first angle reflective portion 21 and the second angle reflective portion 22 are not distinguished, the reflective portion 20 is referred to. In addition, when the first angle transmissive portion contact surface 41 and the second angle transmissive portion contact surface 42 are not distinguished, the transmissive portion contact surface 40 is referred to.)

[0160] In the fourth embodiment, the tactile sensor 1 has a plurality of reflective portions 20 having different angles from each other, thereby enabling a wider range to be observed even when the photographing portion 30 is at the same field of view angle A10 as in the first embodiment. In addition, in this example, the tactile sensor 1 has a plurality of transparent portion contact surfaces 40 having different angles from each other, thereby enabling a wider range to be observed even when the photographing portion 30 is at the same field of view angle A10 as in the first embodiment. In particular, in the fourth embodiment, by providing a second angle transparent portion contact surface 42, observation can be made even in the x-axis direction. Therefore, when the robot system control unit 90 moves the position of the tactile sensor module 10 in the x-axis direction, the image captured by the photographing portion 30 of the tactile sensor 1 can detect in advance a collision with an object located in the direction of travel.

[0161] Fig.15 : is a diagram showing an example of the photographable range of the photographing unit 30 in the fourth embodiment. In the fourth embodiment, the photographed image P has as constituent elements of the image a direct view photographed image R1 corresponding to the first angle transmission portion contact surface 41, a direct view photographed image R2 corresponding to the second angle transmission portion contact surface 42, a reflected view photographed image M1 corresponding to the first angle reflection portion 21, and a reflected view photographed image M2 corresponding to the second angle reflection portion 22. (Hereinafter, in this embodiment, when the direct view photographed image R1 corresponding to the first angle transmission portion contact surface 41 and the direct view photographed image R2 corresponding to the second angle transmission portion contact surface 42 are not distinguished, the direct view photographed image R is referred to. In addition, when the reflected view photographed image M1 corresponding to the first angle reflection portion 21 and the reflected view photographed image M2 corresponding to the second angle reflection portion 22 are not distinguished, the reflected view photographed image M is referred to.)

[0162] Similar to the first embodiment, a direct view photographed mark RM is photographed in the direct view photographed image R. Also, in the reflected view photographed image M, a reflected view photographed mark MM is photographed.

[0163] The imaging unit 30 detects the gripping state by observing the direct view imaging mark RM and the reflected view imaging mark MM.

[0164] [Fifth Embodiment]

[0165] Fig.16 It is a diagram showing an example of a cross-sectional view of a touch sensor according to a fifth embodiment.

[0166] In the above-mentioned embodiment, the transmission portion contact surface 40 is described as a flat surface. In addition, in the above-mentioned third embodiment and fourth embodiment, the transmission portion contact surface 40 has a plurality of different angles. In particular, although the transmission portion contact surface 40 has a plurality of angles only in the x-axis direction, the fifth embodiment is different from the third embodiment and fourth embodiment in that the transmission portion contact surface 40 also has a plurality of angles in the z-axis direction.

[0167] In the fifth embodiment, the touch sensor 1 includes a plurality of transparent portion contact surfaces 40 having different angles. In the third and fourth embodiments, the transparent portion contact surface 40 has a plurality of different angles relative to the x-axis direction. In the fifth embodiment, the transparent portion contact surface 40 also has a plurality of different angles relative to the z-axis direction.

[0168] The touch sensor 1 includes a plurality of reflection parts 20. In this example, the touch sensor 1 includes a first angle reflection part 21 and a second angle reflection part 22. (Hereinafter, in this embodiment, when the first angle reflection part 21 and the second angle reflection part 22 are not distinguished, they are referred to as the reflection part 20)

[0169] The touch sensor 1 includes a plurality of transmissive portion contact surfaces 40 having different angles. In this example, the touch sensor 1 includes a first-angle transmissive portion contact surface 41 and a second-angle transmissive portion contact surface 42 .

[0170] In addition, the first angle transmission part contact surface 41 has a first angle transmission part contact surface 41S with different angles in the z-axis direction. The second angle transmission part contact surface 42 has a second angle transmission part contact surface 42S with different angles in the z-axis direction. (Hereinafter, in this embodiment, when the first angle transmission part contact surface 41, the second angle transmission part contact surface 42, the first angle transmission part contact surface 41S, and the second angle transmission part contact surface 42S are not distinguished, they are referred to as the transmission part contact surface 40)

[0171] In the fifth embodiment, the touch sensor 1 has a plurality of transparent contact surfaces 40S with different angles relative to the z-axis direction, so that a wider range can be observed even with respect to the z-axis direction. When the robot system control unit 90 moves the position of the touch sensor module 10 in the z-axis direction, the image captured by the imaging unit 30 of the touch sensor 1 can detect in advance the collision with the object located in the traveling direction.

[0172] That is, in the fifth embodiment, the touch sensor 1 can avoid collision.

[0173] Fig.17 : is a diagram showing an example of the photographable range of the photographing unit 30 in the fifth embodiment. In the fifth embodiment, the photographed image P has as image constituent elements a direct view photographed image R1 corresponding to the first angle transmission portion contact surface 41, a direct view photographed image RS1 corresponding to the first angle transmission portion contact surface 41S, a direct view photographed image R2 corresponding to the second angle transmission portion contact surface 42, a direct view photographed image RS2 corresponding to the second angle transmission portion contact surface 42S, a reflected view photographed image M1 corresponding to the first angle reflection portion 21, and a reflected view photographed image M2 corresponding to the second angle reflection portion 22. (Hereinafter, in this embodiment, when the direct view photographed image R1, the direct view photographed image R2, the direct view photographed image RS1, and the direct view photographed image RS2 are not distinguished, the direct view photographed image R is referred to. In addition, when the reflected view photographed image M1 corresponding to the first angle reflection portion 21 and the reflected view photographed image M2 corresponding to the second angle reflection portion 22 are not distinguished, the reflected view photographed image M is referred to.)

[0174] The reflected-view captured image M1 includes MS1 of the reflective-transmissive portion contact surface 40S.

[0175] The reflected view captured image M2 includes MS2 of the reflective transmissive portion contact surface 40S.

[0176] Similar to the first embodiment, a direct view photographing mark RM is photographed in the direct view photographing image R. Also, a reflected view photographing mark MM is photographed in the reflected view photographing image M.

[0177] The imaging unit 30 detects the gripping state by observing the direct view imaging mark RM and the reflected view imaging mark MM.

[0178] In addition, the above-mentioned tactile sensor module 10 and the grip state detection unit 80 are also collectively referred to as a tactile sensor system.

[0179] [Summary of Effects of Embodiments]

[0180] As described above, the touch sensor 1 of this embodiment can detect the gripping state by observing the transparent transmission portion 43 deformed along the shape of the gripping object in contact with the contact surface. The touch sensor 1 includes a reflection portion 20, and can observe outside the range of the field of view A10 of the imaging portion 30 by observing the direct view image R and the reflected view image M.

[0181] Here, according to an example of a conventional tactile sensor, the photographing unit is arranged perpendicularly to the transmissive unit, and further, the reflective unit is not provided. Therefore, in order to miniaturize the tactile sensor, it is necessary to use a photographing unit with a wide field of view angle to shorten the distance between the photographing unit and the transmissive unit, or to miniaturize the photographing unit itself. If the field of view angle of the photographing unit is made wider or the photographing unit is miniaturized, there is a problem that the photographing quality is reduced and the detection accuracy of the object holding state is reduced. That is, in the conventional method, there is a problem that miniaturization is not easy.

[0182] According to the touch sensor 1 of the present embodiment, in addition to directly observing the transmissive portion 43, the transmissive portion 43 can also be observed through the reflecting portion 20. Therefore, it is not necessary to arrange the imaging unit at a position where the transmissive portion 43 is imaged by direct vision (a position where the imaging optical axis of the imaging unit is parallel to the normal direction of the transmissive portion). In addition, according to the touch sensor 1 of the present embodiment, since the method of observing the transmissive portion 43 through the reflecting portion 20 is used in addition to directly observing the transmissive portion 43, a wider range of imaging can be performed, and therefore, the touch sensor 1 can be configured without widening the angle of the imaging unit 30 or miniaturizing the imaging unit 30.

[0183] That is, according to the touch sensor 1 of the present embodiment, miniaturization can be easily achieved.

[0184] In addition, according to another example of the conventional tactile sensor, there is a tactile sensor that does not include the transparent portion 43 and the imaging unit cannot image the grasped object. According to this other example of the conventional tactile sensor, there is a problem that the imaging unit cannot detect the grasped object even if it slips while being grasped.

[0185] According to the touch sensor 1 of the present embodiment, since the transparent portion 43 is provided, the imaging unit 30 can detect that the gripping state of the gripping object has slipped by directly observing the gripping object.

[0186] That is, according to the tactile sensor 1 of this embodiment, the imaging unit 30 can observe the transparent portion 43 through the reflecting unit 20 in addition to directly observing the transparent portion 43, thereby performing imaging in a wider range. Furthermore, the imaging unit 30 can detect that the gripping state of the gripping object has slipped by directly observing the gripping object.

[0187] Furthermore, according to the above-described embodiment, the imaging section 30 is arranged so that the imaging optical axis OA of the imaging section 30 and the normal line of the transmission section non-contact surface 47 of the transmission section 43 have an intersection.

[0188] Conventionally, the imaging unit 30 is disposed at a position where the imaging optical axis OA of the imaging unit 30 is parallel to the normal line of the transmissive non-contact surface 47 of the transmissive unit 43 . Therefore, the size of the touch sensor 1 depends on the size of the imaging unit 30 .

[0189] However, according to the above-described embodiment, the imaging section 30 can be provided so that the imaging optical axis OA of the imaging section 30 and the normal line of the transmission section non-contact surface 47 of the transmission section 43 have an intersection.

[0190] That is, according to the touch sensor 1 of the present embodiment, miniaturization can be easily achieved.

[0191] In addition, according to the above-mentioned embodiment, the reflection unit 20 has a plurality of reflection surfaces with different normal angles. Therefore, the imaging unit 30 provides a field of view that narrows the range that can be observed intentionally. The tactile sensor 1 observes the grasped object through the plurality of reflection surfaces, and can limit the range in which the grasped object exists in the three-dimensional space.

[0192] Therefore, the tactile sensor 1 can determine that the grasped object exists in a further limited three-dimensional space, thereby being able to detect a more accurate grasping state. In addition, by correctly grasping the three-dimensional space, the robot system 100 can more quickly find the grasped object when driving the tactile sensor 1 to approach the grasped object.

[0193] Furthermore, according to the above-described embodiment, the transmissive portion 43 includes a plurality of regions whose normal lines have different angles with respect to the imaging optical axis OA of the imaging portion 30, and the imaging portion 30 can capture images of the object existing on the transmissive portion contact surface 40 side incident respectively through the plurality of regions of the transmissive portion 43. The tactile sensor 1 can more accurately grasp the grasped object by observing the grasped object using direct vision and reflected vision.

[0194] That is, according to the above-described embodiment, the touch sensor 1 can detect a more accurate gripping state.

[0195] Furthermore, according to the above-described embodiment, the transmissive portion 43 includes a plurality of regions whose normal lines have different angles with respect to the imaging optical axis OA of the imaging portion 30. The imaging portion 30 can capture images of objects existing on the transmissive portion contact surface 40 side that are incident through the plurality of regions of the transmissive portion 43. Therefore, compared with a case where the transmissive portion 43 is a flat surface, the imaging portion 30 can capture images of a wider range by direct vision.

[0196] That is, when the robot system control unit 90 moves the position of the touch sensor module 10, the touch sensor 1 can detect the image of the object. Therefore, the touch sensor 1 in the above-mentioned embodiment can avoid collision.

[0197] Furthermore, according to the above-described embodiment, the grip state detection unit 80 acquires the image captured by the imaging unit 30 and detects the contact state of the object with respect to the contact surface based on the acquired image.

[0198] That is, the robot system 100 can detect the gripping state of the object by including the gripping state detection unit 80 .

[0199] The gripping state detection unit 80 provides information to the robot control unit 91 , so that the robot control unit 91 can control the robot system 100 .

[0200] As mentioned above, although the form for implementing this invention was demonstrated using embodiment, this invention is not limited to such embodiment at all, Various deformation|transformation and substitution can be added in the range which does not deviate from the summary of this invention.

[0201] Description of Reference Numerals

[0202] 1…tactile sensor, 10…tactile sensor module, 11…sensor connection part, 100…robot system, 110…front end part, 120…upper arm part, 130…joint part, 140…lower arm part, 150…main horizontal axis part, 160…main vertical axis part, 170…base part, 90…robot system control part, 20…reflection part, 30…shooting part, 40…transmitting part contact surface, 47…transmitting part non-contact surface, 43…transmitting part, 45…marker, 50…frame, 70…hard layer, 91…robot control part, 92…input part, 93…output part, 80…gripping state detection part, 81…image acquisition part, 82… Image processing unit, 83…control unit, 84…reference state storage unit, A10…field of view angle, OA…shooting optical axis, IA10…first incident angle, RA10…first reflection angle, IA20…second incident angle, RA20…second reflection angle, IA30…third incident angle, RA30…third reflection angle, AR1…first shooting range, AR2…second shooting range, AR3…third shooting range, OB1…first object, OB2…second object, OB3…third object, RM…direct view shooting mark, MM…reflection view shooting mark, R…direct view shooting image, M…reflection view shooting image, P…shooting image.

Claims

1. A tactile sensor system, comprising: two tactile sensors; and a detection unit that acquires a first image from a photographing unit of a first tactile sensor of the two tactile sensors, acquires a second image from the photographing unit of a second tactile sensor, and detects a contact state of an object with respect to each first surface of the two tactile sensors based on the acquired first image and second image, The tactile sensor comprises: a transparent portion having a first surface capable of contacting a grasped object and a second surface serving as a back surface of the first surface; an imaging unit capable of imaging an image of an object existing on the first surface side of the transmission unit from the second surface side; and a reflecting portion disposed on the second surface side of the transmissive portion, and reflecting light from at least a partial area of ​​the transmissive portion and guiding the light into the imaging field angle of the imaging portion, in, The reflecting portion has one plane or any one of two planes having different angles, At least a portion of the transparent portion is deformed along the shape of the grasped object in contact with the first surface. The imaging unit can capture both an image of an object existing on the first surface side and an image of a mark added to the transmissive portion and indicating deformation of the transmissive portion from the second surface side. The two tactile sensors are arranged at positions where the first surfaces of the two tactile sensors face each other.

2. The tactile sensor system according to claim 1, wherein: The imaging unit is arranged so that an imaging optical axis of the imaging unit and a normal line of the second surface of the transmission unit have an intersection point.

3. The tactile sensor system according to claim 1, wherein: The reflecting section includes a plurality of reflecting surfaces whose normal lines have different angles with respect to the imaging optical axis of the imaging section.

4. The tactile sensor system according to claim 2, wherein: The reflecting section includes a plurality of reflecting surfaces whose normal lines have different angles with respect to the imaging optical axis of the imaging section.

5. The tactile sensor system according to any one of claims 1 to 4, wherein: The photographing unit photographs both a first image and a second image as images of the transmissive unit, wherein the first image is an image of the photographing target area of ​​the transmissive unit formed by light that enters without passing through the reflecting unit, and the second image is an image of the photographing target area of ​​the transmissive unit formed by light that is reflected by the reflecting unit and enters.

6. The tactile sensor system according to any one of claims 1 to 4, wherein: The transmission section includes a plurality of regions whose normal lines have different angles with respect to the imaging optical axis of the imaging section. The imaging unit can capture images of an object existing on the first surface side formed by the light rays respectively incident through the plurality of regions of the transmissive unit.

7. The tactile sensor system according to claim 5, wherein: The transmission section includes a plurality of regions whose normal lines have different angles with respect to the imaging optical axis of the imaging section. The imaging unit can capture images of an object existing on the first surface side formed by the light rays respectively incident through the plurality of regions of the transmissive unit.

8. A program, comprising: executing, on a computer connected to two tactile sensors, an image acquisition step of acquiring images captured by respective capturing units of the two tactile sensors, and executing, on a detecting unit, a detection step of detecting a contact state of an object with respect to respective first surfaces of the two tactile sensors based on the images acquired by the image acquisition step, in, The tactile sensor comprises: a transparent portion having a first surface capable of contacting a grasped object and a second surface serving as a back surface of the first surface; an imaging unit capable of imaging an image of an object existing on the first surface side of the transmissive unit from the second surface side; as well as a reflecting portion disposed on the second surface side of the transmissive portion, and reflecting light from at least a partial area of ​​the transmissive portion and guiding the light into the imaging field angle of the imaging portion, wherein the reflecting portion has one plane or any one of two planes with different angles, At least a portion of the transparent portion is deformed along the shape of the grasped object in contact with the first surface. The imaging unit can capture both an image of an object existing on the first surface side and an image of a mark added to the transmissive portion and indicating deformation of the transmissive portion from the second surface side. The two tactile sensors are arranged at positions where the first surfaces of the two tactile sensors face each other. The detection unit acquires a first image from the imaging unit of a first tactile sensor of the two tactile sensors, acquires a second image from the imaging unit of a second tactile sensor, and detects a contact state of an object relative to the first surfaces of each of the two tactile sensors based on the acquired first image and second image.

Images