Tactile sensor, method for detecting touch event, sensing device, and robot

Abstract

The application discloses a kind of tactile sensor, the detection method of touch event, sensing device and robot, belong to sensor design field.The tactile sensor includes: sensing unit (21), elastomer support shell (22) and base (23);Sensing unit (21) is set in the inner cavity enclosed by elastomer support shell (22) and base (23);Sensing unit (21) includes at least two light sources (211) and photoelectric detector (212), photoelectric detector (212) is set in the inner cavity top of elastomer support shell (22), and the projection position of photoelectric detector on base (23) is located on base (23), at least two light sources are set around the projection position of photoelectric detector on base (23).The application is by using the combination mode of multiple light sources and a photoelectric detector, reduces the use quantity of photoelectric detector, so that tactile sensor volume reduces.

Description

Technical Field

[0001] This application relates 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 Technology

[0002] With the development and widespread application of robotics technology, robots not only need to complete programmed mechanical movements, but also need to sense the contact forces between themselves and the external environment. Therefore, tactile sensors are often combined with robots.

[0003] In related technologies, optical displacement sensors detect the intensity distribution of light by setting up multiple photodetectors (PDs) and a single light source in each set, thereby deriving the displacement of the sensing surface of the displacement sensor, and then calculating the magnitude and direction of the force borne by the displacement sensor.

[0004] However, traditional optical displacement sensors use multiple PDs, which are large in size and each PD has a dedicated amplifier circuit, making optical displacement sensors occupy more space and cost more. Summary of the Invention

[0005] This application provides a tactile sensor, a method for detecting touch events, a sensing device, and a robot. The tactile sensor is small in size, easy to construct, and can reduce costs. The technical solution is as follows:

[0006] According to one aspect of this application, a tactile sensor is provided, the tactile sensor comprising: a sensing unit, an elastomer support housing, and a base;

[0007] The sensing unit is disposed in the cavity formed by the elastomer support shell and the base;

[0008] The sensing unit includes at least two light sources, a photodetector, and a reflector. The photodetector is disposed on the base, and the at least two light sources are arranged around the photodetector on the base. The reflector is disposed at the top of the inner cavity of the elastomeric support shell.

[0009] According to one aspect of this application, a tactile sensor is provided, the tactile sensor comprising: a sensing unit, an elastomer support housing, and a base;

[0010] The sensing unit is disposed in the cavity formed by the elastomer support shell and the base;

[0011] The sensing unit includes at least two light sources and a photodetector. The photodetector is disposed at the top of the inner cavity of the elastomeric support shell, and the projection position of the photodetector on the base is located on the base. The at least two light sources are disposed around the projection position of the photodetector on the base.

[0012] According to one aspect of this application, a method for fabricating a tactile sensor is provided, the method comprising:

[0013] The photodetector is fixed on the base, and the at least two light sources are fixed around the photodetector.

[0014] The reflector is fixed at the top of the inner cavity of the elastomeric support shell;

[0015] The elastomeric support housing is sealed and fixed to the base so that the sensing unit is sealed within the inner cavity of the elastomeric support housing.

[0016] According to one aspect of this application, a method for fabricating a tactile sensor is provided, the method comprising:

[0017] The photodetector is fixed at the top of the inner cavity of the elastomeric support shell;

[0018] The at least two light sources are fixed around the projection position of the photodetector on the base;

[0019] The elastomeric support housing is sealed on the base so that the sensing unit is sealed within the inner cavity of the elastomeric support housing.

[0020] According to another aspect of this application, a method for detecting touch events is provided, the detection method comprising:

[0021] The light intensity measured by the photodetector in the tactile sensor is obtained;

[0022] Based on the light intensity, at least one of the magnitude and direction of the force exerted on the tactile sensor is measured.

[0023] According to another aspect of this application, an electronic skin is provided, the electronic skin comprising:

[0024] The surface of the electronic skin is covered with a tactile sensor array, which includes at least two of the aforementioned tactile sensors.

[0025] According to another aspect of this application, a robot is provided, the robot comprising:

[0026] The robot's surface is covered at a preset location with the aforementioned tactile sensor, or, as described above, electronic skin.

[0027] According to another aspect of this application, a sensing device is provided, the sensing device comprising:

[0028] A controller and a tactile sensor, the tactile sensor including at least one of the tactile sensors described above, the controller being connected to the tactile sensor and executing a method for detecting touch events as described above.

[0029] According to another aspect of this application, a computer-readable storage medium is provided, wherein at least one instruction is stored therein, the at least one instruction being loaded and executed by a processor to implement the touch event detection method as described above.

[0030] The beneficial effects of the technical solution provided in this application include at least the following:

[0031] By placing a photodetector at the top of the inner cavity of the elastomer support housing, and with the projection of the photodetector onto the base, at least two light sources are arranged around the projection position of the photodetector on the base. The tactile sensor in this application employs a combination of one photodetector and multiple light sources. By reducing the number of photodetectors, the tactile sensor is smaller and less expensive. Furthermore, the reduction in the number of photodetectors reduces the need for dedicated reading circuits, making the tactile sensor simpler and faster in measurement. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the structure of a tactile sensing system provided in an exemplary embodiment of this application;

[0034] Figure 2 This is a schematic diagram of the structure of a tactile sensor provided in an exemplary embodiment of this application;

[0035] Figure 3 This is a schematic diagram of a tactile sensor measuring light intensity provided in an exemplary embodiment of this application;

[0036] Figure 4This is a schematic diagram of a photodetector measuring the light intensity of reflected light when a tactile sensor is subjected to a force along the positive X-axis, according to an exemplary embodiment of this application.

[0037] Figure 5 This is a schematic diagram of a photodetector measuring the light intensity of reflected light when a tactile sensor is subjected to a force along the positive Y-axis, according to an exemplary embodiment of this application.

[0038] Figure 6 This is a schematic diagram of a photodetector measuring the light intensity of reflected light when a tactile sensor is subjected to a force along the positive Z-axis, according to an exemplary embodiment of this application.

[0039] Figure 7 This is a schematic diagram of a photodetector measuring the light intensity of reflected light when a tactile sensor is subjected to a force rotating about the X-axis, according to an exemplary embodiment of this application.

[0040] Figure 8 This is a schematic diagram of a photodetector measuring the light intensity of reflected light when a tactile sensor is subjected to a force rotating about the Y-axis, according to an exemplary embodiment of this application.

[0041] Figure 9 This is a schematic diagram of a photodetector measuring the light intensity of reflected light when a tactile sensor is subjected to a force rotating about the Z-axis, according to an exemplary embodiment of this application.

[0042] Figure 10 This is a schematic diagram of the structure of a tactile sensor provided in an exemplary embodiment of this application;

[0043] Figure 11 This is a schematic diagram of the structure of a tactile sensor provided in an exemplary embodiment of this application;

[0044] Figure 12 This is a schematic diagram of the structure of a tactile sensor provided in an exemplary embodiment of this application;

[0045] Figure 13 This is a schematic diagram of a photodetector measuring the light intensity of reflected light when a tactile sensor is subjected to a force along the positive X-axis, according to an exemplary embodiment of this application.

[0046] Figure 14 This is a schematic diagram of a photodetector measuring the light intensity of reflected light when a tactile sensor is subjected to a force along the positive Y-axis, according to an exemplary embodiment of this application.

[0047] Figure 15 This is a schematic diagram of a photodetector measuring the light intensity of reflected light when a tactile sensor is subjected to a force along the positive Z-axis, according to an exemplary embodiment of this application.

[0048] Figure 16 This is a schematic diagram of a photodetector measuring the light intensity of reflected light when a tactile sensor is subjected to a force rotating about the X-axis, according to an exemplary embodiment of this application.

[0049] Figure 17 This is a schematic diagram of a photodetector measuring the light intensity of reflected light when a tactile sensor is subjected to a force rotating about the Y-axis, according to an exemplary embodiment of this application.

[0050] Figure 18 This is a schematic diagram of a photodetector measuring the light intensity of reflected light when a tactile sensor is subjected to a force rotating about the Z-axis, according to an exemplary embodiment of this application.

[0051] Figure 19 This is a flowchart of a method for fabricating a tactile sensor provided in an exemplary embodiment of this application;

[0052] Figure 20 This is a schematic diagram of the structure of a tactile sensor provided in an exemplary embodiment of this application;

[0053] Figure 21 This is a flowchart of a method for fabricating a tactile sensor provided in an exemplary embodiment of this application;

[0054] Figure 22 This is a flowchart of a touch event detection method provided in an exemplary embodiment of this application;

[0055] Figure 23 This is a flowchart of a force detection method in a touch event provided by an exemplary embodiment of this application;

[0056] Figure 24 This is a flowchart of a force detection method in a touch event provided by an exemplary embodiment of this application;

[0057] Figure 25 This is a flowchart of a force detection method in a touch event provided by an exemplary embodiment of this application;

[0058] Figure 26 This is a schematic diagram of an electronic skin provided in an exemplary embodiment of this application;

[0059] Figure 27 This is a schematic diagram of the structure of a sensing device provided in an exemplary embodiment of this application;

[0060] Figure 28 This is a schematic diagram of the structure of a computer device provided in an exemplary embodiment of this application. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0062] Figure 1 This illustration shows a schematic diagram of a tactile sensing system 100 provided in an exemplary embodiment of this application. The tactile sensing system 100 includes an intelligent robot 10, tactile sensors 101, 102, 103, and 104. Multiple tactile sensors are attached to the intelligent robot 10, such as... Figure 1 As shown in (a), the tactile sensor provided in this embodiment 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, hemisphere, cylinder, irregular shape, etc., as illustrated. Figure 1 As shown in (a), tactile sensor 101 is attached to the head of the intelligent robot 10, tactile sensor 102 is attached to the chest of the intelligent robot, tactile sensor 103 is attached to the abdomen of the intelligent robot, and tactile sensor 104 is attached to the arm of the intelligent robot.

[0063] The tactile sensor can also be attached to the robotic arm 11 of the intelligent robot, such as... Figure 1 As shown in (b), the tactile sensor 105 is attached to the finger of the robotic arm 11. Through contact between the robotic arm 11 and the target object, it provides torque feedback, thereby determining the gesture for grasping the target object and the amount of force required to grasp it. For example, if the object 106 grasped by the robotic arm 11 is a sphere, the robotic arm 11 uses... Figure 1 The gesture shown in (b) involves grasping object 106. Optionally, the tactile sensor 105 may be attached to the fingertip, knuckle, palm, or the entire hand, which is not limited in this application.

[0064] Figure 2 A cross-sectional structural schematic diagram of a tactile sensor provided in an exemplary embodiment of this application is shown. The tactile sensor includes: a sensing unit 21, an elastomer support housing 22, and a base 23.

[0065] The sensing unit 21 is disposed in the cavity formed by the elastomer support shell 22 and the base 23.

[0066] The sensing unit 21 includes at least two light sources 211, a photodetector 212 and a reflector 213. The photodetector 212 is disposed on the base 23, and the at least two light sources 211 are disposed around the photodetector 212 on the base 23. The reflector 21 is disposed on the top of the inner cavity of the elastomer support housing 22.

[0067] Optionally, the reflector 213 is at least one of a reflector plate, a reflector block, and a reflective film, but is not limited thereto, and the embodiments of this application do not limit it.

[0068] In one possible implementation, the sensing unit 21 includes eight light sources 211. A photodetector 212 is disposed on a base 23, and the eight light sources 211 are symmetrically arranged around the photodetector 212 on the base 23.

[0069] Figure 3 A schematic diagram of a tactile sensor measuring light intensity provided in an exemplary embodiment of this application is shown. Figure 3 The central circle represents the illumination range of the eight light sources 211, and the square represents the reflector 213 at the top of the inner cavity of the elastic support shell 22. The eight light sources 211 are light source a, light source b, light source c, light source d, light source e, light source f, light source g, and light source h, arranged around the photodetector 212 on the base 23. Light sources a and b are positioned on either side of the positive y-axis, light sources c and d on either side of the positive x-axis, light sources e and f on either side of the negative y-axis, and light sources g and h on either side of the negative x-axis. Specifically, light source a is the first positive y-axis light source, light source b is the second positive y-axis light source; light source c is the first positive x-axis light source, light source d is the second positive x-axis light source; light source e is the first negative y-axis light source, light source f is the second negative y-axis light source; and light source g is the first negative x-axis light source, and light source h is the second negative x-axis light source.

[0070] For example, when a force is applied to the elastomeric support shell 22, the upper surface of the elastomeric support shell 22 shifts, thereby causing the reflector 213 at the top of the inner cavity of the elastomeric support shell 22 to shift, further causing a change in the illumination intensity of the reflected light received by the photodetector 212. By sequentially controlling the on and off of the light sources 211, the photodetector 212 measures the illumination intensity of the reflected light from each light source 211. By calculating the change in illumination intensity of the reflected light from each light source 211, the displacement of the reflector 213 at the top of the inner cavity of the elastomeric support shell 22 is calculated, thereby determining the magnitude and direction of the force experienced by the tactile sensor.

[0071] When the tactile sensor is subjected to a force in the translational direction, for example, when the tactile sensor is subjected to a force in the X-axis translational direction, the upper surface of the elastic body support shell 22 shifts, thereby causing the reflector 213 at the top of the inner cavity of the elastic body support shell 22 to shift along the X-axis direction, further causing a change in the illumination intensity of the reflected light received by the photodetector 212. By sequentially controlling the on / off state of light sources c and h, the photodetector 212 measures the illumination intensity of the reflected light from light sources c and h. By calculating the change in illumination intensity of the reflected light from each light source c and h, the displacement of the reflector 213 at the top of the inner cavity of the elastic body support shell 22 along the X-axis direction is calculated, thereby determining the magnitude and direction of the force subjected to the tactile sensor.

[0072] When the tactile sensor is subjected to a force in the rotational direction, for example, when the tactile sensor is subjected to a force in the rotational direction around the X-axis, the upper surface of the elastic body support housing 22 rotates, thereby causing the reflector 213 at the top of the inner cavity of the elastic body support housing 22 to rotate around the X-axis, further causing a change in the illumination intensity of the reflected light received by the photodetector 212. By sequentially controlling the on / off state of light sources g and h, the photodetector 212 measures the illumination intensity of the reflected light from light sources g and h. By calculating the change in illumination intensity of the reflected light from each light source g and h, the displacement or angle of the reflector 213 at the top of the inner cavity of the elastic body support housing 22 in the rotational direction around the X-axis is calculated, thereby determining the magnitude and direction of the force subjected to the tactile sensor.

[0073] In summary, the tactile sensor provided in this embodiment uses a combination of multiple light sources and a photodetector. By reducing the number of photodetectors, the size of the tactile sensor is reduced. At the same time, the reduction in the number of photodetectors also reduces the number of dedicated reading circuits for the photodetectors, making the tactile sensor simpler and faster in measurement.

[0074] When the tactile sensor is subjected to a force in the translational direction, the tactile sensor measures the light intensity of the reflected light from the light source corresponding to the positive and negative half-axis in the translational direction. By calculating the change in the light intensity of the reflected light from the light source corresponding to the positive and negative half-axis in the translational direction, the magnitude and direction of the force subjected to the tactile sensor in the translational direction can be sensed.

[0075] When the tactile sensor is subjected to a force in the rotational direction, the tactile sensor measures the light intensity of the reflected light from the light sources on both sides of the rotational axis. By calculating the change in the light intensity of the reflected light from the light sources on both sides of the rotational axis, the magnitude and direction of the force exerted on the tactile sensor in the rotational direction can be sensed.

[0076] The tactile sensor provided in this embodiment measures the light intensity of reflected light from each light source through multiple light sources and a photodetector, thereby realizing the sensing of the magnitude and direction of forces in six degrees of freedom, including translation and rotation.

[0077] based on Figure 2 In an alternative embodiment, the measurement of force in the translational and rotational directions by the tactile sensor is described in detail below.

[0078] For example, Figure 4 This diagram illustrates the measurement of light intensity of reflected light by a photodetector when a tactile sensor is subjected to a force applied along the X-axis translational direction.

[0079] When the tactile sensor is subjected to a force along the X-axis translation direction, the reflector 213 at the top of the inner cavity of the elastic body support shell 22 is displaced along the X-axis direction, which causes the combined illumination intensity of the reflected light from light source c and light source d measured by photodetector 212 to increase, while the combined illumination intensity of the reflected light from light source h and light source g measured by photodetector 212 decreases.

[0080] For example, when the tactile sensor is subjected to a force along the X-axis, the positive X-axis light source is turned on, and the illumination intensity of the positive X-axis light source measured by the photodetector is obtained while the positive X-axis light source is on; the negative X-axis light source is turned on, and the illumination intensity of the negative X-axis light source measured by the photodetector is obtained while the negative X-axis light source is on; wherein, the first difference refers to the difference between the illumination intensity obtained by the photodetector 212 from the positive X-axis light source and the illumination intensity obtained by the photodetector 212 from the negative X-axis light source. The first mapping relationship refers to the correspondence between the magnitude and direction of the force in the translational direction subjected to the tactile sensor and the change in illumination intensity measured by the photodetector.

[0081] For example, when the tactile sensor is subjected to a force along the X-axis, firstly, light sources c and d are turned on, and the combined illumination intensity (λc+λd) of the reflected light from light sources c and d is measured using photodetector 212. Next, light sources c and d are turned off, and light sources h and g are turned on. The combined illumination intensity (λh+λg) of the reflected light from light sources h and g is measured using photodetector 212. By comparing the illumination intensity difference between (λc+λd) and (λh+λg), the displacement of the reflector 213 at the top of the inner cavity of the elastomer support shell 22 along the X-axis is determined, and thus the magnitude and direction of the force applied to the elastomer support shell 22 are determined. For example, when the tactile sensor is subjected to a force along the X-axis, the displacement trans of the tactile sensor reflector 213 along the X-axis is calculated. x The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0082]

[0083] In the formula, λc represents the illumination intensity of the reflected light from light source c as measured by the photodetector; λd represents the illumination intensity of the reflected light from light source d as measured by the photodetector; λh represents the illumination intensity of the reflected light from light source h as measured by the photodetector; and λg represents the illumination intensity of the reflected light from light source g as measured by the photodetector.

[0084] It is understood that when measuring the magnitude and direction of force on the X-axis, the combined illumination intensity of the reflected light from light sources c and d, and the combined illumination intensity of the reflected light from light sources h and g can be selected for measurement. Optionally, the combined illumination intensity is at least one of the following: the average illumination intensity of the reflected light from light sources c and d, the sum of the illumination intensities of the reflected light from light sources c and d, and the weighted value of the illumination intensities of the reflected light from light sources c and d. This application embodiment does not limit this. Alternatively, when measuring the magnitude and direction of force on the X-axis, two light sources on the X-axis can be selected for measurement, such as light source c and light source h, or light source d and light source g, or light source c and light source g, but it is not limited to these. This application embodiment does not limit this.

[0085] That is, when measuring light source c and light source h, the displacement trans generated by the tactile sensor reflector 213 along the X-axis x The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0086]

[0087] When measuring light sources d and g, the displacement trans of the tactile sensor reflector 213 along the X-axis is... x The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0088]

[0089] When measuring light sources c and g, the displacement trans of the tactile sensor reflector 213 along the X-axis is... x The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0090]

[0091] For example, Table 1 shows the correspondence between the magnitude and direction of the force exerted on the tactile sensor in the translational direction and the change in light intensity measured by the photodetector, i.e., the first mapping relationship lookup table. As shown in Table 1, under the force exerted on the tactile sensor in the translational direction, the light intensity of the reflected light from a specific location of the light source is measured, or the light intensity of the reflected light from all light sources is measured. For example, under the force exerted on the tactile sensor in the translational direction, the light intensity of the reflected light from all light sources is measured. After measurement, the light intensities corresponding to light sources c, h, e, and b are X1, X2, X3, and X4, respectively. The displacement trans generated along the X-axis by the tactile sensor reflector 213 is... x Based on the correspondence between the light intensity measured by the photodetector 212 and the actual light intensity, the translational displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the X-axis is Y1, and the translational displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the X-axis is Y2. Furthermore, the force applied to the elastic support shell 22 along the X-axis is 3N, and the force applied to the elastic support shell 22 along the Y-axis is 5N. Finally, it is concluded that the magnitude of the force in the translational direction borne by the tactile sensor is 5N, and the direction is 45° to the positive X-axis.

[0092] Table 1. First Mapping Relationship Comparison Table

[0093]

[0094] For example, Figure 5 This diagram illustrates the measurement of reflected light intensity by a photodetector when a tactile sensor is subjected to a force along the positive Y-axis. When the tactile sensor is subjected to a force along the Y-axis, the reflector 213 at the top of the inner cavity of the elastomer support housing 22 shifts along the Y-axis, causing an increase in the combined illumination intensity of reflected light from light sources a and b as measured by the photodetector 212, while decreasing the combined illumination intensity of reflected light from light sources f and e as measured by the photodetector 212.

[0095] When the tactile sensor is subjected to a force along the Y-axis translation direction, the positive Y-axis light source is turned on, and the illumination intensity of the positive Y-axis light source measured by the photodetector 212 is obtained when the positive Y-axis light source is turned on; the negative Y-axis light source is turned on, and the illumination intensity of the negative Y-axis light source measured by the photodetector 212 is obtained when the negative Y-axis light source is turned on; the magnitude and direction of the force along the Y-axis translation direction experienced by the tactile sensor in the touch event are obtained according to the second difference and the first mapping relationship; wherein, the second difference refers to the difference between the illumination intensity obtained by the photodetector 212 from the positive Y-axis light source and the illumination intensity obtained by the photodetector 212 from the negative Y-axis light source.

[0096] For example, first, light sources a and b are turned on, and the combined illumination intensity (λa+λb) of the reflected light from light sources a and b is measured using photodetector 212. Then, light sources a and b are turned off, and light sources e and f are turned on. The combined illumination intensity (λe+λf) of the reflected light from light sources e and f is measured using photodetector 212. By comparing the illumination intensity difference between (λa+λb) and (λe+λf), the displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the Y-axis is determined, and thus the magnitude of the force applied to the elastic support shell 22 is calculated. For example, when the tactile sensor is subjected to a force along the Y-axis translation direction, the displacement trans of the tactile sensor's reflector along the Y-axis is calculated. y The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0097]

[0098] In the formula, λa represents the illumination intensity of the reflected light from light source a as measured by the photodetector; λb represents the illumination intensity of the reflected light from light source b as measured by the photodetector; λe represents the illumination intensity of the reflected light from light source e as measured by the photodetector; and λf represents the illumination intensity of the reflected light from light source f as measured by the photodetector.

[0099] It is understood that when measuring the magnitude and direction of the force on the Y-axis, two light sources on the Y-axis can be selected for measurement, such as light source a and light source f, or light source a and light source e, or light source b and light source f, or light source b and light source e, but not limited to these, and the embodiments of this application do not limit this.

[0100] Figure 6 A schematic diagram is shown showing the photodetector 212 measuring the illumination intensity of reflected light when the tactile sensor is subjected to a force along the positive Z-axis. When the tactile sensor is subjected to a force along the Z-axis, the reflector 213 at the top of the inner cavity of the elastic support housing 22 is displaced along the Z-axis, resulting in a decrease in the illumination intensity of reflected light from light source a to light source h as measured by the photodetector 212.

[0101] When the tactile sensor is subjected to a force along the Z-axis translation direction, the illumination intensity measured by photodetector 212 at time i and at time i+1 are obtained, where the first target light source refers to at least one of the light sources. The magnitude and direction of the force along the Z-axis translation direction experienced by the tactile sensor in the touch event are obtained based on the third difference and the first mapping relationship; wherein, the third difference refers to the difference between the illumination intensity measured by photodetector 212 at time i and the illumination intensity measured by photodetector 212 at time i+1.

[0102] For example, when measuring the magnitude and direction of a force along the Z-axis, at least one light source can be selected to measure the intensity of reflected light. For instance, only light source c can be selected for measurement. The intensity of reflected light from light source c before the tactile sensor experiences a force along the positive Z-axis can be obtained. After the tactile sensor experiences a force along the positive Z-axis, the intensity of reflected light from light source c can be measured. By comparing the difference in intensity between the two measurements, the displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the Z-axis can be determined, thus revealing the magnitude of the force applied to the elastic support shell 22. For example, when the tactile sensor experiences a force along the translational direction of the Z-axis, the displacement trans of the reflector of the tactile sensor along the Z-axis can be calculated. z The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0103]

[0104] In the formula, λc1 represents the illumination intensity of the reflected light from the light source c at time i, as measured by the photodetector; λc2 represents the illumination intensity of the reflected light from the light source c at time i+1, as measured by the photodetector.

[0105] Figure 7 A schematic diagram is shown showing the light intensity of reflected light measured by a photodetector when a tactile sensor is subjected to a force rotating about the X-axis.

[0106] When the tactile sensor is subjected to a force that rotates around the X-axis, that is, when the tactile sensor is subjected to a torque around the X-axis, the reflector 213 at the top of the inner cavity of the elastic support housing 22 rotates around the X-axis, causing the combined illumination intensity of the reflected light from light source g and light source d measured by photodetector 212 to increase, while the combined illumination intensity of the reflected light from light source h and light source c measured by photodetector 212 to decrease.

[0107] When the tactile sensor is subjected to a force in the rotational direction around the X-axis, the first x-axis light source is turned on. When the first x-axis light source is turned on, the light intensity of the first x-axis light source measured by the photodetector 212 is obtained. The second x-axis light source is turned on. When the second x-axis light source is turned on, the light intensity of the second x-axis light source measured by the photodetector 212 is obtained.

[0108] The magnitude and direction of the force exerted by the tactile sensor in the touch event in the direction of rotation around the x-axis are obtained based on the fourth difference and the second mapping relationship.

[0109] The fourth difference refers to the difference between the light intensity obtained by photodetector 212 from the first x-axis light source and the light intensity obtained by photodetector 212 from the second x-axis light source. The first x-axis light source includes a first positive x-axis light source, and the second x-axis light source includes a second positive x-axis light source; or, the first x-axis light source includes a first negative x-axis light source, and the second x-axis light source includes a second negative x-axis light source; or, the first x-axis light source includes a first positive x-axis light source and a second negative x-axis light source, and the second x-axis light source includes a second positive x-axis light source and a first negative x-axis light source.

[0110] For example, when the tactile sensor is subjected to a rotational force around the X-axis, firstly, light sources g and d are turned on, and the combined illumination intensity (λg + λd) of the reflected light from light sources g and d is measured using photodetector 212. Next, light sources g and d are turned off, and light sources h and c are turned on, and the combined illumination intensity (λh + λc) of the reflected light from light sources h and c is measured using photodetector 212. By comparing the illumination intensity difference between (λg + λd) and (λh + λc), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomer support shell 22 around the X-axis is determined, and thus the magnitude of the force applied to the elastomer support shell 22 is determined. For example, when the tactile sensor is subjected to a torque around the X-axis, the displacement revol generated by the rotation of the tactile sensor reflector 213 around the X-axis is calculated. x The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0111]

[0112] In the formula, λc represents the illumination intensity of the reflected light from light source c as measured by the photodetector; λd represents the illumination intensity of the reflected light from light source d as measured by the photodetector; λh represents the illumination intensity of the reflected light from light source h as measured by the photodetector; and λg represents the illumination intensity of the reflected light from light source g as measured by the photodetector.

[0113] It is understood that when measuring the magnitude and direction of the torque about the X-axis, at least two light sources on both sides of the X-axis can be selected for measurement, such as light source g and light source h, or light source d and light source c, but not limited thereto, and the embodiments of this application do not limit this.

[0114] For example, Table 2 shows the correspondence between the magnitude and direction of the force in the rotational direction borne by the tactile sensor and the change in light intensity measured by the photodetector, i.e., the second mapping relationship table. As shown in Table 2, under the condition of the force in the rotational direction borne by the tactile sensor, the light intensity of the reflected light from a specific location of the light source is measured, or the light intensity of the reflected light from all light sources is measured. For example, under the condition of the force in the rotational direction borne by the tactile sensor, the light intensity of the reflected light from a specific location of the light source is measured. After measurement, the light intensities corresponding to light source g and light source h are X1 and X2, respectively. The rotational displacement trans generated along the X-axis by the tactile sensor reflector 213 is... x Based on the correspondence between the light intensity measured by the photodetector 212, the rotational displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the X-axis is Y1; thus, the magnitude of the force in the translational direction borne by the tactile sensor is aN and the direction is clockwise with respect to the X-axis.

[0115] Table 2. Second Mapping Relationship Comparison Table

[0116]

[0117] For example, Figure 8 This diagram illustrates the measurement of reflected light intensity by a photodetector when a tactile sensor is subjected to a force rotating about the Y-axis. When the tactile sensor is subjected to a force rotating about the Y-axis, the reflector 213 at the top of the inner cavity of the elastomer-supported housing 22 rotates about the Y-axis, causing an increase in the combined light intensity of light sources a and f measured by the photodetector 212, while decreasing the combined light intensity of light sources b and e measured by the photodetector 212.

[0118] When the tactile sensor is subjected to a force in the rotational direction around the y-axis, the first y-axis light source is turned on. When the first y-axis light source is turned on, the light intensity of the first y-axis light source measured by the photodetector 212 is obtained. The second y-axis light source is turned on. When the second y-axis light source is turned on, the light intensity of the second y-axis light source measured by the photodetector 212 is obtained.

[0119] The magnitude and direction of the force exerted by the tactile sensor in the touch event in the direction of rotation around the x-axis are obtained based on the fifth difference and the second mapping relationship.

[0120] The fifth difference refers to the difference between the light intensity obtained by photodetector 212 from the first y-axis light source and the light intensity obtained by photodetector 212 from the second y-axis light source. The first y-axis light source includes a first positive y-axis light source, and the second y-axis light source includes a second positive y-axis light source; or, the first y-axis light source includes a first negative y-axis light source, and the second y-axis light source includes a second negative y-axis light source; or, the first y-axis light source includes a first positive y-axis light source and a second negative y-axis light source, and the second y-axis light source includes a second positive y-axis light source and a first negative y-axis light source.

[0121] For example, first, light sources a and f are turned on, and the combined illumination intensity (λa+λf) of the reflected light from light sources a and f is measured using photodetector 212. Then, light sources a and f are turned off, and light sources e and b are turned on. The combined illumination intensity (λe+λb) of the reflected light from light sources e and b is measured using photodetector 212. By comparing the illumination intensity difference between (λa+λf) and (λe+λb), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastic support shell 22 around the Y-axis can be determined, and thus the magnitude of the force applied to the elastic support shell can be calculated. For example, when the tactile sensor is subjected to a force rotating around the Y-axis, the displacement revol generated by the rotation of the reflector 213 of the tactile sensor around the Y-axis can be calculated. y The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0122]

[0123] In the formula, λa represents the illumination intensity of the reflected light from light source a as measured by the photodetector; λb represents the illumination intensity of the reflected light from light source b as measured by the photodetector; λe represents the illumination intensity of the reflected light from light source e as measured by the photodetector; and λf represents the illumination intensity of the reflected light from light source f as measured by the photodetector.

[0124] It is understood that when measuring the magnitude and direction of the torque around the Y-axis, at least two light sources on both sides of the Y-axis can be selected for measurement, such as light source a and light source b, or light source a and light source e, or light source b and light source f, or light source f and light source e, but not limited thereto, and the embodiments of this application do not limit this.

[0125] For example, Figure 9This diagram illustrates the measurement of reflected light intensity by a photodetector when a tactile sensor is subjected to a force acting around the Z-axis. When the tactile sensor is subjected to a force along the Z-axis, the reflector 213 at the top of the inner cavity of the elastic support housing 22 rotates around the Z-axis, causing a decrease in the reflected light intensity of light sources a, c, e, and g as measured by the photodetector 212, and an increase in the reflected light intensity of light sources b, d, f, and h as measured by the photodetector 212.

[0126] When the tactile sensor is subjected to a force in the direction of rotation around the Z-axis, the second target light source is turned on. When the second target light source is turned on, the light intensity of the second target light source measured by the photodetector is obtained. The third target light source is turned on. When the third target light source is turned on, the light intensity of the third target light source measured by the photodetector is obtained. The second target light source is any one of the light sources, and the third target light source is a different light source from the second target light source.

[0127] The magnitude and direction of the force exerted by the tactile sensor in the z-axis rotation direction during a touch event are obtained based on the sixth difference and the second mapping relationship.

[0128] The sixth difference refers to the difference between the light intensity obtained by the photodetector 212 from the second target light source and the light intensity obtained by the photodetector 212 from the third target light source.

[0129] It is understood that when measuring the magnitude and direction of the torque around the Z-axis, all light sources can be selected for measurement, or at least two light sources can be selected for measurement, such as light source a and light source b, or light source a and light source d, or light source a and light source f, or light source a and light source h, or light source c and light source d, but not limited thereto, and the embodiments of this application do not limit this.

[0130] For example, first, light sources b, d, f, and h are turned on, and the combined illumination intensity (λb+λd+λh+λf) of the reflected light from light sources b, d, f, and h is measured using photodetector 212. Then, light sources b, d, f, and h are turned off, and light sources a, c, e, and g are turned on. The combined illumination intensity (λa+λc+λe+λg) of the reflected light from light sources a, c, e, and g is measured using photodetector 212. By comparing the illumination intensity difference between (λb+λd+λh+λf) and (λa+λc+λe+λg), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastic support shell 22 around the Z-axis can be determined, and thus the magnitude of the force applied to the elastic support shell 22 can be calculated. For example, when the tactile sensor is subjected to a force rotating around the Z-axis, the displacement revol of the reflector 213 of the tactile sensor around the Z-axis is calculated. z The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0131]

[0132] In summary, the tactile sensor provided in this embodiment measures the intensity of reflected light from different light sources using a photodetector, thereby measuring the magnitude and direction of force in the translational and rotational directions. Those skilled in the art can select an appropriate number of light sources and choose suitable light sources for reflected light measurement based on the actual measurement situation, making the measurement results of the tactile sensor more accurate.

[0133] Figure 10 Sub-figure (a) shows a schematic cross-sectional view of a tactile sensor provided in an exemplary embodiment of this application. The tactile sensor includes: a sensing unit 21, an elastomer support housing 22, and a base 23.

[0134] The sensing unit 21 is disposed in the cavity formed by the elastomer support shell 22 and the base 23.

[0135] The sensing unit 21 includes at least two light sources 211, a photodetector 212 and a reflector 213. The photodetector 212 is disposed on the base 23, and the at least two light sources 211 are disposed around the photodetector 212 on the base 23. The reflector 21 is disposed on the top of the inner cavity of the elastomer support housing 22.

[0136] Exemplarily, the light source 211 is at least one of a visible light lamp or an infrared lamp, and this embodiment of the application is not limited to this. The reflector 213 is used to reflect the light emitted by the light source 211 to the photodetector 212, and the reflector 213 has a sufficiently high contrast with the top of the inner cavity of the elastomer support housing 22. Contrast refers to the color difference between the reflector 213 and the top of the inner cavity of the elastomer support housing 22 under the light source 211. The photodetector 212 is used to receive the illumination intensity of the light emitted by the light source 211 and convert the light signal into an electrical signal.

[0137] Optionally, the base 23 includes an x-axis and a y-axis, with the intersection of the x-axis and y-axis being the origin; the photodetector 212 is set at the origin; at least two light sources 211 include a positive x-axis light source and a negative x-axis light source, which are located on the positive and negative half-axis sides of the x-axis, respectively.

[0138] At least two light sources 211 include a positive y-axis light source and a negative y-axis light source, which are located on the positive and negative half-axis sides of the y-axis, respectively.

[0139] Optionally, the positive x-axis light source and the negative x-axis light source are centrally symmetrical about the origin; and / or, the positive y-axis light source and the negative y-axis light source are centrally symmetrical about the origin.

[0140] Optionally, the positive x-axis light source includes n1 light sources, of which at least two are located on either side of the positive x-axis, where n1 is an integer greater than 2; and / or, the negative x-axis light source includes n2 light sources, of which at least two are located on either side of the negative x-axis, where n2 is an integer greater than 2. For example, the n1 light sources are arranged in a straight line perpendicular to the positive x-axis, or the n1 light sources are arranged in a fan shape, where each of the n1 light sources is equidistant from the origin. The n2 light sources are arranged in a straight line perpendicular to the negative x-axis, or the n2 light sources are arranged in a fan shape, where each of the n2 light sources is equidistant from the origin.

[0141] The positive y-axis light source includes n3 light sources, of which at least two light sources are located on both sides of the positive y-axis, where n3 is an integer greater than 2; and / or, the negative y-axis light source includes n4 light sources, of which at least two light sources are located on both sides of the negative y-axis, where n4 is an integer greater than 2.

[0142] For example, n3 light sources are arranged in a straight line, with the line perpendicular to the positive y-axis; or, n3 light sources are arranged in a sector shape, with each of the n3 light sources being equidistant from the origin. Similarly, n4 light sources are arranged in a straight line, with the line perpendicular to the negative y-axis; or, n4 light sources are arranged in a sector shape, with each of the n4 light sources being equidistant from the origin.

[0143] In one possible implementation, the sensing unit 21 includes eight light sources 211; the eight light sources 211 are light source a, light source b, light source c, light source d, light source e, light source f, light source g, and light source h, and the eight light sources 211 are arranged around the photodetector 212 on the base 23; the positive x-axis light source, the negative x-axis light source, the positive y-axis light source, and the negative y-axis light source each include two light sources.

[0144] Among them, light source a is the first positive y-axis light source, light source b is the second positive y-axis light source; light source c is the first positive x-axis light source, light source d is the second positive x-axis light source; light source e is the first negative y-axis light source, light source f is the second negative y-axis light source; light source g is the first negative x-axis light source, and light source h is the second negative x-axis light source.

[0145] Optionally, the tactile sensor includes a photodetector 212 and multiple light sources 211; the multiple light sources 211 include at least two light sources 211 disposed on the positive half-axis and the negative half-axis of the coordinate axis; and / or, the multiple light sources 211 include at least two light sources 211 disposed on both sides of the coordinate axis.

[0146] For example, when a force is applied to the elastomeric support shell 22, the upper surface of the elastomeric support shell 22 shifts, thereby causing the reflector 213 at the top of the inner cavity of the elastomeric support shell 22 to shift, further causing a change in the illumination intensity of the reflected light received by the photodetector 212. By sequentially controlling the on and off of the light sources 211, the photodetector 212 measures the illumination intensity of the reflected light from each light source 211. By calculating the change in illumination intensity of the reflected light from each light source 211, the displacement of the reflector 213 at the top of the inner cavity of the elastomeric support shell 22 is calculated, thereby determining the magnitude and direction of the force experienced by the tactile sensor.

[0147] like Figure 10 As shown in sub-figure (b), when a translational force is applied to the elastic support shell 22, only light source 1 is turned on, and the illumination intensity of the reflected light from light source 1 is measured using photodetector 212; after measuring the illumination intensity of the reflected light from light source 1, light source 1 is turned off, and light source 2 is turned on, as shown in the figure. Figure 10 As shown in sub-figure (b), the illumination intensity of the reflected light from the light source 2 is measured using a photodetector 212; by comparing and calculating the difference between the illumination intensity of the reflected light from the light source 1 and the illumination intensity of the reflected light from the light source 2, the displacement of the reflector 213 at the top of the inner cavity of the elastic body support shell 22 is calculated, and thus the magnitude and direction of the force applied to the elastic body support shell 22 are obtained.

[0148] In one possible implementation, the projection area of ​​the reflector 213 on the base 23 does not overlap with the location of the light source 211. For example, the projection area of ​​the reflector 213 on the base 23 does not coincide with the light source 211; that is, the light source is located outside the projection area of ​​the reflector 213 on the base 23. This allows the photodetector 212 to be more sensitive and accurate in measuring changes in the intensity of reflected light when the reflector 213 at the top of the inner cavity of the elastomer support housing 22 is displaced.

[0149] Optionally, there may be one or more reflectors 213. When there is only one reflector 213, the reflector 213 is a regular polygon. The projection area of ​​this regular polygon onto the base 23 will not coincide with the light source 211. When there are multiple reflectors 213, the multiple reflectors 213 are arranged in a regular polygonal layout, or the multiple reflectors 213 are arranged in a ring layout.

[0150] For example, when there are multiple reflectors 213, the multiple reflectors 213 are arranged in a regular polygonal layout, and the projection area of ​​the multiple reflectors 213 arranged in a regular polygonal layout on the base 23 is located between the photodetector 212 and the light source 211; or, the multiple reflectors 213 are arranged in a ring layout, and the projection area of ​​the multiple reflectors 213 arranged in a ring layout on the base 23 is located between the photodetector 212 and the light source 211.

[0151] Optionally, the reflector 213 may be rectangular, elliptical, or triangular in shape, but is not limited thereto, and the embodiments of this application do not limit this.

[0152] like Figure 11 As shown, in one possible implementation, the elastomeric support shell 22 is an integral structure. When the elastomeric support shell 22 is an integral structure, it can be made entirely of silicone material. When the elastomeric support shell 22 is an integral structure, its shape can be at least one of rectangular, bowl-shaped, hemispherical, or ellipsoidal, but it is not limited to these shapes, and the embodiments of this application do not impose such limitations.

[0153] Optionally, such as Figure 12 As shown, the elastomeric support shell has an assembled structure. The elastomeric support shell 22 includes a rigid plate 221 and a deformable support 222. The rigid plate 221 is connected to the base 23 through the deformable support 222, and the reflector 213 is fixed to the lower surface of the rigid plate 221. The deformable support 222 includes at least one of a spring, rubber material, and foam material, which is not limited in this embodiment.

[0154] In one possible implementation, multiple photodetectors 212 may be disposed in the central region of the base 23, and at least two light sources 211 are arranged around the multiple photodetectors 212 on the base 23. A reflector 213 is disposed at the top of the inner cavity of the elastomeric support housing 22. It is understood that among the multiple photodetectors 212 in the central region of the base 23, multiple photodetectors 212 may be used simultaneously for measurement, or a single photodetector 212 may be used for measurement; this embodiment of the application does not limit this.

[0155] In one possible implementation, when a force is applied to the elastomeric support shell 22 in the x-axis translational direction, such as Figure 13 As shown in Figure (a), the combined illuminance (λc+λd) of the reflected light from light sources c and d is measured using photodetector 212; then, the combined illuminance (λh+λg) of the reflected light from light sources h and g is measured using photodetector 212; by comparing the illuminance difference between (λc+λd) and (λh+λg), the displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the X-axis is obtained, and thus the magnitude and direction of the force applied to the elastic support shell 22 are determined. Figure 13 As shown in Figure (b), the illumination intensity λc of the reflected light from light source c is measured using photodetector 212; then, the illumination intensity λg of the reflected light from light source g is measured using photodetector 212; by comparing the illumination intensity difference between λc and λg, the displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the X-axis is obtained, and thus the magnitude and direction of the force applied to the elastic support shell 22 are determined. Figure 13 As shown in Figure (c), the illumination intensity λd of the reflected light from light source d is measured by photodetector 212; then, the combined illumination intensity λg of the reflected light from light source g is measured using photodetector 212; by comparing the illumination intensity difference between λd and λg, the displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the X-axis is obtained, and thus the magnitude and direction of the force applied to the elastic support shell 22 are determined. Figure 13 As shown in Figure (d), source c and light source g are positioned on the x-axis. The illumination intensity λc of the reflected light from light source c is measured by photodetector 212. Then, the illumination intensity λg of the reflected light from light source g is measured by photodetector 212. By comparing the illumination intensity difference between λc and λg, the displacement of the reflector 213 at the top of the inner cavity of the elastic body support shell 22 along the x-axis is obtained, and thus the magnitude and direction of the force applied to the elastic body support shell 22 are obtained.

[0156] In one possible implementation, when a force is applied to the elastomeric support shell 22 in the Y-axis translational direction, such as Figure 14As shown in Figure (a), the combined illumination intensity (λa+λb) of the reflected light from light sources a and b is measured using photodetector 212; then, the combined illumination intensity (λe+λf) of the reflected light from light sources e and f is measured using photodetector 212; by comparing the illumination intensity difference between (λa+λb) and (λe+λf), the displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the Y-axis is obtained, and thus the magnitude and direction of the force applied to the elastic support shell 22 are determined. Figure 14 As shown in Figure (b), the illumination intensity λa of the reflected light from light source a is measured using photodetector 212; then, the illumination intensity λe of the reflected light from light source e is measured using photodetector 212; by comparing the illumination intensity difference between λa and λe, the displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the Y-axis is obtained, and thus the magnitude and direction of the force applied to the elastic support shell 22 are determined. Figure 14 As shown in Figure (c), the combined illumination intensity λb of the reflected light from light source b is measured using photodetector 212; then, the illumination intensity λe of the reflected light from light source e is measured using photodetector 212; by comparing the illumination intensity difference between λb and λe, the displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the Y-axis is obtained, and thus the magnitude and direction of the force applied to the elastic support shell 22 are determined. Figure 14 As shown in Figure (d), source a and light source f are positioned on the x-axis. The illumination intensity λa of the reflected light from light source a is measured by photodetector 212. Then, the illumination intensity λf of the reflected light from light source f is measured by photodetector 212. By comparing the illumination intensity difference between λa and λf, the displacement of the reflector 213 at the top of the inner cavity of the elastic body support shell 22 along the Y-axis is obtained, and thus the magnitude and direction of the force applied to the elastic body support shell 22 are obtained.

[0157] In one possible implementation, when a force is applied to the elastomer support shell 22 in the Z-axis translational direction, such as Figure 15 As shown in Figure (a), the combined illumination intensity of the reflected light from all light sources is measured at time i using photodetector 212; then, the combined illumination intensity of the reflected light from all light sources is measured at time i+1 using photodetector 212; by comparing the difference in the combined illumination intensity of all light sources between the two times, the displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the Z-axis is obtained, and thus the magnitude and direction of the force applied to the elastic support shell 22 are determined. Figure 15As shown in Figure (b), the combined illumination intensity (λa1+λc1+λe1+λg1) of the reflected light from a portion of the light source is measured at time i using photodetector 212; then, the combined illumination intensity (λa2+λc2+λe2+λg2) of the reflected light from a portion of the light source is measured at time i+1 using photodetector 212; by comparing the difference in the combined illumination intensity of the light source between the two times, the displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the Z-axis is obtained, and thus the magnitude and direction of the force applied to the elastic support shell 22 are determined. Figure 15 As shown in Figure (c), the combined illumination intensity λa1 of the reflected light from a single light source is measured at time i using photodetector 212; then, the combined illumination intensity λa2 of the reflected light from a single light source is measured at time i+1 using photodetector 212; by comparing the difference in combined illumination intensity between the two times, the displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the Z-axis is obtained, and thus the magnitude and direction of the force applied to the elastic support shell 22 are determined. Figure 15 As shown in Figure (d), the light source is positioned on the X-axis, and the combined illumination intensity (λg1+λd1) of the reflected light from the two light sources is measured at time i using photodetector 212. Then, the combined illumination intensity (λg2+λd2) of the reflected light from the two light sources is measured at time i+1 using photodetector 212. By comparing the difference in the combined illumination intensity of the light sources between the two times, the displacement of the reflector 213 at the top of the inner cavity of the elastic body support shell 22 along the Z-axis is obtained, and thus the magnitude and direction of the force applied to the elastic body support shell 22 are obtained.

[0158] It is understood that the light source selected for the above measurements of the magnitude and direction of the translational force applied to the elastic support shell 22 is not limited to this. Appropriate positions and numbers of light sources can be selected for measurement according to actual needs. This application embodiment does not limit this.

[0159] In one possible implementation, when a force is applied to the elastomeric support shell 22 in the rotational direction along the X-axis, such as Figure 16 As shown in Figure (a), the combined illumination intensity λd of the reflected light from light source d is measured using photodetector 212; then, the combined illumination intensity λh of the reflected light from light source h is measured using photodetector; by comparing the illumination intensity difference between λd and λh, the rotational displacement or angle of the reflector at the top of the inner cavity of the elastomer support shell 22 about the X-axis is obtained, and thus the magnitude of the force applied to the elastomer support shell 22 is determined. Figure 16As shown in Figure (b), the combined illumination intensity λg of the reflected light from the light source g is measured using a photodetector 212; then, the combined illumination intensity λh of the reflected light from the light source h is measured using a photodetector; by comparing the illumination intensity difference between λg and λh, the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastic support shell 22 about the X-axis is obtained, and thus the magnitude of the force applied to the elastic support shell is obtained.

[0160] In one possible implementation, when a force is applied to the elastomeric support shell 22 in the rotational direction along the Y-axis, such as Figure 17 As shown in Figure (a), the combined illumination intensity λa of the reflected light from light source a is measured using photodetector 212; then, the combined illumination intensity λe of the reflected light from light source e is measured using photodetector 212; by comparing the illumination intensity difference between λa and λe, the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomer support shell 22 about the Y-axis is obtained, and thus the magnitude of the force applied to the elastomer support shell 213 is determined. Figure 17 As shown in Figure (b), the combined illumination intensity λa of the reflected light from light source a is measured using photodetector 212; then, the combined illumination intensity λb of the reflected light from light source b is measured using photodetector; by comparing the illumination intensity difference between λa and λb, the rotational displacement or angle generated around the Y-axis by the reflector 213 at the top of the inner cavity of the elastic support shell 22 is obtained, and thus the magnitude of the force applied to the elastic support shell 22 is obtained.

[0161] In one possible implementation, when a force is applied to the elastomer support shell 22 in the direction of rotation along the Z-axis, such as Figure 18 As shown in Figure (a), the combined illuminance (λa+λc+λe+λg) of the reflected light from light sources a, c, e, and g is measured using a photodetector 212; then, the combined illuminance (λb+λd+λf+λh) of the reflected light from light sources b, d, f, and h is measured using a photodetector; by comparing the illuminance difference between (λa+λc+λe+λg) and (λb+λd+λf+λh), the rotational displacement or angle of the reflector at the top of the inner cavity of the elastic support shell 22 about the Z-axis is determined, and thus the magnitude of the force applied to the elastic support shell 22 is determined. Figure 18 As shown in Figure (b), the combined illumination intensity λa of the reflected light from light source a is measured using photodetector 212; then, the combined illumination intensity λb of the reflected light from light source b is measured using photodetector 212; by comparing the illumination intensity difference between λa+ and λb, the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastic support shell 22 about the Z-axis is obtained, and thus the magnitude of the force applied to the elastic support shell 22 is determined. Figure 18 As shown in Figure (c), the combined illuminance (λa+λc) of the reflected light from light sources a and c is measured using photodetector 212; then, the combined illuminance (λb+λd) of the reflected light from light sources b and d is measured using photodetector 212; by comparing the illuminance difference between (λa+λc) and (λb+λd), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastic support shell 22 about the Z-axis is determined, and thus the magnitude of the force applied to the elastic support shell 22 is determined. Figure 18 As shown in Figure (d), the combined illuminance (λc+λe) of the reflected light from light sources c and e is measured using a photodetector 212; then, the combined illuminance (λb+λd) of the reflected light from light sources b and d is measured using a photodetector; by comparing the difference in illuminance between (λc+λe) and (λb+λd), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastic support shell 22 around the Z-axis is obtained, and thus the magnitude of the force applied to the elastic support shell 22 is obtained.

[0162] It is understood that the light source selected for the above measurements of the magnitude and direction of the rotational force applied to the elastomer support shell 22 is not limited to this. Appropriate positions and numbers of light sources can be selected for measurement according to actual needs. This application embodiment does not limit this.

[0163] In summary, the tactile sensor provided in this embodiment uses a combination of multiple light sources and a photodetector. By reducing the number of photodetectors, the size of the tactile sensor is reduced. At the same time, the reduction in the number of photodetectors also reduces the number of dedicated reading circuits for the photodetectors, making the tactile sensor simpler and faster in measurement.

[0164] When the tactile sensor is subjected to a force in the translational direction, this embodiment provides a variety of optional schemes for measuring the reflected light intensity of the light source corresponding to the positive and negative half-axis in the translational direction. By calculating the change value of the reflected light intensity of the light source corresponding to the positive and negative half-axis in the translational direction, the magnitude and direction of the force subjected to the tactile sensor in the translational direction can be sensed.

[0165] When the tactile sensor is subjected to a force in the rotational direction, this embodiment provides a variety of optional solutions for measuring the illumination intensity of the reflected light from the light sources on both sides of the rotational axis. By calculating the change in the illumination intensity of the reflected light from the light sources on both sides of the rotational axis, the magnitude and direction of the force exerted on the tactile sensor in the rotational direction can be sensed.

[0166] In summary, the tactile sensor provided in this embodiment measures the illumination intensity of the reflected light from each light source through multiple light sources and a photodetector, thereby realizing the sensing of the magnitude and direction of forces in six degrees of freedom, including translation and rotation.

[0167] Based on the structural description of the tactile sensor in the above embodiments, the fabrication method of the tactile sensor will be described below.

[0168] Figure 19 A flowchart of a method for fabricating a tactile sensor provided in an exemplary embodiment of this application is shown. This method is applied to the fabrication of the aforementioned tactile sensor, and the subject executing this method may be an industrial assembly line device.

[0169] Step 1902: Secure the photodetector to the base and surround it with at least two light sources.

[0170] For example, the base 23 is a printed circuit board (PCB), and the photodetector 212 can be fixed to the base 23 by soldering. At least two light sources 23 can also be fixed around the photodetector 212 by soldering.

[0171] For example, the photodetector 212 can be fixed to the central area of ​​the base 23 with glue, and at least two light sources 211 can also be fixed around the photodetector 212 with glue.

[0172] It is understood that the above-mentioned fixed photodetector 212 and at least two light sources 211 can be implemented individually or in any combination, and this application does not limit this.

[0173] Optionally, the base 23 includes an x-axis and a y-axis, with the intersection of the x-axis and the y-axis being the origin; the photodetector 212 is disposed at the origin; at least two light sources 211 include a positive x-axis light source and a negative x-axis light source, which are respectively fixed to the positive and negative half-axis sides of the x-axis; at least two light sources 211 include a positive y-axis light source and a negative y-axis light source, which are respectively fixed to the positive and negative half-axis sides of the y-axis.

[0174] Optionally, the positive x-axis light source and the negative x-axis light source are centrally symmetrical about the origin; and / or, the positive y-axis light source and the negative y-axis light source are centrally symmetrical about the origin.

[0175] Optionally, the positive x-axis light source includes n1 light sources, with at least two of these n1 light sources fixed on both sides of the positive x-axis; and / or, the negative x-axis light source includes n2 light sources, with at least two of these n2 light sources fixed on both sides of the negative x-axis, where n2 is an integer greater than 2. The positive y-axis light source includes n3 light sources, with at least two of these n3 light sources located on both sides of the positive y-axis, where n3 is an integer greater than 2; and / or, the negative y-axis light source includes n4 light sources, with at least two of these n4 light sources fixed on both sides of the negative y-axis, where n4 is an integer greater than 2.

[0176] Step 1904: Fix the reflector at the top of the inner cavity of the elastomer support shell.

[0177] For example, the reflector 213 is fixed to the top of the inner cavity of the elastomeric support housing 22 by adhesive.

[0178] Optionally, a slot is provided at the top of the inner cavity of the elastomer support housing 22, and the reflector 213 is fixed in the slot.

[0179] It is understood that the above-mentioned method of fixing the reflector 213 can be implemented alone or in any combination, and this application does not limit it.

[0180] Optionally, the projection area of ​​the reflector 213 on the base 23 does not intersect with the setting position of the light source 211. There are one or more reflectors 213. When there are multiple reflectors 213, the multiple reflectors 213 are fixed to the top of the inner cavity of the elastomeric support shell in a regular polygonal layout, or the multiple reflectors 213 are fixed to the top of the inner cavity of the elastomeric support shell in a ring layout.

[0181] Step 1906: Seal and fix the elastomeric support housing onto the base so that the sensing unit is sealed within the inner cavity of the elastomeric support housing.

[0182] For example, after fixing the photodetector 212 and at least two light sources 211 to the base 23 and fixing the reflector 213 to the top of the inner cavity of the elastomeric support housing 22, the elastomeric support housing 22 is sealed and fixed to the base 23 with glue or screws, so that the photodetector 212, at least two light sources 211 and reflector 213 are sealed in the inner cavity of the elastomeric support housing 22.

[0183] In summary, the method provided in this embodiment offers a fabrication approach for the aforementioned tactile sensor. Those skilled in the art can select appropriate fabrication materials and methods based on actual conditions, thereby enabling more ways to implement the tactile sensor.

[0184] Figure 20The diagram shows a schematic representation of another tactile sensor provided in an exemplary embodiment of this application. The tactile sensor includes: a sensing unit 21, an elastomer support housing 22, and a base 23.

[0185] The sensing unit 21 is disposed in the cavity formed by the elastomer support shell 22 and the base 23.

[0186] The sensing unit 21 includes at least two light sources 211 and a photodetector 212. The photodetector 212 is disposed on the top of the inner cavity of the elastic support housing 22, and the projection position of the photodetector 212 on the base 23 is located on the base 23. At least two light sources 211 are disposed around the projection position of the photodetector 212 on the base 23.

[0187] Exemplarily, the light source 211 is at least one of a visible light lamp or an infrared lamp, and this application embodiment does not limit this. The photodetector 212 is used to receive the illumination intensity of the light emitted by the light source 211 and convert the light signal into an electrical signal.

[0188] Optionally, the base 23 includes an x-axis and a y-axis, with the intersection of the x-axis and y-axis being the origin; the photodetector 212 is set at the origin; at least two light sources 211 include a positive x-axis light source and a negative x-axis light source, which are located on the positive and negative half-axis sides of the x-axis, respectively.

[0189] At least two light sources 211 include a positive y-axis light source and a negative y-axis light source, which are located on the positive and negative half-axis sides of the y-axis, respectively.

[0190] Optionally, the positive x-axis light source and the negative x-axis light source are centrally symmetrical about the origin; and / or, the positive y-axis light source and the negative y-axis light source are centrally symmetrical about the origin.

[0191] Optionally, the positive x-axis light source includes m1 light sources, where at least two of the m1 light sources are located on either side of the positive x-axis, and m1 is an integer greater than 2; and / or, the negative x-axis light source includes m2 light sources, where at least two of the m2 light sources are located on either side of the negative x-axis, and m2 is an integer greater than 2. For example, the m1 light sources are arranged along a straight line perpendicular to the positive x-axis, or the m1 light sources are arranged in a fan shape, with each of the m1 light sources equidistant from the origin. The m2 light sources are arranged along a straight line perpendicular to the negative x-axis, or the m2 light sources are arranged in a fan shape, with each of the m2 light sources equidistant from the origin.

[0192] A positive y-axis light source comprises m³ light sources, with at least two of these sources located on either side of the positive y-axis, where m³ is an integer greater than 2; and / or, a negative y-axis light source comprises m⁴ light sources, with at least two of these sources located on either side of the negative y-axis, where m⁴ is an integer greater than 2. For example, the m³ light sources are arranged along a straight line perpendicular to the positive y-axis, or the m³ light sources are arranged in a fan shape, with each light source equidistant from the origin. Similarly, the m⁴ light sources are arranged along a straight line perpendicular to the negative y-axis, or the m⁴ light sources are arranged in a fan shape, with each light source equidistant from the origin.

[0193] Optionally, the tactile sensor includes a photodetector 212 and at least two light sources 211; the at least two light sources 211 are symmetrically arranged about the positive and negative half-axis of the coordinate axis with the coaxial center as the center; and / or, the at least two light sources 211 are arranged on both sides of the coordinate axis with the coordinate axis as the axis of symmetry.

[0194] For example, when a force is applied to the elastomeric support shell 22, the upper surface of the elastomeric support shell 22 shifts, thereby causing the photodetector 212 at the top of the inner cavity of the elastomeric support shell 22 to shift, further causing a change in the light intensity received by the photodetector 212. By sequentially controlling the on and off of the light source 211, the photodetector 212 receives the light intensity. By comparing the light intensity value received by the photodetector 212 for each light source 211, the displacement of the photodetector 212 at the top of the inner cavity of the elastomeric support shell 22 is calculated, thereby determining the magnitude and direction of the force borne by the tactile sensor.

[0195] When a force is applied to the elastic support shell 22, only the light source 1 is turned on, and the received light intensity is measured using the photodetector 212. After the photodetector 212 measures the light intensity of the light source 1, the light source 1 is turned off, and the light source 2 is turned on. The photodetector 212 is then used to measure the light intensity of the light source 2. By comparing and calculating the difference between the light intensity of the light source 1 and the light intensity of the light source 2 received by the photodetector 212, the displacement of the photodetector 212 at the top of the inner cavity of the elastic support shell 22 is calculated, and thus the magnitude and direction of the force applied to the elastic support shell 22 are obtained.

[0196] Optionally, the elastomeric support shell 22 is an integral structure. When the elastomeric support shell 22 is an integral structure, it can be made entirely of silicone material. When the elastomeric support shell 22 is an integral structure, its shape can be at least one of rectangular, bowl-shaped, hemispherical, or ellipsoidal; this embodiment does not limit the shape.

[0197] Optionally, the elastomeric support housing 22 has an assembled structure, comprising a rigid plate 221 and a deformable support 222. The rigid plate 221 is connected to the base 23 via the deformable support 222, and the reflector 213 is fixed to the lower surface of the rigid plate 221. The deformable support 222 may include at least one of a spring, rubber material, or foam material; this embodiment does not limit the specific materials used.

[0198] In summary, the tactile sensor provided in this embodiment reduces the size of the tactile sensor by using a combination of multiple light sources and a photodetector, thereby reducing the number of photodetectors and reflectors used. At the same time, the reduction in the number of photodetectors also reduces the number of dedicated reading circuits for the photodetectors, making the tactile sensor simpler and faster in measurement.

[0199] When the tactile sensor is subjected to a force in the translational direction, the photodetector at the top of the inner cavity of the elastic support shell shifts. The photodetector measures the light intensity of the light source corresponding to the positive and negative half-axis in the translational direction. By calculating the change in the light intensity of the light source corresponding to the positive and negative half-axis in the translational direction, the magnitude and direction of the force exerted on the tactile sensor in the translational direction can be sensed.

[0200] When the tactile sensor is subjected to a force in the rotational direction, the photodetector at the top of the inner cavity of the elastic support shell rotates. The photodetector measures the light intensity of the light source on both sides of the rotation axis. By calculating the change in the light intensity of the light source on both sides of the rotation axis, the magnitude and direction of the force in the rotational direction subjected to the tactile sensor are sensed.

[0201] The tactile sensor provided in this embodiment measures the light intensity of each light source through multiple light sources and a photodetector, thereby realizing the sensing of the magnitude and direction of forces in six degrees of freedom, including translation and rotation.

[0202] Based on the above embodiments, Figure 20 The structure of the tactile sensor is described below. Figure 20 The fabrication method of the tactile sensor is explained.

[0203] Figure 21 A flowchart of a method for fabricating a tactile sensor provided in an exemplary embodiment of this application is shown. This method is applied to the fabrication of the aforementioned tactile sensor, and the subject executing this method may be an industrial assembly line device.

[0204] Step 2102: Fix the photodetector at the top of the inner cavity of the elastomer support shell.

[0205] For example, the photodetector 212 is fixed to the top of the inner cavity of the elastomeric support housing 22 by adhesive.

[0206] Optionally, a slot is provided at the top of the inner cavity of the elastomer support shell 22 to fix the photodetector 212 in the slot.

[0207] It is understood that the above-mentioned fixed photodetector 212 can be implemented alone or in any combination, and this application does not limit it.

[0208] Optionally, the projection of the photodetector 212 at the top of the inner cavity of the elastomer support housing 22 onto the base 23 is located in the central region of the base.

[0209] Step 2104: Fix at least two light sources around the projection position of the photodetector on the base.

[0210] For example, the base 23 is a PCB board, and at least two light sources 211 can be soldered around the projection position of the photodetector 212 on the base 23.

[0211] For example, at least two light sources 211 are glued around the projection position of the photodetector 212 on the base 23.

[0212] It is understood that the above-mentioned method of having at least two light sources 211 can be implemented individually or in any combination, and this application does not limit this.

[0213] Optionally, at least two light sources 211 are symmetrically fixed around the projection position of the photodetector 212 on the base 23, and the projection of the photodetector 212 on the base 23 does not intersect with the at least two light sources 211.

[0214] Optionally, the base 23 includes an x-axis and a y-axis, with the intersection of the x-axis and y-axis being the origin; the photodetector 212 is disposed on the top of the elastic support shell 22, and the projection position of the photodetector 212 on the base 23 is located at the origin of the base; at least two light sources 211 include a positive x-axis light source and a negative x-axis light source, which are respectively fixed to the positive and negative half-axis sides of the x-axis; at least two light sources 211 include a positive y-axis light source and a negative y-axis light source, which are respectively fixed to the positive and negative half-axis sides of the y-axis.

[0215] Among them, the positive x-axis light source and the negative x-axis light source are centrally symmetrical about the origin; and / or, the positive y-axis light source and the negative y-axis light source are centrally symmetrical about the origin.

[0216] Optionally, the positive x-axis light source includes m1 light sources, with at least two of the m1 light sources fixed on both sides of the positive x-axis; and / or, the negative x-axis light source includes m2 light sources, with at least two of the m2 light sources fixed on both sides of the negative x-axis. The positive y-axis light source includes m3 light sources, with at least two of the m3 light sources fixed on both sides of the positive y-axis; and / or, the negative y-axis light source includes m4 light sources, with at least two of the m4 light sources fixed on both sides of the negative y-axis.

[0217] Step 2106: Seal the elastomeric support housing on the base so that the sensing unit is sealed within the cavity of the elastomeric support housing.

[0218] For example, after fixing at least two light sources 211 to the base 23 and fixing the photodetector 212 to the top of the inner cavity of the elastomeric support housing 22, the elastomeric support housing 22 is sealed and fixed to the base 23 with glue or screws, so that the photodetector 212 and at least two light sources 211 are sealed in the inner cavity of the elastomeric support housing 22.

[0219] In summary, the method provided in this embodiment offers a fabrication approach for the aforementioned tactile sensor. Those skilled in the art can select appropriate fabrication materials and methods based on actual conditions, thereby enabling more ways to implement the tactile sensor.

[0220] Based on the above description of the tactile sensor structure, the touch event detection method provided in the embodiments of this application will be described below. Figure 22 This is a flowchart of a touch event detection method provided in an exemplary embodiment of this application, applied to a controller connected to a tactile sensor. The method includes:

[0221] Step 2202: Obtain the light intensity measured by the photodetector in the tactile sensor.

[0222] The controller acquires the light intensity measured by the photodetector 212 in the tactile sensor. The light intensity refers to the light intensity of the light source received by the photodetector 212.

[0223] Optionally, the light intensity of the light source received by the photodetector 212 refers to the light intensity of the reflected light from the light source 211 obtained by the photodetector 212, or the light intensity of the light source 211 directly received by the photodetector 212. This application embodiment does not limit this.

[0224] Step 2204: Based on the change in light intensity, measure at least one of the magnitude and direction of the force exerted on the tactile sensor.

[0225] Measuring the magnitude and direction of the force borne by a tactile sensor refers to the process by which the controller calculates the magnitude or direction of the pressure or tension borne by the tactile sensor during a touch event by using the change in light intensity output by the tactile sensor when the sensor comes into contact with an object, i.e., when the sensor is subjected to pressure or tension.

[0226] The controller measures the magnitude and direction of the force exerted by the tactile sensor during a touch event based on the change in light intensity output by the tactile sensor. Specifically, the controller measures the magnitude and direction of the force exerted by the tactile sensor in the translational direction, or the magnitude and direction of the force exerted by the tactile sensor in the rotational direction, based on the change in light intensity output by the tactile sensor.

[0227] In summary, the detection method provided in this embodiment allows the controller to acquire the light intensity of the tactile sensor, and the controller can calculate the magnitude and direction of the force borne by the tactile sensor during a touch event based on the change value of the light intensity of the tactile sensor.

[0228] Based on the description of the touch event detection method above, the following is a detailed explanation of the method for detecting translational force in touch events provided in the embodiments of this application. Figure 23 This is a flowchart of a method for detecting force in the translational direction during a touch event, provided in an exemplary embodiment of this application. The method is applied in a controller connected to a tactile sensor and includes:

[0229] Step 2302: Sequentially control the on / off state of each light source, and when the light source is on, obtain the light intensity measured by the photodetector.

[0230] The controller sequentially controls the on / off state of each light source 211. When the light source 211 is on, it sequentially acquires the light intensity measured by the photodetector 212.

[0231] Optionally, the controller controls the switching on and off of the light source 211 at a preset frequency or period, and simultaneously acquires the light intensity received by the photodetector 212 at a preset frequency or period. Alternatively, the controller controls the switching on and off of the light source at a preset frequency or period, and acquires the light intensity received by the photodetector 212 within a preset time after the light source 211 is turned on. This embodiment of the application does not limit this.

[0232] Step 2304: Based on the change in light intensity measured by the photodetector and the first mapping relationship, obtain at least one of the magnitude and direction of the force exerted by the tactile sensor in the translational direction during the touch event.

[0233] Optionally, the first mapping relationship refers to the correspondence between the magnitude and direction of the force exerted by the tactile sensor in the translational direction and the change in light intensity measured by the photodetector 212.

[0234] For example, when the tactile sensor is subjected to a force along the X-axis, the positive X-axis light source is turned on, and the illumination intensity of the positive X-axis light source measured by the photodetector is obtained while the positive X-axis light source is on; the negative X-axis light source is turned on, and the illumination intensity of the negative X-axis light source measured by the photodetector is obtained while the negative X-axis light source is on; the magnitude and direction of the force exerted by the tactile sensor along the X-axis translational direction in the touch event are obtained according to a first difference and a first mapping relationship; wherein, the first difference refers to the difference between the illumination intensity obtained by the photodetector 212 from the positive X-axis light source and the illumination intensity obtained by the photodetector 212 from the negative X-axis light source. The first mapping relationship refers to the correspondence between the magnitude and direction of the force exerted by the tactile sensor in the translational direction and the change value of the illumination intensity measured by the photodetector.

[0235] For example, when the tactile sensor is subjected to a force along the X-axis, firstly, light sources c and d are turned on, and the combined illumination intensity (λc + λd) of light sources c and d is measured using photodetector 212. Next, light sources c and d are turned off, and light sources h and g are turned on, and the combined illumination intensity (λh + λg) of light sources h and g is measured using photodetector 212. By comparing the illumination intensity difference between (λc + λd) and (λh + λg), the displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the X-axis is determined, and thus the magnitude and direction of the force applied to the elastic support shell 22 are determined. When the tactile sensor is subjected to a force along the X-axis, the displacement trans of the tactile sensor reflector 213 along the X-axis is calculated. x The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0236]

[0237] For example, when the tactile sensor is subjected to a force along the Y-axis translation direction, the positive Y-axis light source is turned on, and the illumination intensity of the positive Y-axis light source measured by the photodetector 212 is obtained when the positive Y-axis light source is turned on; the negative Y-axis light source is turned on, and the illumination intensity of the negative Y-axis light source measured by the photodetector 212 is obtained when the negative Y-axis light source is turned on; the magnitude and direction of the force along the Y-axis translation direction experienced by the tactile sensor in the touch event are obtained according to the second difference and the first mapping relationship; wherein, the second difference refers to the difference between the illumination intensity obtained by the photodetector 212 measuring the positive Y-axis light source and the illumination intensity obtained by the photodetector 212 measuring the negative Y-axis light source.

[0238] For example, first, light sources a and b are turned on, and the combined illumination intensity (λa+λb) of light sources a and b is measured using photodetector 212. Then, light sources a and b are turned off, and light sources e and f are turned on. The combined illumination intensity (λe+λf) of light sources e and f is measured using photodetector 212. By comparing the illumination intensity difference between (λa+λb) and (λe+λf), the displacement of the reflector 213 at the top of the inner cavity of the elastic support shell 22 along the Y-axis is determined, and thus the magnitude of the force applied to the elastic support shell 22 is calculated. When the tactile sensor is subjected to a force along the Y-axis translation direction, the displacement trans of the reflector of the tactile sensor along the Y-axis is calculated. y The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0239]

[0240] In one possible implementation, the illumination intensity obtained by photodetector 212 at time i and at time i+1 are acquired, where the first target light source refers to at least one of the light sources. The magnitude and direction of the force exerted by the tactile sensor in the touch event are obtained based on a third difference and a first mapping relationship; wherein the third difference refers to the difference between the illumination intensity obtained by photodetector 212 at time i and the illumination intensity obtained by photodetector 212 at time i+1.

[0241] For example, when the tactile sensor is subjected to a force along the z-axis translation direction, the light intensity measured by the photodetector 212 at time i and the light intensity measured by the photodetector 212 at time i+1 are obtained, where the first target light source refers to at least one of the light sources. The magnitude and direction of the force subjected to the tactile sensor along the z-axis translation direction in the touch event are obtained based on the third difference and the first mapping relationship; wherein, the third difference refers to the difference between the light intensity measured by the photodetector 212 at time i and the light intensity measured by the photodetector 212 at time i+1.

[0242] For example, when measuring the magnitude and direction of a force along the Z-axis, at least one light source can be selected for light intensity measurement. For instance, only light source c can be selected for measurement. The light intensity of light source c before the tactile sensor experiences a force along the positive Z-axis can be obtained. After the tactile sensor experiences the force along the positive Z-axis, the light intensity of light source c can be measured. By comparing the difference in light intensity between the two measurements, the displacement of the reflector at the top of the inner cavity of the elastic support shell along the Z-axis can be determined, thus revealing the magnitude of the force applied to the elastic support shell. For example, when the tactile sensor experiences a force along the translational direction of the Z-axis, the displacement trans of the reflector along the Z-axis can be calculated. z The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0243]

[0244] In summary, the detection method provided in this embodiment allows the controller to receive the light intensity of a light source at a specific location via a photodetector. Based on the correspondence between the light intensity of the corresponding light source measured by the photodetector and the first mapping relationship, the magnitude and direction of the force in the translational direction borne by the tactile sensor during a touch event can be calculated. This enables the tactile sensor using this detection method to achieve the function of measuring the magnitude and direction of the force in the translational direction borne by the tactile sensor during a touch event.

[0245] Based on the description of the touch event detection method above, the following is a detailed explanation of the force detection method in the rotational direction during touch events provided in the embodiments of this application. Figure 24 This is a flowchart of a method for detecting the force in the rotational direction during a touch event, provided in an exemplary embodiment of this application. The method is applied in a controller connected to a tactile sensor and includes:

[0246] Step 2402: Sequentially control the on / off state of each light source, and when the light source is on, obtain the light intensity measured by the photodetector.

[0247] The controller sequentially controls the on / off state of each light source 211. When the light source is on, it sequentially acquires the light intensity measured by the photodetector 212.

[0248] Optionally, the controller controls the on / off state of the light source 211 at a preset frequency or period, and simultaneously acquires the light intensity received by the photodetector 212 at a preset frequency or period. Alternatively, the controller controls the on / off state of the light source 211 at a preset frequency or period, and acquires the light intensity received by the photodetector 212 within a preset time after the light source 211 is turned on. This embodiment of the application does not limit this aspect.

[0249] Step 2404: Based on the change in light intensity measured by the photodetector and the second mapping relationship, obtain at least one of the magnitude and direction of the force exerted by the tactile sensor in the rotational direction during the touch event.

[0250] Optionally, the second mapping relationship refers to the correspondence between the magnitude and direction of the force exerted by the tactile sensor in the rotational direction and the change in light intensity measured by the photodetector 212.

[0251] For example, when the tactile sensor is subjected to a force in the rotational direction around the X-axis, the first x-axis light source is turned on, and the light intensity of the first x-axis light source measured by the photodetector 212 is obtained when the first x-axis light source is turned on; the second x-axis light source is turned on, and the light intensity of the second x-axis light source measured by the photodetector 212 is obtained when the second x-axis light source is turned on.

[0252] The magnitude and direction of the force exerted by the tactile sensor in the touch event in the direction of rotation around the x-axis are obtained based on the fourth difference and the second mapping relationship.

[0253] The fourth difference refers to the difference between the light intensity obtained by photodetector 212 from the first x-axis light source and the light intensity obtained by photodetector 212 from the second x-axis light source. The first x-axis light source includes a first positive x-axis light source, and the second x-axis light source includes a second positive x-axis light source; or, the first x-axis light source includes a first negative x-axis light source, and the second x-axis light source includes a second negative x-axis light source; or, the first x-axis light source includes a first positive x-axis light source and a second negative x-axis light source, and the second x-axis light source includes a second positive x-axis light source and a first negative x-axis light source.

[0254] For example, when the tactile sensor is subjected to a rotational force around the X-axis, firstly, light sources g and d are turned on, and the combined illumination intensity (λg + λd) of light sources g and d is measured using photodetector 212. Next, light sources g and d are turned off, and light sources h and c are turned on, and the combined illumination intensity (λh + λc) of light sources h and c is measured using photodetector. By comparing the illumination intensity difference between (λg + λd) and (λh + λc), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomer support shell 22 around the X-axis is determined, and thus the magnitude of the force applied to the elastomer support shell 22 is determined. For example, when the tactile sensor is subjected to a torque around the X-axis, the displacement revol generated by the rotation of the tactile sensor reflector 213 around the X-axis is calculated. x The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0255]

[0256] For example, when the tactile sensor is subjected to a force in the rotational direction around the y-axis, the first y-axis light source is turned on, and the light intensity of the first y-axis light source measured by the photodetector 212 is obtained when the first y-axis light source is turned on; the second y-axis light source is turned on, and the light intensity of the second y-axis light source measured by the photodetector 212 is obtained when the second y-axis light source is turned on.

[0257] The magnitude and direction of the force exerted by the tactile sensor in the touch event in the direction of rotation around the x-axis are obtained based on the fifth difference and the second mapping relationship.

[0258] The fifth difference refers to the difference between the light intensity obtained by photodetector 212 from the first y-axis light source and the light intensity obtained by photodetector 212 from the second y-axis light source. The first y-axis light source includes a first positive y-axis light source, and the second y-axis light source includes a second positive y-axis light source; or, the first y-axis light source includes a first negative y-axis light source, and the second y-axis light source includes a second negative y-axis light source; or, the first y-axis light source includes a first positive y-axis light source and a second negative y-axis light source, and the second y-axis light source includes a second positive y-axis light source and a first negative y-axis light source.

[0259] For example, first, light sources a and f are turned on, and the combined illumination intensity (λa + λf) of light sources a and f is measured using photodetector 212. Then, light sources a and f are turned off, and light sources e and b are turned on. The combined illumination intensity (λe + λb) of light sources e and b is measured using photodetector 212. By comparing the illumination intensity difference between (λa + λf) and (λe + λb), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastic support shell 22 around the Y-axis can be determined, and thus the magnitude of the force applied to the elastic support shell 22 can be calculated. For example, when the tactile sensor is subjected to a force rotating around the Y-axis, the displacement revol generated by the rotation of the reflector 213 of the tactile sensor around the Y-axis can be calculated. y The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0260]

[0261] For example, when the tactile sensor is subjected to a force in the rotational direction around the Z-axis, the second target light source is turned on, and the light intensity of the second target light source measured by the photodetector is obtained when the second target light source is turned on; the third target light source is turned on, and the light intensity of the third target light source measured by the photodetector is obtained when the third target light source is turned on; the second target light source is any one of the light sources, and the third target light source is a different light source from the second target light source.

[0262] The magnitude and direction of the force exerted by the tactile sensor in the z-axis rotation direction during a touch event are obtained based on the sixth difference and the second mapping relationship.

[0263] The sixth difference refers to the difference between the light intensity obtained by the photodetector 212 from the second target light source and the light intensity obtained by the photodetector 212 from the third target light source.

[0264] For example, first, light sources b, d, f, and h are turned on, and the combined illuminance (λb+λd+λh+λf) of light sources b, d, f, and h is measured using photodetector 212. Then, light sources b, d, f, and h are turned off, and light sources a, c, e, and g are turned on. The combined illuminance (λa+λc+λe+λg) of light sources a, c, e, and g is measured using photodetector 212. By comparing the illuminance difference between (λb+λd+λh+λf) and (λa+λc+λe+λg), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastic support shell 22 around the Z-axis can be determined, and thus the magnitude of the force applied to the elastic support shell 22 can be calculated. For example, when the tactile sensor is subjected to a force rotating around the Z-axis, the displacement revol of the reflector 213 of the tactile sensor around the Z-axis is calculated. z The correspondence between the light intensity measured by photodetector 212 and the light intensity can be expressed as:

[0265]

[0266] For example, the light intensity obtained by the photodetector at time i is obtained by measuring the light intensity of the fourth target light source at time i+1, where the fourth target light source refers to at least one of the light sources.

[0267] The magnitude and direction of the force exerted by the tactile sensor in the rotational direction during the touch event are obtained based on the seventh difference and the second mapping relationship; where the seventh difference refers to the difference between the light intensity obtained by the photodetector at time i and the light intensity obtained by the photodetector at time i+1.

[0268] For example, when measuring the magnitude and direction of the force around the Z-axis, at least one light source can be selected for light intensity measurement. For instance, only light source c can be selected for measurement. The light intensity of light source c before the tactile sensor is subjected to the clockwise rotational force around the Z-axis can be obtained. After the tactile sensor is subjected to the clockwise rotational force around the Z-axis, the light intensity of light source c can be measured. By comparing the difference in light intensity of light source c between the two measurements, the displacement of the reflector at the top of the inner cavity of the elastic body support shell around the Z-axis can be obtained, and thus the magnitude of the force applied to the elastic body support shell can be determined.

[0269] In summary, the detection method provided in this embodiment allows the controller to receive the light intensity of a light source at a specific location via a photodetector. Based on the correspondence between the light intensity change value of the corresponding light source measured by the photodetector and the second mapping relationship, the magnitude and direction of the force in the rotational direction borne by the tactile sensor during a touch event can be calculated. This enables the tactile sensor using this detection method to achieve the function of measuring the magnitude and direction of the force in the rotational direction borne by the tactile sensor during a touch event.

[0270] Based on the description of the touch event detection method above, the following is a detailed explanation of the force detection method in the rotational and / or translational directions in touch events provided in the embodiments of this application. Figure 25 This is a flowchart of a method for detecting force in the rotational and / or translational direction during a touch event, provided in an exemplary embodiment of this application. The method is applied in a controller connected to a tactile sensor and includes:

[0271] Step 2502: Sequentially control the on / off state of each light source, and when the light source is on, obtain the light intensity measured by the photodetector.

[0272] The controller sequentially controls the on / off state of each 211 light source. When the light source is on, it sequentially acquires the light intensity received by the photodetector 212.

[0273] Optionally, the controller controls the on / off state of the light source 211 at a preset frequency or period. At the same time, the controller acquires the light intensity received by the photodetector 212 at a preset frequency or period. Alternatively, the controller controls the on / off state of the light source at a preset frequency or period. The controller acquires the light intensity received by the photodetector 212 within a preset time after the light source is turned on. This embodiment of the application does not limit this.

[0274] Step 2504: Input the light intensity measured by the photodetector into the measurement machine learning model for prediction, and obtain at least one of the magnitude and direction of the force exerted by the tactile sensor in the touch event.

[0275] Optionally, the machine learning model is a model trained by the computer device based on the correspondence between the magnitude and direction of the force exerted by the tactile sensor and the change in light intensity measured by the photodetector 212.

[0276] For example, the controller receives the light intensity of a light source at a specific location through a photodetector 212. For example, the light sources at the specific locations are light source c, light source d, light source h, and light source g. The light intensities of the corresponding light sources 211 received by the photodetector 212 are λc, λd, λh, and λg, respectively. The controller inputs the measured light intensity into a machine learning model, and the machine learning model calculates the magnitude and direction of the force borne by the tactile sensor.

[0277] Optionally, the training methods for the machine learning model include: (1) obtaining training samples. The training samples include sample forces and sample tactile results. The sample forces refer to the known forces acting on the tactile sensor, i.e., the known direction and magnitude of the forces; the sample tactile results refer to the light intensity of the corresponding light source measured by the photodetector under the action of the sample forces. (2) obtaining predicted tactile results. The sample forces are input into the machine learning model to obtain the predicted tactile results, i.e., the predicted light intensity. (3) obtaining the error loss. The error is calculated on the predicted tactile results and the sample tactile results to obtain the error loss. (4) The machine learning model is trained based on the error loss using the backpropagation algorithm to obtain the trained machine learning model.

[0278] In summary, the detection method provided in this embodiment involves the controller receiving the light intensity of a light source at a specific location via a photodetector. The controller then inputs the light intensity received by the photodetector into a machine learning model, which calculates the magnitude and direction of the force exerted by the tactile sensor. This enables the tactile sensor using this detection method to measure the magnitude and direction of the force exerted by the tactile sensor in the rotational and / or translational directions during a touch event.

[0279] Based on the above introduction of tactile sensors and touch event detection methods, Figure 25 A schematic diagram of an electronic skin is shown.

[0280] For example, a tactile sensing array is covered on the surface of the electronic skin, the tactile sensing array including at least two of the aforementioned tactile sensors.

[0281] For example, such as Figure 26As shown, electronic skin is attached to a robotic hand. The robotic hand collects tactile signals by grasping an object and sends feedback to the controller. For example, the robotic hand can report to the controller whether the object slipped within the robotic hand at the initial moment of contact. The robotic hand can be used to adjust the gripping force, thus maintaining optimal gripping force without crushing the object. Because the tactile sensors on the robotic hand can provide information on the force in the rotational direction, i.e., torque information, the controller can better estimate the object's posture in the hand.

[0282] Optionally, the arrangement of the electronic skin can be adjusted according to the shape of the robotic arm.

[0283] In summary, the electronic skin provided in this embodiment achieves multi-directional sensing of the magnitude and direction of the force exerted by the tactile sensor in the rotational and / or translational directions on the surface of the electronic skin through a tactile sensor array, thereby providing accurate perception and feedback.

[0284] In conjunction with the aforementioned tactile sensors and touch event detection methods, an exemplary embodiment of this application provides a robot whose surface is covered with the aforementioned scene sensors or the aforementioned electronic skin at a preset location. The robot includes a robotic arm, such as a hand, which is used to grasp objects. The robotic arm is covered with the aforementioned tactile sensors or the aforementioned electronic skin.

[0285] Combining the aforementioned tactile sensors and touch event detection methods, an exemplary embodiment of this application provides a structural block diagram of a sensing device, as shown below. Figure 27 As shown, the sensing device 2700 includes a controller 2710 and a tactile sensor 2720. The tactile sensor 2720 includes at least one of the aforementioned tactile sensors 2720. The controller is connected to the tactile sensor 2720 and executes the aforementioned method for detecting touch events.

[0286] Optionally, the smart device 2700 also includes a display screen 2730.

[0287] The tactile sensor 2720 is used to detect touch events. Optionally, the tactile sensor 2720 is implemented as follows: Figure 2 or Figure 20 The tactile sensor shown.

[0288] In an optional embodiment, a computer-readable storage medium is provided, the computer-readable storage medium being connected to the tactile sensor described in the above embodiments, the computer-readable storage medium storing at least one instruction, the at least one instruction being loaded and executed by a processor to implement the touch event detection method as described above.

[0289] Optionally, the computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), solid-state drives (SSDs), or optical discs, etc. The random access memory may include resistive random access memory (ReRAM) and dynamic random access memory (DRAM). The sequence numbers of the embodiments in this application are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0290] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0291] It should be noted that the application scenarios of the above-mentioned tactile sensors include at least one of the following scenarios:

[0292] First, it is applied to remote control application scenarios. By remotely controlling the robotic arm, the tactile sensors on the robotic arm feed back the magnitude and direction of the force it is subjected to to the tactile rendering device. The tactile rendering device then feeds back the force rendering results of the robotic arm to the operator. The operator can clearly understand the magnitude and direction of the force the robotic arm is subjected to through the force rendering results.

[0293] Secondly, in the self-protection system of intelligent robots, tactile sensors are arranged on the surface of the robot. These sensors can perceive the external environment in real time and protect the system itself. Because these sensors can sensitively detect pressure, when the robot is subjected to a certain impact, i.e., when the detected pressure exceeds a certain threshold range, the robot's self-protection switch will be triggered, causing power outages or other self-protection actions.

[0294] Third, in measurement and diagnostic tool applications, tactile sensors are arranged on the surface of a robotic arm. By analyzing the force feedback when the robotic arm performs a task, it can be determined whether the force required to complete the task is reasonable. For example, when manipulating the robotic arm to unplug a plug, the torque applied by the fingertips can be measured to determine whether the torque required to complete the task is reasonable.

[0295] It is worth noting that the above application scenarios are illustrated using remote control, intelligent robot self-protection systems, and measurement and diagnostic tools as examples. This tactile sensor can also be applied to other scenarios where the magnitude and / or direction of force needs to be determined, and this application embodiment does not limit it in this regard.

[0296] Please refer to Figure 28 This illustration shows a structural block diagram of a computer device 2800 provided in an exemplary embodiment of this application. The computer device 2800 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). The computer device 2800 may also be referred to as a user device, portable terminal, or other names.

[0297] Typically, the computer device 2800 includes a processor 2801 and a memory 2802, the processor 2801 being connected to the tactile sensor provided in the above embodiments.

[0298] Processor 2801 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 2801 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 2801 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 2801 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 2801 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0299] The memory 2802 may include one or more computer-readable storage media, which may be tangible and non-transitory. The memory 2802 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 2802 is used to store at least one instruction, which is executed by the processor 2801 to implement the touch event detection method provided in this application.

[0300] In some embodiments, the computer device 2800 may also optionally include: a peripheral device interface 2803 and at least one peripheral device. Specifically, the peripheral device includes at least one of: a radio frequency circuit 2804, a touch display screen 2805, a camera 2806, an audio circuit 2807, and a power supply 2808.

[0301] Peripheral device interface 2803 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 2801 and memory 2802. In some embodiments, processor 2801, memory 2802 and peripheral device interface 2803 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 2801, memory 2802 and peripheral device interface 2803 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0302] The radio frequency (RF) circuit 2804 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 2804 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 2804 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 2804 includes: 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, etc. The RF circuit 2804 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is 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, the RF circuit 2804 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0303] The touch display screen 2805 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. The touch display screen 2805 also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to the processor 2801 for processing. The touch display screen 2805 is used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one touch display screen 2805, located on the front panel of the computer device 2800; in other embodiments, there may be at least two touch display screens, respectively located on different surfaces of the computer device 2800 or in a folded design; in still other embodiments, the touch display screen 2805 may be a flexible display screen, located on a curved or folded surface of the computer device 2800. Furthermore, the touch display screen 2805 may also be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. The touch display 2805 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0304] The camera assembly 2806 is used to acquire images or videos. Optionally, the camera assembly 2806 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is used for video calls or selfies, and the rear-facing camera is used for taking photos or videos. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, and a wide-angle camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, and panoramic shooting and VR (Virtual Reality) shooting by fusion of the main camera and the wide-angle camera. In some embodiments, the camera assembly 2806 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 is a combination of a warm light flash and a cool light flash, which can be used for light compensation at different color temperatures.

[0305] Audio circuitry 2807 provides an audio interface between the user and computer device 2800. Audio circuitry 2807 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to processor 2801 for processing, or input to radio frequency circuitry 2804 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each located at a different location on the computer device 2800. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from processor 2801 or radio frequency circuitry 2804 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it 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 circuitry 2807 may also include a headphone jack.

[0306] Power supply 2808 is used to supply power to the various components in computer device 2800. Power supply 2808 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 2808 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, and 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.

[0307] In some embodiments, the computer device 2800 further includes one or more sensors 2809. The one or more sensors 2809 include, but are not limited to, an accelerometer 2810, a gyroscope 2811, a pressure sensor 2812, an optical sensor 2813, and a proximity sensor 2814.

[0308] Accelerometer 2810 detects the magnitude of acceleration along the three axes of a coordinate system established by computer device 2800. For example, accelerometer 2810 can be used to detect the components of gravitational acceleration along the three axes. Processor 2801 can control touchscreen 2805 to display the user interface in landscape or portrait view based on the gravitational acceleration signals collected by accelerometer 2810. Accelerometer 2810 can be used for games or for collecting user motion data.

[0309] The gyroscope sensor 2811 can detect the orientation and rotation angle of the computer device 2800. The gyroscope sensor 2811, together with the accelerometer sensor 2810, can collect the user's 3D movements on the computer device 2800. Based on the data collected by the gyroscope sensor 2811, the processor 2801 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0310] The pressure sensor 2812 can be disposed on the side bezel of the computer device 2800 and / or on the lower layer of the touch display screen 2805. When the pressure sensor 2812 is disposed on the side bezel of the computer device 2800, it can detect the user's grip signal on the computer device 2800 and perform left / right hand recognition or quick operation based on the grip signal. When the pressure sensor 2812 is disposed on the lower layer of the touch display screen 2805, it can control operable controls on the UI interface based on the user's pressure operation on the touch display screen 2805. Operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0311] Optical sensor 2813 is used to collect ambient light intensity. In one embodiment, processor 2801 can control the display brightness of touch display screen 2805 based on the ambient light intensity collected by optical sensor 2813. Specifically, when the ambient light intensity is high, the display brightness of touch display screen 2805 is increased; when the ambient light intensity is low, the display brightness of touch display screen 2805 is decreased. In another embodiment, processor 2801 can also dynamically adjust the shooting parameters of camera assembly 2806 based on the ambient light intensity collected by optical sensor 2813.

[0312] The proximity sensor 2814, also known as a distance sensor, is typically located on the front of the computer device 2800. The proximity sensor 2814 is used to detect the distance between the user and the front of the computer device 2800. In one embodiment, when the proximity sensor 2814 detects that the distance between the user and the front of the computer device 2800 is gradually decreasing, the processor 2801 controls the touch display screen 2805 to switch from a screen-on state to a screen-off state; when the proximity sensor 2814 detects that the distance between the user and the front of the computer device 2800 is gradually increasing, the processor 2801 controls the touch display screen 2805 to switch from a screen-off state to a screen-on state.

[0313] Those skilled in the art will understand that Figure 28 The structure shown does not constitute a limitation on the computer device 2800, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0314] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0315] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent switching, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A tactile sensor, characterized in that, The tactile sensor includes: a sensing unit (21), an elastomer support shell (22), and a base (23); The sensing unit (21) is disposed in the cavity formed by the elastomer support shell (22) and the base (23); The sensing unit (21) includes at least two light sources (211) and a photodetector (212). The photodetector (212) is disposed at the top of the inner cavity of the elastic support shell (22), and the projection position of the photodetector (212) on the base (23) is located on the base (23). The at least two light sources (211) are disposed around the projection position of the photodetector (212) on the base (23). When the tactile sensor detects a force in the rotational direction, the controller sequentially controls the on / off state of each of the at least two light sources (211). When the light source (211) is on, the photodetector (212) measures the light intensity of the light source (211). The magnitude and direction of the force in the rotational direction borne by the tactile sensor are obtained by the change in light intensity measured by the photodetector (212) and a second mapping relationship. The second mapping relationship refers to the correspondence between the magnitude and direction of the force in the rotational direction borne by the tactile sensor and the change in light intensity measured by the photodetector (212).

2. The tactile sensor according to claim 1, characterized in that, The base includes an x-axis and a y-axis, and the point where the x-axis and y-axis intersect is the origin; The photodetector (212) is disposed on the top of the elastomeric support shell (22), and the projection position of the photodetector (212) on the base (23) is located at the origin of the base; The at least two light sources (211) include a positive x-axis light source and a negative x-axis light source, which are located on the positive and negative half-axis sides of the x-axis, respectively.

3. The tactile sensor according to claim 2, characterized in that, The positive x-axis light source and the negative x-axis light source are centrally symmetrical about the origin.

4. The tactile sensor according to claim 2, characterized in that, The positive x-axis light source includes m1 light sources, and at least two of the m1 light sources are located on both sides of the positive x-axis. m1 is an integer greater than 2. And / or, The negative x-axis light source includes m2 light sources, of which at least two light sources are located on both sides of the negative x-axis, where m2 is an integer greater than 2.

5. The tactile sensor according to claim 1, characterized in that, The base includes an x-axis and a y-axis, and the point where the x-axis and y-axis intersect is the origin; The photodetector (212) is disposed on the top of the elastomeric support shell (22), and the projection position of the photodetector (212) on the base (23) is located at the origin of the base; The at least two light sources (211) include a positive y-axis light source and a negative y-axis light source, which are located on the positive half-axis side and the negative half-axis side of the y-axis, respectively.

6. The tactile sensor according to claim 5, characterized in that, The positive y-axis light source and the negative y-axis light source are centrally symmetrical about the origin.

7. The tactile sensor according to claim 5, characterized in that, The positive y-axis light source includes m3 light sources, and at least two of the m3 light sources are located on both sides of the positive y-axis. m3 is an integer greater than 2. And / or, The negative y-axis light source includes m4 light sources, of which at least two light sources are located on both sides of the negative y-axis, where m4 is an integer greater than 2.

8. The tactile sensor according to any one of claims 2 to 7, characterized in that, The sensing unit (21) includes eight light sources (211), and the positive x-axis light source, negative x-axis light source, positive y-axis light source and negative y-axis light source each include two light sources; The eight light sources (211) are light source a, light source b, light source c, light source d, light source e, light source f, light source g, and light source h, respectively. The eight light sources (211) are arranged around the projection position of the photodetector (212) on the base (23). Wherein, light source a is a first positive y-axis light source, light source b is a second positive y-axis light source; light source c is a first positive x-axis light source, light source d is a second positive x-axis light source; light source e is a first negative y-axis light source, light source f is a second negative y-axis light source; light source g is a first negative x-axis light source, and light source h is a second negative x-axis light source.

9. The tactile sensor according to any one of claims 2 to 7, characterized in that, The elastomeric support shell (22) is an integral structure, and the elastomeric support shell (22) is made of silicone material; or, The elastomeric support shell (22) includes a rigid plate and a deformable support. The rigid plate is connected to the base (23) through the deformable support. The photodetector (212) is fixed to the lower surface of the rigid plate.

10. A method for detecting touch events, characterized in that, The detection method includes: The light intensity measured by the photodetector in the tactile sensor is obtained, wherein the tactile sensor is a tactile sensor as described in any one of claims 1 to 9; Based on the change in light intensity, measure at least one of the magnitude and direction of the force exerted on the tactile sensor; When the tactile sensor detects a force in the rotational direction, acquiring the light intensity measured by the photodetector in the tactile sensor includes: sequentially controlling the on / off state of each light source, and acquiring the light intensity measured by the photodetector when the light source is on; measuring at least one of the magnitude and direction of the force borne by the tactile sensor based on the change value of the light intensity includes: obtaining at least one of the magnitude and direction of the force in the rotational direction borne by the tactile sensor in the touch event based on the change value of the light intensity measured by the photodetector and a second mapping relationship; wherein, the second mapping relationship refers to the correspondence between the magnitude and direction of the force in the rotational direction borne by the tactile sensor and the change value of the light intensity measured by the photodetector.

11. The detection method according to claim 10, characterized in that, The light source is at least two; The step of obtaining the light intensity measured by the photodetector in the tactile sensor includes: The on / off state of each of the light sources is controlled sequentially, and the light intensity measured by the photodetector is obtained when the light source is on. The step of measuring at least one of the magnitude and direction of the force exerted on the tactile sensor based on the change in light intensity includes: Based on the change in light intensity measured by the photodetector and the first mapping relationship, at least one of the magnitude and direction of the force exerted by the tactile sensor in the translational direction during the touch event is obtained; The first mapping relationship refers to the correspondence between the magnitude and direction of the force exerted by the tactile sensor in the translational direction and the change in light intensity measured by the photodetector.

12. The detection method according to claim 11, characterized in that, The light source includes a positive x-axis light source and a negative x-axis light source; The step of sequentially controlling the on / off state of each of the light sources, and acquiring the light intensity measured by the photodetector when the light source is on, includes: The positive x-axis light source is turned on, and the illumination intensity of the positive x-axis light source measured by the photodetector is obtained when the positive x-axis light source is turned on. The negative x-axis light source is turned on, and the light intensity of the negative x-axis light source measured by the photodetector is obtained when the negative x-axis light source is turned on. The method of obtaining at least one of the magnitude and direction of the force exerted by the tactile sensor in the translational direction during the touch event based on the change in light intensity measured by the photodetector and the first mapping relationship includes: The magnitude and direction of the force exerted by the tactile sensor along the x-axis translation direction in the touch event are obtained based on the first difference and the first mapping relationship. Wherein, the first difference refers to the difference between the light intensity obtained by the photodetector from the positive x-axis light source and the light intensity obtained by the photodetector from the negative x-axis light source.

13. The detection method according to claim 11, characterized in that, The step of sequentially controlling the on / off state of each of the light sources, and acquiring the light intensity measured by the photodetector when the light source is on, includes: The light intensity obtained by the photodetector at time i is measured from the first target light source, and the light intensity obtained by the photodetector at time i+1 is measured from the first target light source, wherein the first target light source refers to at least one of the light sources; The method of obtaining at least one of the magnitude and direction of the force exerted by the tactile sensor in the translational direction during the touch event based on the change in light intensity measured by the photodetector and the first mapping relationship includes: The magnitude and direction of the force exerted by the tactile sensor in the translational direction during the touch event are obtained based on the third difference and the first mapping relationship. The third difference refers to the difference between the light intensity obtained by the photodetector at time i and the light intensity obtained by the photodetector at time i+1.

14. The detection method according to claim 10, characterized in that, The light source includes a first x-axis light source and a second x-axis light source; The step of sequentially controlling the on / off state of each of the light sources, and acquiring the light intensity measured by the photodetector when the light source is on, includes: The first x-axis light source is turned on, and the illumination intensity of the first x-axis light source measured by the photodetector is obtained while the first x-axis light source is turned on. The second x-axis light source is turned on, and the illumination intensity of the second x-axis light source measured by the photodetector is obtained while the second x-axis light source is turned on. The method of obtaining at least one of the magnitude and direction of the force exerted by the tactile sensor in the rotational direction during the touch event based on the change in light intensity measured by the photodetector and the second mapping relationship includes: The magnitude and direction of the force exerted by the tactile sensor in the touch event in the direction of rotation around the x-axis are obtained based on the fourth difference and the second mapping relationship. Wherein, the fourth difference refers to the difference between the light intensity obtained by the photodetector from the first x-axis light source and the light intensity obtained by the photodetector from the second x-axis light source; the first x-axis light source includes a first positive x-axis light source, and the second x-axis light source includes a second positive x-axis light source; or, the first x-axis light source includes a first negative x-axis light source, and the second x-axis light source includes a second negative x-axis light source; or, the first x-axis light source includes a first positive x-axis light source and a second negative x-axis light source, and the second x-axis light source includes a second positive x-axis light source and a first negative x-axis light source.

15. The detection method according to claim 13, characterized in that, The step of sequentially controlling the on / off state of each of the light sources, and acquiring the light intensity measured by the photodetector when the light source is on, includes: The second target light source is turned on, and the light intensity of the second target light source measured by the photodetector is obtained while the second target light source is turned on. The third target light source is turned on, and the light intensity of the third target light source measured by the photodetector is obtained when the third target light source is turned on. The second target light source is any one of the light sources, and the third target light source is a light source that is different from the second target light source. The method of obtaining at least one of the magnitude and direction of the force exerted by the tactile sensor in the rotational direction during the touch event based on the change in light intensity measured by the photodetector and the second mapping relationship includes: The magnitude and direction of the force exerted by the tactile sensor in the touch event in the direction of rotation around the z-axis are obtained based on the sixth difference and the second mapping relationship. The sixth difference refers to the difference between the light intensity obtained by the photodetector from the second target light source and the light intensity obtained by the photodetector from the third target light source.

16. The detection method according to claim 13, characterized in that, The step of sequentially controlling the on / off state of each of the light sources, and acquiring the light intensity measured by the photodetector when the light source is on, includes: The light intensity obtained by the photodetector at time i is measured by the fourth target light source, and the light intensity obtained by the photodetector at time i+1 is measured by the fourth target light source, wherein the fourth target light source refers to at least one of the light sources; The method of obtaining at least one of the magnitude and direction of the force exerted by the tactile sensor in the rotational direction during the touch event based on the change in light intensity measured by the photodetector and the second mapping relationship includes: The magnitude and direction of the force exerted by the tactile sensor in the rotational direction during the touch event are obtained based on the seventh difference and the second mapping relationship. The seventh difference refers to the difference between the light intensity obtained by the photodetector at time i and the light intensity obtained by the photodetector at time i+1.

17. The detection method according to claim 10, characterized in that, The light source is at least two; The step of obtaining the light intensity measured by the photodetector in the tactile sensor includes: The on / off state of each of the light sources is controlled sequentially, and the light intensity measured by the photodetector is obtained when the light source is on. The step of measuring at least one of the magnitude and direction of the force exerted on the tactile sensor based on the change in light intensity includes: The light intensity measured by the photodetector is input into a machine learning model for prediction, thereby obtaining at least one of the magnitude and direction of the force exerted by the tactile sensor in the touch event; The machine learning model is a model trained by a computer device based on the correspondence between the magnitude and direction of the force exerted by the tactile sensor and the change in light intensity measured by the photodetector.

18. An electronic skin, characterized in that, The surface of the electronic skin is covered with a tactile sensor array, which includes at least two tactile sensors as described in any one of claims 1 to 9.

19. A robot, characterized in that, The robot surface is covered at a predetermined location with a tactile sensor as described in any one of claims 1 to 9, or with electronic skin as described in claim 18.

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