Tactile sensor, touch event detection method, sensing device and robot

Abstract

This application discloses a tactile sensor, a method for detecting touch events, a sensing device, and a robot, belonging to the field of sensor design. The tactile sensor comprises: a sensing unit, an elastomeric support housing, and a flexible friction layer film; the sensing unit is placed in an inner cavity enclosed by the elastomeric support housing and the flexible friction layer film; the sensing unit is used to measure at least one of a pressure signal, a temperature signal, and a friction signal; the sensing unit comprises a carbon aerogel, an upper electrode, and a lower electrode, the carbon aerogel being sandwiched between the upper and lower electrodes, with the position of the upper electrode corresponding to the position of the lower electrode. The tactile sensor in this application achieves multifunctional sensing of tactile signals such as pressure, temperature, and friction.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of sensor design, and in particular to a tactile sensor, a method for detecting touch events, a sensing device, and a robot. Background Art

[0002] With the development and widespread application of robotics, robots not only need to complete set mechanical movements, but also need to perceive the external environment and provide feedback. Therefore, tactile sensors are often combined with robots.

[0003] In related technologies, most existing robot systems use commercial carbon aerogel-based sensors, which utilize the pressure-sensitive properties of carbon aerogel to detect physiological signals such as movement, breathing, and pulse. Tactile sensors are set at specific parts of the robot, enabling the robot to detect contact pressure.

[0004] When robots are in precise bionic tactile fields or complex real-world environments, traditional carbon aerogel-based sensors can only detect a single signal, namely pressure. This is far from enough for robots used in the field of bionic tactile fields. Sensors that can only sense a single pressure stimulus can no longer meet the requirements of the intelligent era and the field of artificial intelligence. Summary of the Invention

[0005] This application provides a tactile sensor, a method for detecting touch events, a sensing device, and a robot, so that the robot combined with the tactile sensor can achieve all-round sensing of pressure, temperature, and friction of touch events. The technical solution is as follows:

[0006] According to one aspect of the present application, a tactile sensor is provided, comprising: a sensing unit, an elastic supporting shell, and a flexible friction layer film;

[0007] The sensing unit is placed in an inner cavity enclosed by the elastic support shell and the flexible friction layer film; the sensing unit is used to measure at least one of a pressure signal, a temperature signal, and a friction signal;

[0008] The sensing unit includes a carbon aerogel, an upper electrode and a lower electrode. The carbon aerogel is sandwiched between the upper electrode and the lower electrode. The position of the upper electrode corresponds to the position of the lower electrode.

[0009] According to one aspect of the present application, a method for preparing a tactile sensor is provided, the method comprising:

[0010] The lower electrode is fixed on the bottom of the inner cavity of the elastic support shell, and the upper electrode is fixed on the lower surface of the flexible friction layer film;

[0011] placing the carbon aerogel in the inner cavity of the elastomer support shell;

[0012] The flexible friction layer film is sealed on the upper side of the inner cavity opening of the elastomer support shell so that the carbon aerogel is completely sealed in the inner cavity of the elastomer support shell, and the position of the upper electrode corresponds to the position of the lower electrode.

[0013] According to another aspect of the present application, a method for detecting a touch event is provided, the method comprising:

[0014] Obtaining a measurement value of the tactile sensor, where the tactile sensor is the tactile sensor described above;

[0015] At least one of a pressure signal, a temperature signal, and a friction signal of the touch event is measured according to the measurement value.

[0016] According to another aspect of the present application, an electronic skin is provided, comprising:

[0017] The surface of the electronic skin is covered with a tactile sensor array, and the tactile sensor array includes at least two of the above-mentioned tactile sensors.

[0018] According to another aspect of the present application, a robot is provided, comprising:

[0019] The robot surface is covered with the aforementioned tactile sensors at preset positions, or with the aforementioned electronic skin.

[0020] According to another aspect of the present application, a sensing device is provided, comprising:

[0021] A controller and a tactile sensor, wherein the tactile sensor includes at least one of the above-mentioned tactile sensors, and the controller is connected to the tactile sensor and executes to implement the above-mentioned touch event detection method.

[0022] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the touch event detection method as described above.

[0023] The beneficial effects of the technical solution provided by this application include at least:

[0024] By stacking the upper electrode, carbon aerogel, and lower electrode in parallel within an elastomeric support housing, and encapsulating the carbon aerogel with a flexible friction layer film and the elastomeric support housing, the tactile sensor in this application achieves multifunctional sensing of tactile signals such as pressure, temperature, and friction. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] Figure 1 is a structural diagram of a tactile sensing system provided by an exemplary embodiment of the present application;

[0027] Figure 2 is a schematic structural diagram of a tactile sensor provided by an exemplary embodiment of the present application;

[0028] Figure 3 is a schematic diagram of an electrode arrangement provided by an exemplary embodiment of the present application;

[0029] Figure 4 is a flow chart of a method for preparing carbon aerogel provided by an exemplary embodiment of the present application;

[0030] Figure 5 is a flow chart of a method for preparing a tactile sensor provided by an exemplary embodiment of the present application;

[0031] Figure 6 is a flow chart of a method for detecting a touch event provided by an exemplary embodiment of the present application;

[0032] Figure 7 is a flow chart of a method for detecting a pressure signal of a touch event provided by an exemplary embodiment of the present application;

[0033] Figure 8 1 is a schematic diagram of responses of absolute current signals and relative current signals of a tactile sensor under different pressures provided by an exemplary embodiment of the present application;

[0034] Figure 9 This is a schematic diagram of current and voltage curves corresponding to different pressures of a tactile sensor provided by an exemplary embodiment of the present application;

[0035] Figure 10 is a flow chart of a method for detecting a temperature signal of a touch event provided by an exemplary embodiment of the present application;

[0036] Figure 11 This is a schematic diagram of voltage responses of a tactile sensor under different temperature differences provided by an exemplary embodiment of the present application;

[0037] Figure 12 1 is a schematic diagram showing the sensitivity of a tactile sensor's voltage response under different temperature differences provided by an exemplary embodiment of the present application;

[0038] Figure 13 is a flow chart of a method for detecting a friction signal of a touch event provided by an exemplary embodiment of the present application;

[0039] Figure 14 is a diagram showing the working principle of a tactile sensor provided by an exemplary embodiment of the present application when measuring a friction signal;

[0040] Figure 15 This is a schematic diagram of friction signals of a tactile sensor under different pressures provided by an exemplary embodiment of the present application;

[0041] Figure 16 1 is a schematic diagram of processing stability of a tactile sensor provided by an exemplary embodiment of the present application when measuring a friction signal;

[0042] Figure 17 is a schematic diagram of an electronic skin provided by an exemplary embodiment of the present application;

[0043] Figure 18 is a structural diagram of a sensing device provided by an exemplary embodiment of the present application;

[0044] Figure 19 It is a structural diagram of a computer device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0046] Figure 1 FIG1 shows a schematic diagram of a tactile sensing system according to an exemplary embodiment of the present invention. The tactile sensing system 100 includes an intelligent robot 10, a tactile sensor 101, a tactile sensor 102, a tactile sensor 103, and a tactile sensor 104. The plurality of tactile sensors are attached to the intelligent robot 10. Figure 1 As shown in (a), the tactile sensor provided in the embodiment of the present application is flexible and can be attached to the outer surface of the intelligent robot 10 to form an "electronic skin". The outer surface of the intelligent robot 10 to which it is attached can be of any shape, such as a sphere, a hemisphere, a cylinder, an irregular shape, etc., as shown schematically. Figure 1 As shown in (a), the tactile sensor 101 is attached to the head of the intelligent robot 10, the tactile sensor 102 is attached to the chest of the intelligent robot, the tactile sensor 103 is attached to the abdomen of the intelligent robot, and the tactile sensor 104 is attached to the arm of the intelligent robot.

[0047] The tactile sensor can also be attached to the manipulator 11 of the intelligent robot, such as Figure 1As shown in (b), the tactile sensor 105 is attached to the finger of the manipulator 11. When the manipulator 11 contacts the target object, the size, shape, weight, material and other parameters of the target object can be detected, thereby determining the gesture for grasping the target object and the force required to grasp the target object. If the object 106 grasped by the manipulator 11 is a sphere, the manipulator 11 uses Figure 1 The gesture shown in (b) is used to grasp the object 106. Optionally, the tactile sensor 105 can be attached to the fingertip, knuckle, palm or the entire hand, which is not limited in this application.

[0048] Figure 2 (a) shows a schematic structural diagram of a tactile sensor provided by an exemplary embodiment of the present application. The tactile sensor comprises: a sensing unit 21 , an elastic support shell 22 , and a flexible friction layer film 23 .

[0049] The sensing unit 21 is placed in an inner cavity enclosed by the elastic support shell 22 and the flexible friction layer film 23 .

[0050] Optionally, the sensing unit 21 is completely encapsulated in the inner cavity of the elastomer supporting shell 22 ; and the flexible friction layer film 23 is sealingly disposed on the inner cavity opening of the elastomer supporting shell 22 .

[0051] like Figure 2 (b) shows a cross-sectional schematic diagram of the tactile sensor, in which the sensing unit 21 includes a carbon aerogel 213, an upper electrode 211 and a lower electrode 212. The carbon aerogel 213 is sandwiched between the upper electrode 211 and the lower electrode 212, and the position of the upper electrode 211 corresponds to the position of the lower electrode 212.

[0052] Exemplarily, the upper electrode 211 , the carbon aerogel 213 and the lower electrode 212 are stacked in parallel and placed in the inner cavity of the elastomeric support shell 22 , and the flexible friction layer film 23 and the elastomeric support shell 22 completely encapsulate the upper electrode 211 , the carbon aerogel 213 and the lower electrode 212 .

[0053] For example, the lower electrode 212 is fixed to the bottom of the inner cavity of the elastomer support shell 22 by glue, and the upper electrode 211 is fixed to the lower surface of the flexible friction layer film 23 by glue. The carbon aerogel 213 is arranged in the inner cavity of the elastomer support shell 22, that is, above the lower electrode 212. After the carbon aerogel 213 is arranged, the flexible friction layer film 23 with the upper electrode 211 fixed thereto is fixed to the elastomer support shell 22 by glue, so that the upper electrode 211 on the lower surface of the flexible friction layer film 23 contacts the carbon aerogel 213.

[0054] In a possible implementation, the sensing unit 21 may be used to measure at least one of a pressure signal, a temperature signal, and a friction signal, which is not limited in this embodiment of the present application.

[0055] Optionally, the sensing unit 21 is used to measure the pressure signal within a first working time, measure the temperature signal within a second working time, and measure the friction signal within a third working time; wherein the first working time, the second working time, and the third working time are all different.

[0056] For example, after measuring the pressure signal, the sensing unit 21 measures the friction signal, and after measuring the friction signal, measures the temperature signal. The embodiment of the present application does not limit the measurement order of the pressure signal, temperature signal and friction signal.

[0057] In a possible implementation, the sensing unit 21 may be used to measure at least one of a temperature signal and a friction signal, which is not limited in the embodiment of the present application.

[0058] Optionally, the sensing unit 21 is configured to measure the temperature signal during the second working time and to measure the friction signal during the third working time; wherein the second working time and the third working time are different.

[0059] For example, after measuring the friction signal, the sensing unit 21 measures the temperature signal. In the embodiment of the present application, there is no limitation on the order of measuring the temperature signal and the friction signal.

[0060] In a possible implementation, the sensing unit 21 may be used to measure at least two of a pressure signal, a temperature signal, and a friction signal, which is not limited in this embodiment of the present application.

[0061] Optionally, the sensing unit 21 is used to measure the pressure signal within a first working time, measure the temperature signal within a second working time, and measure the friction signal within a third working time; wherein the first working time, the second working time, and the third working time are all different.

[0062] For example, after the sensing unit 21 measures the pressure signal in the first working time, it then measures the friction signal in the third working time; or, after measuring the friction signal in the third working time, it then measures the temperature signal in the second working time. In the embodiment of the present application, the measurement order of the pressure signal, temperature signal and friction signal is not limited.

[0063] In a possible implementation, the tactile sensor further includes a first wire 24 and a second wire 25 ; the upper electrode 211 is connected to the first wire 24 , and the lower electrode 212 is connected to the second wire 25 , and the signal measured by the tactile sensor is transmitted through the first wire 24 and the second wire 25 .

[0064] Optionally, the upper electrode 212 and the lower electrode 213 include at least one of silver paste, copper foil, aluminum foil, iron foil, conductive carbon paper, and conductive polymer, which is not limited in the present application.

[0065] Optionally, the upper electrode 211 and the lower electrode 212 are made of the same or different materials. The upper electrode 211 and the lower electrode 212 are made of flexible materials or materials with flexibility.

[0066] Optionally, the shapes of the upper electrode 211 and the lower electrode 212 are any shapes, such as rectangle, triangle, circle, hexagon, polygon, etc. This embodiment of the present application does not limit this.

[0067] Optionally, the upper electrode 211 and the lower electrode 212 may be spliced ​​together, for example, the upper electrode 211 and the lower electrode 212 are spliced ​​together by small rectangular electrode pieces, and the arrangement of the upper electrode 211 and the lower electrode 212 is regular or irregular. Schematically, the electrodes are arranged in an array, such as Figure 3 As shown in (a), the electrodes are arranged in a rectangular array; Figure 3 As shown in (b), the electrodes are arranged radially in a "M" shape; Figure 3 As shown in (c), the electrodes are arranged in a circular array, as shown in Figure 3 As shown in (d), the electrodes are arranged in an S-shape. In addition, the electrodes can also be arranged in a U-shape or other shapes.

[0068] In summary, the tactile sensor provided in this embodiment can realize multifunctional sensing of tactile signals such as pressure, temperature, and friction. At the same time, through the complete encapsulation of carbon aerogel, the tactile sensor can still maintain good sensing performance in harsh physical and chemical environments.

[0069] based on Figure 2 As an optional embodiment, the following describes a method for manufacturing the carbon aerogel and elastomer supporting shell in the tactile sensor.

[0070] Figure 4 A flow chart showing the preparation method of carbon aerogel for tactile sensors.

[0071] Step 402: Weigh cellulose nanocrystals CNC and graphene oxide powder GO, dilute, stir, and sonicate to obtain a CNC / GO suspension.

[0072] A certain proportion of cellulose nanocrystals (CNC) and graphene oxide powder (GO) was weighed, GO was diluted 50-1500 times with deionized water, and magnetically stirred for 0.5-4 hours and ultrasonicated for 0.5-3 hours to obtain a GO suspension; CNC was poured into the GO suspension, magnetically stirred for 0.5-4 hours, and ultrasonicated for 0.5-3 hours to obtain a CNC / GO suspension.

[0073] Optionally, the ratio of CNC crystal to GO powder is weighed to be at least one of 3:2, 2:1, 5:3, 4:1, 5:4, 5:1, and 6:1, which is not limited in the embodiments of the present application.

[0074] In one possible implementation, a certain proportion of cellulose nanocrystals (CNC) and graphene oxide powder (GO) is weighed, GO is diluted 200 times with deionized water, and magnetic stirring is performed for 2 hours and ultrasonic treatment is performed for 2 hours to obtain a GO suspension; CNC is poured into the GO suspension, magnetic stirring is performed for 2 hours, and ultrasonic treatment is performed for 2 hours to obtain a CNC / GO suspension.

[0075] Optionally, glucose and urea can be added to the obtained CNC / GO suspension to improve the mechanical properties of the carbon aerogel.

[0076] Optionally, single-walled carbon nanotubes and / or multi-walled carbon nanotubes can be added to the obtained CNC / GO suspension to enhance the electrical properties of the carbon aerogel.

[0077] Step 404: Pour the CNC / GO suspension into a mold, freeze, and dry to obtain a CNC / GO aerogel.

[0078] The obtained CNC / GO suspension is poured into a mold, and the CNC / GO suspension is frozen using liquid nitrogen or ultra-low temperature ice. The completely frozen CNC / GO suspension is placed in a freeze dryer and freeze-dried for 1-5 days to produce a CNC / GO aerogel.

[0079] Step 406: placing the CNC / GO aerogel in a tubular furnace and carbonizing it under the protection of an inert gas to obtain a carbon aerogel.

[0080] The obtained CNC / GO aerogel was placed in a tubular furnace. Under the protection of N2, the temperature of the tubular furnace was raised from room temperature to 200°C at a heating rate of 5°C / min and maintained for 2 hours. Subsequently, the temperature was raised from 200°C to 700°C at a heating rate of 3°C / min and maintained for 2 hours. After it was naturally cooled to room temperature, carbon aerogel was obtained.

[0081] Optionally, the obtained CNC / GO aerogel is placed in a tubular furnace, and under the protection of N2, the tubular furnace is heated from room temperature to 150-500°C at a heating rate of 2-15°C / min and maintained for 2-4 hours; then, the tubular furnace is heated from 150-500°C to 500-1000°C at a heating rate of 0.5-5°C / min and maintained for 2-4 hours, and then naturally cooled to room temperature to obtain carbon aerogel.

[0082] In one possible implementation, the obtained CNC / GO aerogel is placed in a tubular furnace. Under the protection of N2, the temperature of the tubular furnace is increased from room temperature to 500°C at a heating rate of 2°C / min and maintained for 1 hour. Subsequently, the temperature of the tubular furnace is increased from 500°C to 800°C at a heating rate of 5°C / min and maintained for 2 hours. After the aerogel is naturally cooled to room temperature, a carbon aerogel is obtained.

[0083] Optionally, the CNC includes at least one of cotton cellulose, lignin, hemp cellulose, straw cellulose, chitin, chitosan, and glucose, which is not limited in the present application.

[0084] Optionally, the mold for preparing carbon aerogel is at least one of a cube, a cube, and a cylinder, which is not limited in the present embodiment. The volume size of the mold for preparing carbon aerogel is 75mm 3 ~2000mm 3 For example, the inner wall size of the mold for preparing carbon aerogel is 10mm*10mm*5mm or 5mm*5mm*3mm.

[0085] The following is a description of the method for preparing the elastic support shell 22 in the tactile sensor:

[0086] After the elastomer material is fully stirred, pour it into the shell mold, place the shell mold in a room temperature oven, pressurize and remove bubbles until the elastomer material fills the shell mold and the elastomer material is uniform and free of bubbles. After heating the oven to 50-150°C, cure it for 0.5-5h to obtain the elastomer support shell.

[0087] In one possible implementation, the elastomeric material is thoroughly stirred and poured into a shell mold. The shell mold is placed in a room temperature oven and pressurized to remove bubbles until the elastomeric material fills the shell mold and the elastomeric material is uniform and free of bubbles. The oven is heated to 80°C and cured for 2 hours to obtain an elastomeric support shell.

[0088] Optionally, the elastomeric material that can be used for the elastomeric supporting shell 22 includes at least one of polydimethylsiloxane (PDMS), linear tri-block copolymer (SEBS), copolyester Ecoflex, polyamide (PA), polyethylene (PE), polyvinyl chloride (PVC) and polyvinylidene fluoride (PVDF), and the present application does not limit this.

[0089] Optionally, the shell mold for preparing the elastic support shell is at least one of a cube, a cube, and a cylinder, which is not limited in the present embodiment. The inner wall volume size of the shell mold for preparing the elastic support shell is 4mm 3 ~1000mm 3 , the outer wall size is 12mm 3 ~2000mm 3 , the wall thickness is 0.2-2mm. For example, the inner wall size of the shell mold for preparing the elastomer support shell is 4mm*4mm*2mm.

[0090] It is understandable that the above embodiments may be implemented individually, in any combination, or in combination.

[0091] In summary, the tactile sensor provided in this embodiment prepares carbon aerogel and an elastomer support shell through a variety of methods, and provides a variety of materials for making carbon aerogel and elastomer support shells. Those skilled in the art can select the manufacturing materials and the size of the elastomer support shell according to actual conditions, so that the tactile sensor has more implementation methods.

[0092] Based on the description of the preparation of the carbon aerogel and the elastomer supporting shell in the above embodiments, the preparation method of the tactile sensor is described below.

[0093] Figure 5 A flow chart of a method for preparing a tactile sensor provided by an exemplary embodiment of the present application is shown. The method is applied to prepare the above-mentioned tactile sensor, and the execution subject of the method may be industrial assembly line equipment.

[0094] Step 502: Fix a lower electrode on the bottom of the inner cavity of the elastic support shell, and fix an upper electrode on the lower surface of the flexible friction layer film.

[0095] Exemplarily, the lower electrode 212 is fixed to the bottom of the inner cavity of the elastic support shell 22 by glue, and the upper electrode 211 is fixed to the lower surface of the flexible friction layer film 23 by glue.

[0096] Optionally, a slot is provided at the bottom of the inner cavity of the elastomer support shell 22, and the lower electrode 212 is set in the slot for fixation. Similarly, a slot is provided on the lower surface of the flexible friction layer film, and the upper electrode 211 is set in the slot for fixation.

[0097] It is understandable that the above-mentioned methods of fixing the upper electrode 211 and the lower electrode 212 can be implemented individually or in any combination, and this application does not limit this.

[0098] Step 504: Placing the carbon aerogel in the inner cavity of the elastomer support shell.

[0099] Exemplarily, after the upper electrode 211 and the lower electrode 212 are fixed, the carbon aerogel 213 cut into size is placed in the inner cavity of the elastic support shell 22 .

[0100] Step 506: Seal the flexible friction layer film on the upper side of the inner cavity opening of the elastomeric support shell so that the carbon aerogel is completely sealed in the inner cavity of the elastomeric support shell, and the position of the upper electrode corresponds to the position of the lower electrode.

[0101] For example, after the carbon aerogel 213 is placed, the flexible friction layer film 23 is sealed on the upper side of the inner cavity opening of the elastomer support shell 22, and the upper electrode 211 on the lower surface of the flexible friction layer film 23 is in contact with the carbon aerogel 213. When the flexible friction layer film 23 is used to seal the inner cavity of the elastomer support shell 22, the position of the upper electrode is kept corresponding to the position of the lower electrode.

[0102] In one possible implementation, the upper electrode 211 is connected to the first wire 24, and the lower electrode 212 is connected to the second wire 25. When the flexible friction layer film 23 is used to seal the inner cavity of the elastomer support shell 22, the first wire 24 and the second wire 25 are led out from the sealed joint between the flexible friction layer film 23 and the elastomer support shell 22.

[0103] Optionally, the material of the flexible friction layer film 23 includes at least one of perfluoroethylene propylene copolymer (Fluorinated Ethylene Propylene, FEP), polytetrafluoroethylene (Poly Tetra Fluoro Ethylene, PTFE), polyethylene (Poly Ethene, PE), polyethylene terephthalate (Poly Ethylene Terephthalate, PET), polyimide film material Kapton, polycarbonate (Poly Carbonate, PC), nylon, and polyvinyl chloride (Poly Vinyl Chloride, PVC), and the embodiment of the present application is not limited to this.

[0104] In summary, the method provided in this embodiment provides a preparation method for preparing the above-mentioned tactile sensor. Those skilled in the art can select appropriate preparation materials and preparation methods based on actual conditions, so that the tactile sensor has more implementation methods.

[0105] In conjunction with the above description of the structure of the tactile sensor, the following describes a method for detecting a touch event provided in an embodiment of the present application. Figure 6 1 is a flow chart of a method for detecting a touch event provided by an exemplary embodiment of the present application. The method is applied to a controller connected to a tactile sensor, and the method includes:

[0106] Step 602: Obtain measurement values ​​of the tactile sensor.

[0107] Exemplarily, the controller obtains a measurement value of the tactile sensor, where the measurement value includes at least one of current and voltage, which is not limited in this application.

[0108] Step 604: Measure at least one of a pressure signal, a temperature signal, and a friction signal of the touch event according to the measurement value.

[0109] Measuring the pressure signal of a touch event means that when the tactile sensor is subjected to pressure, the controller calculates the pressure value in the touch event through the output signal of the tactile sensor.

[0110] Measuring the temperature signal of a touch event means that when there is a temperature difference between the upper electrode 211 and the lower electrode 212 of the touch sensor, the controller calculates the temperature change in the touch event through the output signal of the touch sensor.

[0111] Measuring the friction signal of a touch event means that when the tactile sensor touches an object, the controller identifies the type of the touched object in the touch event through the output signal of the tactile sensor.

[0112] The controller measures the pressure signal, temperature signal, and friction signal in the touch event based on the measurement values ​​of the tactile sensor.

[0113] In one possible implementation, the controller performs at least one of the following three steps based on the measurement value of the tactile sensor: measuring the pressure signal of the touch event within a first working time; measuring the temperature signal of the touch event within a second working time; and measuring the friction signal of the touch event within a third working time; wherein the first working time, the second working time, and the third working time are all different.

[0114] Optionally, the measurements performed by the controller during the first working time, the second working time, and the third working time can be switched or selected through active control by the controller. For example, the controller chooses to measure the pressure signal of the touch event during the first working time. After measuring the pressure signal, the controller may choose to measure the friction signal of the touch event during the third working time. After measuring the friction signal, the controller may choose to measure the temperature signal of the touch event during the second working time. Alternatively, the controller may first choose to measure the friction signal of the touch event during the third working time, and then measure the pressure signal of the touch event during the first working time and the temperature signal of the touch event during the second working time. The embodiments of the present application do not limit the time and order of measurement.

[0115] To sum up, in the detection method provided in this embodiment, the controller obtains the measurement value of the tactile sensor, and the controller can calculate the pressure signal, temperature signal, and friction signal of the touch event based on the measurement value of the tactile sensor, so that the tactile sensor using this detection method realizes the multifunctional sensing function of measuring tactile signals such as pressure, temperature, and friction in touch events.

[0116] In conjunction with the description of the above touch event detection method, the following specifically describes the method for detecting a pressure signal in a touch event provided in an embodiment of the present application. Figure 7 This is a flow chart of a method for detecting a pressure signal of a touch event provided by an exemplary embodiment of the present application. The method is applied to a controller connected to a tactile sensor, and the method includes:

[0117] Step 702: Obtain a first current value corresponding to the i-th moment measured by the tactile sensor and a second current value corresponding to the (i+1)-th moment measured by the tactile sensor.

[0118] The controller obtains two adjacent current values, where i is any real number greater than 0. The first current value refers to the current value output through the upper electrode 211, carbon aerogel 213, and lower electrode 212 at time i; the second current value refers to the current value output through the upper electrode 211, carbon aerogel 213, and lower electrode 212 at time i+1.

[0119] Optionally, the controller obtains the current value of the tactile sensor at a preset frequency or period.

[0120] Optionally, the first current value corresponding to the i-th moment may be the current value corresponding to when the tactile sensor is subjected to an external force, or the current value corresponding to when it is not subjected to an external force. For example, if the first current value is the current value output through the upper electrode 211, the carbon aerogel 213, and the lower electrode 212 at the i-th moment when the tactile sensor is subjected to an external force, then the current value output through the upper electrode 211, the carbon aerogel 213, and the lower electrode 212 at the i+1-th moment when the tactile sensor is not subjected to an external force; or if the first current value is the current value output through the upper electrode 211, the carbon aerogel 213, and the lower electrode 212 at the i-th moment when the tactile sensor is not subjected to an external force, then the current value output through the upper electrode 211, the carbon aerogel 213, and the lower electrode 212 at the i+1-th moment when the tactile sensor is subjected to an external force.

[0121] Step 704: Calculate a current change value according to the first current value and the second current value.

[0122] The controller calculates a change value of the first current value and the second current value.

[0123] Alternatively, the change value may be a current change value between the first current value and the second current, or a current change rate within a certain period of time. In one example, the controller calculates a change rate between the first current value and the second current value within a time period T.

[0124] Step 706 : deriving a pressure value in the touch event based on the current change value and the first mapping relationship.

[0125] Optionally, the first mapping relationship refers to a corresponding relationship between a pressure value borne by the tactile sensor and a current change value.

[0126] For example, the first mapping relationship is a formula representing the relationship between the current change value and the pressure value, which is y=kx, where y is the pressure value of the touch event, k is the correlation coefficient (or constant), and x is the current change value. Schematically, if the current change value is a, the pressure value of the touch event is ka.

[0127] For example, Figure 8 Figure 2 shows the absolute current signal and relative current signal output by the tactile sensor under different pressures. Figure 8 As shown, as the pressure applied to the tactile sensor increases, the absolute current signal output by the tactile sensor gradually increases. Absolute current refers to the current signal directly output by the tactile sensor without data processing. When pressure is applied to the tactile sensor, the resistance of the carbon aerogel 213 in the tactile sensor changes. As the pressure increases, the resistance of the carbon aerogel 213 decreases, causing the output current of the tactile sensor to increase.

[0128] at the same time, Figure 8The figure also shows that as the pressure applied to the tactile sensor increases, the relative current signal of the tactile sensor gradually increases. The relative current is the current signal obtained by processing the absolute current. That is, the relative current is obtained by subtracting the initial current from the absolute current and dividing it by the initial current. This correspondence between the relative current and pressure demonstrates that the tactile sensor is sensitive to pressure and can more accurately measure pressure signals.

[0129] For example, Figure 9 The current and voltage curves of the tactile sensor under different pressures are shown. As can be seen from the figure, the current and voltage curves are linear, indicating that the tactile sensor has good conductivity; Figure 9 As shown, as the pressure increases, the slope of the current and voltage curves also increases, indicating that when pressure is applied to the tactile sensor, the resistance of the carbon aerogel 213 changes sensitively, causing the tactile sensor to sensitively respond to the pressure signal, thereby sensing the pressure.

[0130] To sum up, the detection method provided in this embodiment obtains the current values ​​corresponding to two moments through the controller, and the pressure value of the touch event can be calculated based on the correspondence between the current change value and the pressure value, so that the tactile sensor using this detection method can realize the function of measuring the pressure value of the touch event.

[0131] In combination with the description of the above-mentioned method for detecting a touch event, the method for detecting a temperature signal in a touch event provided in an embodiment of the present application is described in detail below.

[0132] Figure 10 This is a flow chart of a method for detecting a temperature signal of a touch event provided by an exemplary embodiment of the present application. The method is applied to a controller connected to a tactile sensor, and the method includes:

[0133] Step 1002: Obtain the current value and / or voltage value measured by the tactile sensor.

[0134] When there is a temperature difference between the upper electrode 211 and the lower electrode 212 of the tactile sensor, the tactile sensor outputs current and voltage, and the controller obtains the output current and / or voltage of the tactile sensor.

[0135] The current value refers to the current value output through the upper electrode 211, the carbon aerogel 213, and the lower electrode 212 when there is a temperature difference between the upper electrode 211 and the lower electrode 212 of the tactile sensor; the voltage value refers to the voltage value between the upper electrode 211, the carbon aerogel 213, and the lower electrode 212 when there is a temperature difference between the upper electrode 211 and the lower electrode 212 of the tactile sensor.

[0136] Step 1004 : Calculate the temperature change during the touch event based on the current value and / or voltage value and the second mapping relationship.

[0137] Optionally, the second mapping relationship refers to a correspondence between a temperature difference between the upper electrode 211 and the lower electrode 212 in the tactile sensor and a current value and / or a voltage value.

[0138] For example, when the temperature of the upper electrode 211 is higher than the temperature of the lower electrode 212 , the tactile sensor outputs a positive current and a positive voltage; otherwise, the tactile sensor outputs a negative current and a negative voltage.

[0139] For example, when a temperature change is applied to one side of the upper electrode 211 of the tactile sensor, a temperature gradient is generated in the vertical direction of the tactile sensor, that is, a temperature gradient is generated in the vertical direction of the carbon aerogel 213, and there is a temperature difference between the upper electrode 212 and the lower electrode 212. The temperature difference will cause the movement of carriers, and due to the good conductivity of the carbon aerogel 213, the tactile sensor can convert the temperature difference into current and voltage signal output, so the tactile sensor can sensitively sense temperature changes.

[0140] For example, Figure 11 The voltage response diagram of the tactile sensor under different temperature differences is shown. As the temperature difference between the upper electrode 211 and the lower electrode 212 in the tactile sensor increases, the voltage signal output by the tactile sensor also gradually increases.

[0141] For example, Figure 12 The sensitivity diagram of the tactile sensor voltage response under different temperature differences is shown in FIG. Figure 12 It can be concluded that the temperature difference and the voltage have good linearity, and the response sensitivity of the voltage corresponding to the temperature difference of the carbon aerogel 213 in this embodiment is 4.73 μV / °C.

[0142] To summarize, the detection method provided in this embodiment obtains the current value and / or voltage value measured by the tactile sensor through the controller, and the temperature change of the touch event can be calculated based on the correspondence between the current or voltage change value and the temperature difference, so that the tactile sensor using this detection method can realize the function of measuring the temperature change of the touch event.

[0143] In conjunction with the description of the above-mentioned method for detecting a touch event, the following specifically describes the method for detecting a friction signal in a touch event provided in an embodiment of the present application. Figure 13 This is a flow chart of a method for detecting a friction signal of a touch event provided by an exemplary embodiment of the present application. The method is applied to a controller connected to a tactile sensor, and the method includes:

[0144] Step 1302: Obtain the voltage value output by the upper electrode.

[0145] Because different objects have different affinities for electric charge, when the flexible friction layer film of the tactile sensor comes into contact with the measured object, the charge on the surface of the flexible friction layer film will be transferred. The transfer of charge causes current and voltage to be generated, and the controller obtains the voltage value output during the charge transfer process.

[0146] Optionally, the voltage value output by the controller during the charge transfer process refers to the voltage value output by the upper electrode.

[0147] For example, Figure 14 The working principle diagram of the tactile sensor when measuring friction signals is shown in FIG. Figure 14 As shown in (a), when the flexible friction layer film 1402 of the tactile sensor comes into contact with the touching object 1401, the charge on the surface of the flexible friction layer film 1402 will be transferred due to the different affinity of different objects for charge; as the distance between the touching object 1401 and the flexible friction layer film 1402 increases, as shown in FIG. Figure 14 As shown in (b), a large number of electrons are transferred to the ground along the wire, and the upper electrode 1403 induces positive charge, resulting in the voltmeter being able to detect an output signal, that is, the voltmeter can detect a positive voltage value; as the distance between the touching object 1401 and the flexible friction layer film 1402 increases to the maximum, as shown in FIG. Figure 14 As shown in (c), the upper electrode 1403 induces the most positive charge, resulting in the voltmeter being able to detect a positive voltage peak; as the distance between the touching object 1401 and the flexible friction layer film 1402 decreases, as shown in Figure 14 As shown in (d), electrons will flow from the ground back to the upper electrode 1403 of the tactile sensor, thereby generating a reverse output signal. That is, the voltmeter can detect a negative voltage value. Therefore, when testing the friction signal, the output signal of the tactile sensor is a pair of relative positive and negative peak signals. This friction signal can be used to identify the materials of different touch objects 1401.

[0148] Step 1304: Calculate a friction signal in the touch event based on the voltage value and the third mapping relationship, and then identify the touching object in the touch event.

[0149] Optionally, the third mapping relationship refers to a correspondence between the type of touched object and the voltage value in a touch event.

[0150] Since different objects have different affinities for electric charge, the touching object in the touch event can be identified through the measured voltage value and the third mapping relationship.

[0151] For example, Figure 15The figure shows the friction signal of the tactile sensor under different pressures. As can be seen from the figure, the measured friction signal of the touching object is a pair of peak signals with opposite directions. As the pressure applied to the tactile sensor increases, the measured friction signal of the touching object also increases, until it reaches saturation at a pressure of 4 kPa. Therefore, when testing the friction signal of different touching objects, the contact force at a pressure of 4 kPa is used for contact separation to achieve friction signal measurement.

[0152] For example, Figure 16 The figure shows the processing stability of the tactile sensor when measuring friction signals. Figure 16 It can be concluded that under a contact force of 4 kPa, the tactile sensor underwent a 4800 s cycle test, and the measured friction signal was stable and did not attenuate, indicating that the tactile sensor has good cycle stability, and the tactile sensor structure greatly improves its robustness and environmental stability, and can provide good support and protection for carbon aerogel.

[0153] In summary, the detection method provided in this embodiment obtains the voltage value measured by the tactile sensor through the controller, and can identify the touching object of the touch event based on the correspondence between the voltage value and the type of the touched object, so that the tactile sensor using this detection method can realize the function of measuring the friction signal of the touch event.

[0154] Combined with the introduction of the above-mentioned tactile sensor and the detection method of touch events, Figure 17 A schematic diagram of an electronic skin is shown.

[0155] Exemplarily, the surface of the electronic skin is covered with a tactile sensing array, which includes at least two of the aforementioned tactile sensors.

[0156] For example, Figure 17 As shown, by attaching the electronic skin to a robotic hand, the hand can collect tactile signals—pressure, temperature, and friction—by grasping an object. By training the robotic hand through machine learning, the electronic skin can collect information for object recognition, enabling real-time object recognition. Real-world objects are increasingly diverse in shape and material. By using machine learning to collect a certain amount of data on common objects, the electronic skin can provide the robotic hand with precise perception and feedback.

[0157] Optionally, the arrangement of the electronic skin can be adjusted according to the shape of the robotic hand.

[0158] In summary, the electronic skin provided in this embodiment realizes multifunctional sensing of tactile signals such as pressure, temperature, and friction through the tactile sensor array covering the surface of the electronic skin, thereby providing accurate perception and feedback.

[0159] In combination with the above-mentioned tactile sensor and the method for detecting touch events, an exemplary embodiment of the present application provides a robot, wherein a preset position on the surface of the robot is covered with the above-mentioned scene sensor or the above-mentioned electronic skin, and the robot includes a manipulator, such as a hand, which is used to grasp objects, and the manipulator is covered with the above-mentioned tactile sensor or the above-mentioned electronic skin.

[0160] In combination with the above-mentioned tactile sensor and the method for detecting touch events, an exemplary embodiment of the present application provides a structural block diagram of a sensing device, such as Figure 18 As shown, the sensing device 1800 includes: a controller 1810 and a tactile sensor 1820. The tactile sensor 1820 includes at least one of the above-mentioned tactile sensors 1820. The controller is connected to the tactile sensor 1820 and executes the above-mentioned touch event detection method.

[0161] Optionally, the smart device 1800 further includes a display screen 1830 .

[0162] The tactile sensor 1820 is used to detect a touch event. Optionally, the tactile sensor 1820 is implemented as follows: Figure 2 The tactile sensor shown.

[0163] In an optional embodiment, a computer-readable storage medium is provided, wherein the computer-readable storage medium is connected to the tactile sensor described in the above embodiment, and the computer-readable storage medium stores at least one instruction, which is loaded and executed by a processor to implement the touch event detection method described above.

[0164] Optionally, the computer-readable storage medium may include: Read Only Memory (ROM), Random Access Memory (RAM), Solid State Drives (SSD), or an optical disk. Among them, the random access memory may include resistance random access memory (ReRAM) and dynamic random access memory (DRAM). The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0165] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0166] It should be noted that the application scenarios of the above-mentioned tactile sensor include at least one of the following scenarios:

[0167] First, it is applied in the field of intelligent robots. The tactile sensor is set on the surface of the intelligent robot, and the arrangement of the tactile sensor is adjusted according to the specific shape of the intelligent robot. The tactile sensor can sense pressure, temperature and friction when the intelligent robot touches an object, giving the intelligent robot a tactile perception similar to that of humans, imitating the complex and precise tactile sense of human skin.

[0168] Second, in the self-protection system scenario for intelligent robots, tactile sensors are placed on the surface of the intelligent robot. These tactile sensors can sense the external environment in real time and protect the robot's own system. Because the tactile sensors are sensitive to pressure and temperature, when the intelligent robot is hit or the ambient temperature is harsh (too cold or too hot), that is, when the detected pressure or temperature exceeds a certain threshold, the intelligent robot's self-protection switch will be triggered, and it will cut off the power or take other self-protection actions.

[0169] Third, in smart unmanned supermarkets or warehouses, tactile sensors could be installed on a robotic arm that sorts goods, allowing the robot to automatically sort different goods or cargo. After pre-training on product recognition, the robotic arm can use the tactile sensor to identify different items and match them to their corresponding locations for sorting.

[0170] It is worth noting that in the above application scenarios, the intelligent robot scenario, the intelligent robot's self-protection system scenario, and the intelligent unmanned supermarket or warehouse scenario are used as examples for illustration. The tactile sensor can also be used in other scenarios that require determination of pressure, temperature, and friction events, and the embodiments of the present application are not limited to this.

[0171] Please refer to Figure 19 , which shows a block diagram of a computer device 1900 according to an exemplary embodiment of the present application. Computer device 1900 may be a portable mobile terminal, such as a smartphone, tablet computer, MP3 player (Moving Picture Experts Group Audio Layer III), or MP4 player (Moving Picture Experts Group Audio Layer IV). Computer device 1900 may also be referred to as user equipment, portable terminal, or other similar names.

[0172] Typically, the computer device 1900 includes a processor 1901 and a memory 1902 . The processor 1901 is connected to the tactile sensor provided in the above embodiment.

[0173] The processor 1901 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. The processor 1901 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), or a PLA (Programmable Logic Array). The processor 1901 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 1901 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1901 may also include an AI (Artificial Intelligence) processor, which is used to handle computing operations related to machine learning.

[0174] Memory 1902 may include one or more computer-readable storage media, which may be tangible and non-transitory. Memory 1902 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in memory 1902 is used to store at least one instruction, which is executed by processor 1901 to implement the touch event detection method provided in this application.

[0175] In some embodiments, the computer device 1900 may further optionally include a peripheral device interface 1903 and at least one peripheral device. Specifically, the peripheral device may include at least one of a radio frequency circuit 1904, a touch screen display 1905, a camera 1906, an audio circuit 1907, a positioning component 1908, and a power supply 1909.

[0176] The peripheral device interface 1903 can be used to connect at least one I / O (Input / Output)-related peripheral device to the processor 1901 and the memory 1902. In some embodiments, the processor 1901, the memory 1902, and the peripheral device interface 1903 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1901, the memory 1902, and the peripheral device interface 1903 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0177] RF circuit 1904 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. RF circuit 1904 communicates with communication networks and other communication devices via electromagnetic signals. RF circuit 1904 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. RF circuit 1904 may optionally include an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. RF circuit 1904 may communicate with other terminals via at least one wireless communication protocol. Such wireless communication protocols include, but are not limited to, the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, RF circuit 1904 may also include circuitry related to Near Field Communication (NFC), although this application does not limit this.

[0178] The touch screen display 1905 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. The touch screen display 1905 also has the ability to collect touch signals on the surface or above the surface of the touch screen display 1905. The touch signal can be input as a control signal to the processor 1901 for processing. The touch screen display 1905 is used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, there can be one touch screen display 1905, which is set on the front panel of the computer device 1900; in other embodiments, there can be at least two touch screen displays 1905, which are respectively set on different surfaces of the computer device 1900 or in a folding design; in still other embodiments, the touch screen display 1905 can be a flexible display, which is set on the curved surface or folding surface of the computer device 1900. Even more, the touch screen display 1905 can be set into a non-rectangular irregular shape, that is, a special-shaped screen. The touch screen display 1905 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0179] The camera component 1906 is used to capture images or videos. Optionally, the camera component 1906 includes a front camera and a rear camera. Typically, the front camera is used to enable video calls or selfies, and the rear camera is used to enable photo or video shooting. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, and a wide-angle camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, and the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (Virtual Reality) shooting function. In some embodiments, the camera component 1906 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0180] Audio circuit 1907 provides an audio interface between the user and computer device 1900. Audio circuit 1907 may include a microphone and a speaker. The microphone collects sound waves from the user and the environment, converting them into electrical signals that are then fed into processor 1901 for processing or fed into RF circuit 1904 for voice communication. For stereo sound collection or noise reduction, multiple microphones may be provided, located in different locations within computer device 1900. The microphone may also be an array microphone or an omnidirectional microphone. The speaker converts electrical signals from processor 1901 or RF circuit 1904 into sound waves. The speaker may be a traditional thin-film speaker or a piezoelectric ceramic speaker. A piezoelectric ceramic speaker can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, audio circuit 1907 may also include a headphone jack.

[0181] Positioning component 1908 is used to locate the current geographic location of computer device 1900 to implement navigation or LBS (Location Based Service). Positioning component 1908 can be a positioning component based on the US GPS (Global Positioning System), China's Beidou system, or Russia's Galileo system.

[0182] Power supply 1909 is used to power the various components of computer device 1900. Power supply 1909 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 1909 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, while a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0183] In some embodiments, the computer device 1900 further includes one or more sensors 1910 , including but not limited to an acceleration sensor 1911 , a gyroscope sensor 1912 , a pressure sensor 1913 , a fingerprint sensor 1914 , an optical sensor 1915 , and a proximity sensor 1916 .

[0184] Accelerometer 1911 detects the magnitude of acceleration along the three coordinate axes of the coordinate system established by computer device 1900. For example, accelerometer 1911 detects the components of gravity acceleration along the three coordinate axes. Processor 1901 can control touchscreen display 1905 to display a user interface in either a landscape or portrait orientation based on the gravity acceleration signal collected by accelerometer 1911. Accelerometer 1911 can be used to collect game or user motion data.

[0185] The gyroscope sensor 1912 can detect the orientation and rotation angle of the computer device 1900. Together with the accelerometer 1911, the gyroscope sensor 1912 can collect the user's 3D movements of the computer device 1900. Based on the data collected by the gyroscope sensor 1912, the processor 1901 can implement the following functions: motion sensing (e.g., changing the UI based on the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0186] The pressure sensor 1913 can be installed on the side frame of the computer device 1900 and / or below the touch screen display 1905. When the pressure sensor 1913 is installed on the side frame of the computer device 1900, it can detect the user's grip signal of the computer device 1900 and perform left-hand recognition or shortcut operations based on the grip signal. When the pressure sensor 1913 is installed below the touch screen display 1905, it can control the operational controls on the UI interface based on the user's pressure operation on the touch screen display 1905. The operational controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0187] Fingerprint sensor 1914 is used to collect the user's fingerprint and identify the user based on the collected fingerprint. When the user's identity is recognized as a trusted identity, processor 1901 authorizes the user to perform relevant sensitive operations, such as unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings. Fingerprint sensor 1914 can be set on the front, back, or side of computer device 1900. If physical buttons or manufacturer logos are provided on computer device 1900, fingerprint sensor 1914 can be integrated with the physical buttons or manufacturer logos.

[0188] Optical sensor 1915 is used to detect ambient light intensity. In one embodiment, processor 1901 can control the display brightness of touchscreen display 1905 based on the ambient light intensity detected by optical sensor 1915. Specifically, when the ambient light intensity is high, the display brightness of touchscreen display 1905 is increased; when the ambient light intensity is low, the display brightness of touchscreen display 1905 is decreased. In another embodiment, processor 1901 can also dynamically adjust the shooting parameters of camera assembly 1906 based on the ambient light intensity detected by optical sensor 1915.

[0189] Proximity sensor 1916, also known as a distance sensor, is typically located on the front of computer device 1900. Proximity sensor 1916 is used to detect the distance between the user and the front of computer device 1900. In one embodiment, when proximity sensor 1916 detects that the distance between the user and the front of computer device 1900 is gradually decreasing, processor 1901 controls touchscreen display 1905 to switch from the screen-on state to the screen-off state. When proximity sensor 1916 detects that the distance between the user and the front of computer device 1900 is gradually increasing, processor 1901 controls touchscreen display 1905 to switch from the screen-off state to the screen-on state.

[0190] Those skilled in the art will understand that Figure 19 The structure shown in the figure does not constitute a limitation on the computer device 1900, and the computer device 1900 may include more or fewer components than shown in the figure, or combine some components, or adopt a different component arrangement.

[0191] It should be understood that the term "plurality" used herein refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0192] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent switches, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A tactile sensor, characterized in that: The tactile sensor comprises: a sensing unit (21), an elastic body supporting shell (22), and a flexible friction layer film (23); The sensing unit (21) is placed in an inner cavity enclosed by the elastic support shell (22) and the flexible friction layer film (23), and the flexible friction layer film (23) is sealed on the inner cavity opening of the elastic support shell (22); the sensing unit (21) is used to measure at least one of a pressure signal, a temperature signal, and a friction signal; The sensing unit (21) comprises a carbon aerogel (213), an upper electrode (211) and a lower electrode (212); the carbon aerogel (213) is sandwiched between the upper electrode (211) and the lower electrode (212); the position of the upper electrode (211) corresponds to the position of the lower electrode (212); The upper electrode (211), the carbon aerogel (213) and the lower electrode (212) are stacked in parallel and placed in the inner cavity of the elastomer support shell (22); the lower electrode (212) is fixed to the bottom of the inner cavity of the elastomer support shell (22), and the upper electrode (211) is fixed to the lower surface of the flexible friction layer film (23). The flexible friction layer film (23) is fixed to the elastomer support shell (22), thereby completely encapsulating the sensing unit (21).

2. The tactile sensor according to claim 1, wherein The sensing unit (21) is used to measure the pressure signal during a first working time, to measure the temperature signal during a second working time, and to measure the friction signal during a third working time; The first working time, the second working time and the third working time are all different.

3. The tactile sensor according to claim 1, wherein The sensing unit (21) is completely encapsulated in the inner cavity of the elastic support shell (22).

4. The tactile sensor according to any one of claims 1 to 3, characterized in that: The tactile sensor further includes a first conductive wire (24) and a second conductive wire (25); The upper electrode (211) is connected to the first wire (24), the lower electrode (212) is connected to the second wire (25), and the first wire (24) and the second wire (25) are led out from the sealed joint between the flexible friction layer film (23) and the elastomer support shell (22).

5. The tactile sensor according to any one of claims 1 to 4, characterized in that: The elastomer supporting shell (22) comprises at least one of polydimethylsiloxane (PDMS), linear tri-block copolymer (SEBS), copolyester (Ecoflex), polyamide (PA), polyethylene (PE), polyvinyl chloride (PVC), and polyvinylidene fluoride (PVDF).

6. The tactile sensor according to any one of claims 1 to 4, characterized in that: The flexible friction layer film (23) comprises at least one of perfluoroethylene propylene copolymer FEP, polytetrafluoroethylene PTFE, PE, polyethylene terephthalate PET, polyimide film material Kapton, polycarbonate PC, nylon Nylon, and polyvinyl chloride PVC.

7. The tactile sensor according to any one of claims 1 to 4, characterized in that: The upper electrode (211) and the lower electrode (212) include at least one of silver paste, copper foil, aluminum foil, iron foil, conductive carbon paper, and conductive polymer.

8. The tactile sensor according to any one of claims 1 to 4, characterized in that: The upper electrode (211) and the lower electrode (212) are respectively formed by splicing rectangular electrode sheets, and the electrode sheets are arranged in an array form; The arrangement in an array form includes at least one of the following: arrangement in a rectangular array, arrangement in a radial shape of a cross, arrangement in a circular array, arrangement in an S shape, and arrangement in a U shape.

9. A method for preparing a tactile sensor, characterized in that: The method is used to prepare the tactile sensor according to any one of claims 1 to 8, and the method comprises: The lower electrode (212) is fixed on the bottom of the inner cavity of the elastic body support shell (22), and the upper electrode (211) is fixed on the lower surface of the flexible friction layer film (23); The carbon aerogel (213) is placed in the inner cavity of the elastomer support shell (22), and the upper electrode (211), the carbon aerogel (213) and the lower electrode (212) are stacked in parallel and placed in the inner cavity of the elastomer support shell (22); The flexible friction layer film (23) is sealed on the upper side of the inner cavity opening of the elastomer support shell (22), and the flexible friction layer film (23) is fixed to the elastomer support shell (22) so that the carbon aerogel (213) is completely sealed in the inner cavity of the elastomer support shell (22), thereby completely encapsulating the sensing unit (21), and the position of the upper electrode (211) corresponds to the position of the lower electrode (212).

10. The preparation method according to claim 9, characterized in that The method further comprises: A first lead (24) connected to the upper electrode (211) and a second lead (25) connected to the lower electrode (212) are led out from the sealed joint between the flexible friction layer film (23) and the elastomer support shell (22).

11. A method for detecting a touch event, characterized in that: The detection method comprises: Obtaining a measurement value of the tactile sensor, where the tactile sensor is the tactile sensor according to any one of claims 1 to 8; At least one of a pressure signal, a temperature signal, and a friction signal of the touch event is measured according to the measurement value.

12. The detection method according to claim 11, characterized in that Measuring at least one of a pressure signal, a temperature signal, and a friction signal of the touch event according to the measurement value includes: According to the measurement value of the tactile sensor, at least one of the following three steps is performed: measuring a pressure signal of the touch event within a first working time; measuring a temperature signal of the touch event within a second working time; measuring a friction signal of the touch event during a third working time; The first working time, the second working time and the third working time are all different.

13. The detection method according to claim 12, characterized in that: Measuring the pressure signal of the touch event within the first working time includes: Obtaining a first current value corresponding to the i-th moment measured by the tactile sensor and a second current value corresponding to the i+1-th moment measured by the tactile sensor, where i>0; calculating a current change value according to the first current value and the second current value; Determining a pressure value in the touch event based on the current change value and a first mapping relationship; Among them, the first mapping relationship refers to the correspondence between the pressure value borne by the tactile sensor and the current change value; the first current value refers to the current value output through the upper electrode, the carbon aerogel and the lower electrode at the i-th moment; the second current value refers to the current value output through the upper electrode, the carbon aerogel and the lower electrode at the i+1-th moment.

14. The detection method according to claim 12, characterized in that: The measuring the temperature signal of the touch event during the second working time includes: obtaining a current value and / or a voltage value measured by the tactile sensor; Calculating a temperature change in the touch event based on the current value and / or the voltage value and a second mapping relationship; The second mapping relationship refers to the corresponding relationship between the temperature difference between the upper electrode (211) and the lower electrode (212) in the tactile sensor and the current value and / or the voltage value; the current value refers to the current value output through the upper electrode, the carbon aerogel and the lower electrode; and the voltage value refers to the voltage value between the upper electrode, the carbon aerogel and the lower electrode.

15. The detection method according to claim 12, characterized in that: The measuring of the friction signal of the touch event within the third working time includes: Obtaining a voltage value output by the upper electrode; Calculating a friction signal in the touch event based on the voltage value and the third mapping relationship, and then identifying a touching object in the touch event; The third mapping relationship refers to the corresponding relationship between the type of the touching object in the touch event and the voltage value; and the voltage value refers to the voltage value output by the upper electrode.

16. An electronic skin, characterized in that: The surface of the electronic skin is covered with a tactile sensor array, and the tactile sensor array includes at least two tactile sensors according to any one of claims 1 to 8.

17. A robot, characterized in that: A preset position on the surface of the robot is covered with a tactile sensor according to any one of claims 1 to 8, or the electronic skin according to claim 16.

18. A sensing device, characterized in that: The sensing device includes: a controller and a tactile sensor, wherein the controller is connected to the tactile sensor and executes to implement the touch event detection method according to any one of claims 11 to 15.

19. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the touch event detection method according to any one of claims 11 to 15.

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