Micro-photoelectric bionic tactile sensor and tactile perception method

Abstract

The present invention relates to the field of sensors, and provides a miniature photoelectric bionic tactile sensor and a tactile sensing method. The tactile sensing method includes: a sensing component sensing external contact, and deflecting after receiving external contact; an elastic component connected to the sensing component drives a reflective component to deflect, and the reflective component is used to reflect the light emitted by the light-emitting component to a plurality of photosensitive components; based on the intensity of light received by the plurality of photosensitive components, the light intensity difference between the photosensitive components is determined; based on the light intensity difference, the deflection of the sensing component is determined, and the deflection of the sensing component can be used to characterize the direction and intensity of the external contact. It is used to solve the problems of existing tactile sensors with low integration, single function, susceptibility to environmental interference, and inability to achieve contact perception and close-range perception at the same time, thereby improving anti-interference ability and detection accuracy.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a micro-sized photoelectric bionic tactile sensor and a tactile perception method. Background Art

[0002] Whisker sensors are a biomimetic technology that mimics the perception and response mechanisms of animal whiskers. They are used to detect information such as the shape and texture of objects, and can also sense external forces. With their high sensitivity, high resolution, high robustness, and low power consumption, whisker sensors are widely used in robotics, autonomous navigation systems, medical equipment, and other fields. Whisker sensors can complement other sensory modalities such as vision and hearing, providing robots with additional information.

[0003] Existing PSD photoelectric sensors utilize the principle of photoelectric conversion. Photoelectric whisker sensors use this principle to measure the deflection of external objects. When the whiskers contact an external object, the shift of the light shield causes the translucent light spot on the PSD sensing surface to move, resulting in a change in the PSD's output current. This deflection information is then processed.

[0004] However, existing tactile sensors have problems such as low integration, single function, and susceptibility to environmental interference, and are unable to achieve contact perception and close-range perception at the same time. Summary of the Invention

[0005] The present invention provides a miniature photoelectric bionic tactile sensor and a tactile perception method, which are used to solve the problems of existing tactile sensors, such as low integration, single function, susceptibility to environmental interference, and inability to achieve contact perception and close-range perception at the same time, thereby improving the anti-interference ability and detection accuracy.

[0006] The tactile perception method provided by the present invention includes:

[0007] The sensing component senses external contact and deflects after receiving the external contact;

[0008] The reflective component is driven to deflect by an elastic component connected to the sensing component, and the reflective component is used to reflect the light emitted by the light-emitting component to a plurality of light-sensitive components;

[0009] determining a light intensity difference between the photosensitive components based on the light received by the plurality of photosensitive components;

[0010] The deflection of the sensing component is determined based on the light intensity difference, and the deflection of the sensing component can be used to characterize the direction and intensity of external contact.

[0011] According to the tactile perception method provided by the present invention, a plurality of photosensitive components are arranged in groups, each photosensitive component group includes at least two photosensitive components, and the two photosensitive components in each photosensitive component group are symmetrically arranged based on the light emitting component. Based on the intensity of light received by the plurality of photosensitive components, the light intensity difference between the photosensitive components is determined, including:

[0012] For each photosensitive member group, a light intensity difference is determined based on the light received by the two photosensitive members within the photosensitive member group.

[0013] According to the tactile perception method provided by the present invention, the deflection of the perception component is determined based on the light intensity difference, including:

[0014] Convert light intensity difference into voltage difference signal;

[0015] Determining a plurality of deflection angles of the sensing component at a plurality of orientations based on the voltage difference signal, wherein the orientations corresponding to the deflection angles are consistent with the orientations corresponding to the photosensitive component group;

[0016] The deflection of the sensing component is determined based on a plurality of deflection angles.

[0017] According to the tactile perception method provided by the present invention, determining a plurality of deflection angles of a perception component in a plurality of directions based on a voltage difference signal includes:

[0018] A linear fit is performed based on a predetermined correspondence between the voltage difference signal and the deflection angle to determine a plurality of deflection angles of the sensing component.

[0019] According to the tactile perception method provided by the present invention, the deflection of the excitation component is determined based on a plurality of deflection angles, including:

[0020] Based on the pitch angle, azimuth angle, coordinate axis rotation representation and several yaw angles, the yaw angle and azimuth angle of the sensing component are determined.

[0021] According to the tactile perception method provided by the present invention, the photosensitive component group includes a first photosensitive component group and a second photosensitive component group, the first photosensitive component group and the second photosensitive component group are arranged orthogonally, and the deflection angles of the sensing components in several directions are determined based on the voltage difference signal, including:

[0022] determining a first deflection angle based on a voltage difference of the first photosensitive member group;

[0023] The second deflection angle is determined based on the voltage difference of the second photosensitive member group.

[0024] According to the tactile perception method provided by the present invention, the deflection of the sensing component includes the deflection angle and the azimuth angle of the sensing component. The deflection of the sensing component is determined based on the plurality of deflection angles, including:

[0025] The deflection angle of the sensing component satisfies the following formula (1):

[0026]

[0027] The orientation angle of the sensing component satisfies the following formula (2):

[0028]

[0029] Where α is the first deflection angle, β is the second deflection angle, is the deflection angle of the sensing component, and θ is the azimuth angle of the sensing component.

[0030] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above-mentioned tactile perception methods when executing the program.

[0031] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which implements any of the above-mentioned tactile perception methods when executed by a processor.

[0032] The present invention also provides a computer program product, comprising a computer program, which implements any of the above-mentioned tactile perception methods when executed by a processor.

[0033] The present invention also provides a tactile perception device, comprising:

[0034] A sensing module is used for sensing components to sense external contact and deflect after receiving external contact;

[0035] A deflection module, configured to deflect the reflective component via an elastic component connected to the sensing component, wherein the reflective component is configured to reflect light emitted by the light-emitting component to a plurality of light-sensitive components;

[0036] a first determining module, configured to determine a light intensity difference between the photosensitive components based on the intensities of the light received by the plurality of photosensitive components;

[0037] The second determination module is used to determine the deflection of the sensing component based on the light intensity difference. The deflection of the sensing component can be used to characterize the direction and intensity of the external contact.

[0038] The present invention also provides a photoelectric whisker sensor, comprising a whisker, an elastic film, a reflector, an LED light emitting diode, a light receiving tube and a control board;

[0039] The tentacles are used to sense external contact and deflect after receiving external contact;

[0040] The elastic film is used to drive the reflective plate to deflect;

[0041] The reflector is used to reflect the light emitted by the light-emitting component to the photosensitive component;

[0042] The control board is used to determine the deflection of the sensing component based on the light intensity difference. The deflection of the sensing component can be used to characterize the direction and intensity of external contact.

[0043] The present invention also provides a robot comprising the above-mentioned photoelectric whisker sensor.

[0044] The tactile perception method provided by the present invention can perceive external contact through the sensing component, and then the sensing component can drive the elastic film and the reflective component to deflect. Since the reflective component changes the path of part of the light after deflection, a light intensity difference will be generated between the photosensitive components used to receive the light. The deflection of the sensing component can be indicated based on the generated light intensity difference. Since the propagation speed of light is extremely fast, a higher response rate can be achieved during the tactile perception process, and it can be used for the detection of high-dynamic scenes. Compared with the existing sensor detection form, it has a higher sampling frequency. In addition, since there are multiple photosensitive components, the detection accuracy can be improved and the environmental interference can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0046] Figure 1 This is one of the structural diagrams of the photoelectric whisker sensor provided by the present invention;

[0047] Figure 2 This is the second structural diagram of the photoelectric whisker sensor provided by the present invention;

[0048] Figure 3 This is one of the circuit diagrams of the control board provided by the present invention;

[0049] Figure 4 This is the second circuit diagram of the control board provided by the present invention;

[0050] Figure 5 is a flow chart of the tactile perception method provided by the present invention;

[0051] Figure 6 This is one of the schematic diagrams of the working principle of the photoelectric whisker sensor provided by the present invention;

[0052] Figure 7This is the second schematic diagram of the working principle of the photoelectric whisker sensor provided by the present invention;

[0053] Figure 8 This is the third schematic diagram of the working principle of the photoelectric whisker sensor provided by the present invention;

[0054] Figure 9 It is a structural schematic diagram of the tactile perception device provided by the present invention;

[0055] Figure 10 It is a structural schematic diagram of the electronic device provided by the present invention. Description of the drawings:

[0057] 1-control board; 2-connector; 3-adhesive;

[0058] 4-tentacles; 5-elastic film; 6-support material;

[0059] 7-light shielding layer; 8-light receiving tube; 9-LED light emitting diode;

[0060] 10-Reflector. DETAILED DESCRIPTION

[0061] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0062] Figure 1 This is one of the structural schematic diagrams of the photoelectric whisker sensor provided by the present invention.

[0063] Figure 2 This is the second structural schematic diagram of the photoelectric whisker sensor provided by the present invention.

[0064] like Figure 1 and Figure 2 As shown, this embodiment provides a photoelectric sensor 4, including:

[0065] Tentacles 4, elastic film 5 and several light receiving tubes 8. The tentacle 4 is installed in the middle of the elastic film 5. The tentacle 4 is used to deflect when stimulated by the outside world, and at the same time drive the elastic film 5 to deflect;

[0066] Several light receiving tubes 8 are arranged below the elastic film 5 to generate a light intensity difference after the elastic film 5 is deflected. The light intensity difference can be used to indicate the deflection of the tentacles 4 .

[0067] In an exemplary embodiment, the photoelectric whisker sensor 4 further includes an LED light emitting diode 9 , and a plurality of light receiving tubes 8 are evenly distributed around the LED light emitting diode 9 .

[0068] In an exemplary embodiment, a reflective plate 10 is provided at the bottom of the elastic film 5 . The reflective plate 10 is used to emit the light to the plurality of light receiving tubes 8 after receiving the light from the LED light emitting diodes 9 .

[0069] In an exemplary embodiment, the reflective plate 10 is further used to change the reflection path of the light when the elastic film 5 is deflected, thereby generating a light intensity difference between the plurality of light receiving tubes 8 .

[0070] In an exemplary embodiment, the photoelectric whisker sensor 4 further includes a voltage divider resistor, and the light receiving tube 8 is further used to convert the light intensity difference from a light intensity signal into a current signal;

[0071] The voltage divider resistor is used to convert the current signal corresponding to the light intensity difference into a voltage signal.

[0072] In the exemplary embodiment, the photoelectric whisker 4 sensor further includes a control board 1 and a connector 2;

[0073] The connector 2 is used to export the voltage signal corresponding to the light intensity difference to the control board 1;

[0074] The control board 1 is used to determine the deflection direction and deflection angle of the antenna 4 based on the voltage signal corresponding to the light intensity difference.

[0075] The material of the tentacles 4 can be nylon. In practice, the material of the tentacles 4 can be flexibly selected according to actual conditions, and this is not limited in this embodiment.

[0076] The elastic film 5 may be made of a material having magnetic properties, for example, polydimethylsiloxane (PDMS) or polymethyl methacrylate (PMMA).

[0077] In the implementation, the photoelectric tentacle sensor 4 may further include a supporting material 6 and a light shielding layer 7, wherein the supporting material 6 is a square outer and round inner structure, and the internal space is a truncated cone-shaped cavity structure for accommodating a light receiving tube 8 and an LED light emitting diode 9, and the light shielding layer 7 is used to isolate external light, reduce interference from the external environment, and improve the detection accuracy of the photoelectric tentacle sensor 4. Figure 2 As shown, a light shielding layer 7 is also provided between the LED 9 and the light receiving tube 8, so as to prevent the light emitted from the side of the LED 9 from affecting the light receiving tube 8, thereby further improving the detection accuracy.

[0078] The tentacle 4 is fixed to the middle of the elastic film 5. The elastic film 5 can also be bonded to the supporting material 6 of the photoelectric tentacle 4 sensor. A light shielding layer 7 is provided at the very bottom of the photoelectric tentacle 4 sensor. In practice, the tentacle 4 and the elastic film 5 can be fixed together by an adhesive 3, the elastic film 5 can be fixed together by an adhesive 3, and the light shielding layer 7 can be fixed together by an adhesive 3.

[0079] In actual applications, since the reflector 10 is arranged at the bottom of the elastic film 5, the reflector 10 can be stably connected to the tentacle 4 through the upper elastic film 5. When the tentacle 4 is stimulated by the outside world, it will drive the reflector 10 to deflect. For example, the external stimulation can be direct contact and indirect contact. For example, contact through a flow field such as airflow is indirect contact. The deflection of the reflector 10 indirectly affects the intensity of the light sensed on the light receiving tube 8. In this way, a light intensity difference is generated between different light receiving tubes 8. The light intensity difference can be used to indicate the deflection of the tentacle 4. Based on the light intensity difference, the deflection angle and direction information of the tentacle 4 can be obtained, which is then used to perceive the contact object or flow field.

[0080] Figure 3 This is one of the circuit diagrams of the control board 1 provided by the present invention.

[0081] Figure 4 This is the second circuit diagram of the control board 1 provided by the present invention.

[0082] In actual applications, a control board 1 is provided inside the photoelectric tentacle 4 sensor, and the light receiving tube 8 and the LED light emitting diode 9 are fixedly connected to the control board 1. The collected light intensity signal is converted into a voltage signal through the voltage divider resistor on the control board 1. The converted voltage signal is exported to the control board 1 through the connector 2 for further analog-to-digital conversion, and the deflection angle and deflection direction of the tentacle 4 are calculated.

[0083] in Figure 3 This is the circuit on the front of the control board 1. Figure 4 This is the circuit on the reverse side of the control board 1.

[0084] In practice, the number of the light receiving tubes 8 can be four, which are respectively arranged around the LED 9 .

[0085] The photoelectric tentacle 4 sensor provided in this embodiment is a closed environment, and the light used is also self-sufficient, and adopts the near-infrared light frequency band, which effectively avoids the influence of visible light on the sensor detection signal, is not affected by the external environment, and is easy to build a high-precision sensor. Compared with the open light source of the traditional photoelectric tactile sensor, it can not only better resist environmental interference, but also has a smaller size.

[0086] In addition, due to the extremely fast propagation speed of light, the sensor has a high response rate and can be used to detect high-dynamic scenes. Compared with existing sensor detection forms, it has a higher sampling frequency.

[0087] The sensor uses an existing stable LED photodiode as a transducer to convert detection parameters into electrical detection quantities. It is a stable commercial mass-produced device with the characteristics of low price, strong stability and easy availability. This makes the constructed sensor low-cost and easy to implement and promote.

[0088] Due to the new deflection angle and azimuth angle calculation method proposed, the sensor can locate the position of the tentacle 4 in any space by detecting the light intensity of a limited point, making the sensor smaller and lighter than traditional sensors.

[0089] The signal output method achieved by setting the voltage divider resistor has a flexible output voltage range, which can be adjusted by changing the voltage divider resistor or the input power supply to meet the requirements of different devices for different load voltages and currents. At the same time, the voltage output method has a high signal-to-noise ratio, which makes it possible to accurately obtain the sensor status without the need for expensive digital-to-analog conversion equipment on the back end.

[0090] Figure 5 It is a flow chart of the tactile perception method provided by the present invention.

[0091] like Figure 5 As shown, the tactile perception method provided by the present invention includes:

[0092] Step 501: The sensing component senses external contact and deflects after receiving the external contact;

[0093] Step 502: Deflecting a reflective component by means of an elastic component connected to the sensing component, the reflective component is used to reflect light emitted by the light-emitting component to a plurality of light-sensitive components;

[0094] Step 503, determining a light intensity difference between the photosensitive components based on the intensity of the light received by the plurality of photosensitive components;

[0095] Step 504: Determine the deflection of the sensing component based on the light intensity difference. The deflection of the sensing component can be used to characterize the direction and intensity of the external contact.

[0096] The sensing component may be the tentacle in the above embodiment, the elastic component may be the elastic film in the above embodiment, the reflective component may be the reflective plate in the above embodiment, the light-emitting component may be the LED in the above embodiment, and the photosensitive component may be the light-receiving tube in the above embodiment.

[0097] In an exemplary embodiment, a plurality of photosensitive components are arranged in groups, each photosensitive component group includes at least two photosensitive components, and the two photosensitive components in each photosensitive component group are symmetrically arranged based on the light emitting component. Based on the light received by the plurality of photosensitive components, a light intensity difference between the photosensitive components is determined, including:

[0098] For each photosensitive member group, a light intensity difference is determined based on the light received by the two photosensitive members within the photosensitive member group.

[0099] In an exemplary embodiment, determining the deflection of the sensing component based on the light intensity difference includes:

[0100] Convert light intensity difference into voltage difference signal;

[0101] Determining a plurality of deflection angles of the sensing component at a plurality of orientations based on the voltage difference signal, wherein the orientations corresponding to the deflection angles are consistent with the orientations corresponding to the photosensitive component group;

[0102] The deflection of the sensing component is determined based on a plurality of deflection angles.

[0103] In an exemplary embodiment, determining a plurality of deflection angles of the sensing component at a plurality of orientations based on the voltage difference signal includes:

[0104] A linear fit is performed based on a predetermined correspondence between the voltage difference signal and the deflection angle to determine a plurality of deflection angles of the sensing component.

[0105] During implementation, the correspondence between the voltage difference signal and the deflection angle can be determined in advance. For example, during the test phase, the degree of the deflection angle can be changed, and the voltage difference signal corresponding to each different deflection angle can be recorded to form a correspondence between the voltage difference signal and the deflection angle. In this way, in actual application, the size of the deflection angle corresponding to the voltage difference signal can be directly determined based on the correspondence.

[0106] In an exemplary embodiment, the deflection of the actuating component is determined based on a number of deflection angles, including:

[0107] Based on the pitch angle, azimuth angle, coordinate axis rotation representation and several yaw angles, the yaw angle and azimuth angle of the sensing component are determined.

[0108] In an exemplary embodiment, the photosensitive component group includes a first photosensitive component group and a second photosensitive component group, the first photosensitive component group and the second photosensitive component group are arranged orthogonally, and the deflection angles of the sensing components in several directions are determined based on the voltage difference signal, including:

[0109] determining a first deflection angle based on a voltage difference of the first photosensitive member group;

[0110] The second deflection angle is determined based on the voltage difference of the second photosensitive member group.

[0111] In an exemplary embodiment, the deflection condition of the sensing component includes a deflection angle and an azimuth angle of the sensing component, and determining the deflection condition of the sensing component based on the plurality of deflection angles includes:

[0112] The deflection angle of the sensing component satisfies the following formula (1):

[0113]

[0114] The orientation angle of the sensing component satisfies the following formula (2):

[0115]

[0116] Where α is the first deflection angle, β is the second deflection angle, is the deflection angle of the sensing component, and θ is the azimuth angle of the sensing component.

[0117] The tactile perception method provided by the present invention is further described below in conjunction with a photoelectric whisker sensor:

[0118] Figure 6 This is one of the principle schematic diagrams of the tactile perception method provided by the present invention.

[0119] Figure 7 This is the second schematic diagram of the principle of the tactile perception method provided by the present invention.

[0120] like Figure 6 As shown in the figure, in the initial state where the tentacles do not receive any external stimulation, the LED light-emitting diode is powered on and lights up. The emitted light is reflected by the reflector and received by four light receiving tubes. The light receiving tubes convert the received light intensity signal into a current signal, and then convert the current signal into an analog voltage signal through a voltage divider resistor and output it from the connector.

[0121] In practical applications, the initial state signal is mainly used to calibrate the sensor.

[0122] After completing the sensor calibration, Figure 7 As shown, when the tentacles receive external excitation signals, they are directly or indirectly deflected, thereby driving the deflection of the elastic film and the reflector. Under the reflection of the reflector, the path of the light will change, and the light intensity received by different light receiving tubes will be different, thus generating a light intensity difference.

[0123] from Figure 2 It can be seen that the photoelectric whisker sensor can include two groups of light receiving tubes corresponding to each other. In actual application, the light intensity difference between the two groups of light receiving tubes can be calculated separately. Figure 7PD1 and PD2 are a group of light receiving tubes. Figure 7 As can be seen in the figure, when the whiskers drive the reflector to deflect, the light intensity received by the left light receiving tube increases, while the light intensity received by the right light receiving tube decreases. At this time, IPD1 and IPD2 represent the light intensities received by the left and right light receiving tubes respectively, and ΔI represents the light intensity difference between the left and right light receiving tubes. ΔI changes from 0 in the initial state to IPD1-IPD2, and the absolute value of ΔI changes continuously with the degree of deflection of the whiskers. In this way, the degree of deflection of the whiskers in the direction of this group of light receiving tubes can be indicated by observing the change in ΔI. The same applies to the other group of light receiving tubes.

[0124] Figure 8 This is the third principle schematic diagram of the tactile perception method provided by the present invention.

[0125] In an exemplary embodiment, Figure 8 As shown, a coordinate system can be established with the connection between the tentacle and the elastic film as the center of the circle, the direction of the tentacle when not deflected as the z-axis, and the directions of the two groups of light receiving tubes as the x-axis and y-axis respectively.

[0126] According to the above embodiment, it can be determined that when the tentacle is deflected in the plane of the light receiving tube corresponding to the x-axis, the first deflection angle can be determined based on the light intensity difference, which is recorded as α. At the same time, when the tentacle is deflected in the plane of the light receiving tube corresponding to the y-axis, the second deflection angle can be determined, which is recorded as β.

[0127] Under the premise of determining α and β, the deflection angle and orientation angle of the tentacle can be uniquely determined in this coordinate system, where the deflection angle of the sensing component satisfies the following formula (1):

[0128]

[0129] The orientation angle of the sensing component satisfies the following formula (2):

[0130]

[0131] Figure 9 It is a structural schematic diagram of the tactile perception device provided by the present invention.

[0132] like Figure 9 As shown, the present invention also provides a tactile perception device, characterized in that it includes:

[0133] The sensing module 901 is used for sensing the external contact of the sensing component and deflecting after receiving the external contact;

[0134] A deflection module 902 is configured to deflect a reflective component via an elastic component connected to the sensing component, where the reflective component is configured to reflect light emitted by the light-emitting component to a plurality of light-sensing components;

[0135] A first determining module 903 is configured to determine a light intensity difference between the photosensitive components based on the intensity of light received by the plurality of photosensitive components;

[0136] The second determining module 904 is configured to determine the deflection of the sensing component based on the light intensity difference. The deflection of the sensing component can be used to characterize the direction and intensity of the external contact.

[0137] The present invention also provides a robot comprising the photoelectric whisker sensor according to the above embodiment.

[0138] During implementation, the robot can be an underwater working robot, which can achieve deep-water positioning by installing photoelectric tentacle sensors on the surface of the underwater working robot. It can also be a bionic robot, such as a fish-shaped robot, which can help detect the direction and speed of water flow by installing photoelectric tentacle sensors on the surface of the fish-shaped robot.

[0139] In an exemplary embodiment, since the photoelectric whisker sensor can sense not only direct contact but also indirect contact such as flow field, the photoelectric whisker sensor can also be applied to a ventilator to monitor the user's breathing.

[0140] In an exemplary embodiment, the photoelectric whisker sensor can also be used to detect wind speed to assist in site selection for wind turbines.

[0141] Figure 10 An example of a physical structure diagram of an electronic device is shown below. Figure 10 As shown, the electronic device may include: a processor 1010, a communication interface 1020, a memory 1030, and a communication bus 1040, wherein the processor 1010, the communication interface 1020, and the memory 1030 communicate with each other via the communication bus 1040. The processor 1010 may call the logic instructions in the memory 1030 to execute the tactile perception method, which includes:

[0142] The sensing component senses external contact and deflects after receiving the external contact;

[0143] The reflective component is driven to deflect by an elastic component connected to the sensing component, and the reflective component is used to reflect the light emitted by the light-emitting component to a plurality of light-sensitive components;

[0144] determining a light intensity difference between the photosensitive components based on the intensities of the light received by the plurality of photosensitive components;

[0145] The deflection of the sensing component is determined based on the light intensity difference, and the deflection of the sensing component can be used to characterize the direction and intensity of external contact.

[0146] In addition, the logic instructions in the above-mentioned memory 1030 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0147] On the other hand, the present invention further provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform the tactile perception method provided by the above methods, which includes:

[0148] The sensing component senses external contact and deflects after receiving the external contact;

[0149] The reflective component is driven to deflect by an elastic component connected to the sensing component, and the reflective component is used to reflect the light emitted by the light-emitting component to a plurality of light-sensitive components;

[0150] determining a light intensity difference between the photosensitive components based on the intensities of the light received by the plurality of photosensitive components;

[0151] The deflection of the sensing component is determined based on the light intensity difference, and the deflection of the sensing component can be used to characterize the direction and intensity of external contact.

[0152] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the tactile perception method provided by the above methods is implemented, and the method includes:

[0153] The sensing component senses external contact and deflects after receiving the external contact;

[0154] The reflective component is driven to deflect by an elastic component connected to the sensing component, and the reflective component is used to reflect the light emitted by the light-emitting component to a plurality of light-sensitive components;

[0155] determining a light intensity difference between the photosensitive components based on the intensities of the light received by the plurality of photosensitive components;

[0156] The deflection of the sensing component is determined based on the light intensity difference, and the deflection of the sensing component can be used to characterize the direction and intensity of external contact.

[0157] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. That is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0158] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus the necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or certain parts of the embodiment.

[0159] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A tactile perception method, characterized in that: include: The sensing component senses external contact and deflects after receiving the external contact; The reflective component is driven to deflect by an elastic component connected to the sensing component, and the reflective component is used to reflect the light emitted by the light-emitting component to a plurality of light-sensitive components; determining a light intensity difference between the photosensitive components based on the intensities of the light received by the plurality of photosensitive components; Determining a deflection of the sensing component based on the light intensity difference, wherein the deflection of the sensing component is used to characterize the direction and intensity of the contact from the outside world; The plurality of photosensitive components are arranged in groups, each photosensitive component group includes at least two photosensitive components, and the two photosensitive components in each photosensitive component group are symmetrically arranged based on the light emitting component. The light intensity difference between the photosensitive components is determined based on the light received by the plurality of photosensitive components, including: For each of the photosensitive member groups, determining a light intensity difference based on light received by two of the photosensitive members in the photosensitive member group; Determining the deflection of the sensing component based on the light intensity difference includes: converting the light intensity difference into a voltage difference signal; determining a plurality of deflection angles of the sensing component at a plurality of orientations based on the voltage difference signal, wherein the orientations corresponding to the deflection angles are consistent with the orientations corresponding to the photosensitive component group; determining a deflection condition of the sensing component based on the plurality of deflection angles; The photosensitive component group includes a first photosensitive component group and a second photosensitive component group, the first photosensitive component group and the second photosensitive component group are arranged orthogonally, and determining a plurality of deflection angles of the sensing components in a plurality of orientations based on the voltage difference signal includes: determining a first deflection angle based on a voltage difference of the first photosensitive member group; determining a second deflection angle based on the voltage difference of the second photosensitive member group; The deflection condition of the sensing component includes a deflection angle and an azimuth angle of the sensing component, and determining the deflection condition of the sensing component based on the plurality of deflection angles includes: The deflection angle of the sensing component satisfies the following formula (1): The orientation angle of the sensing component satisfies the following formula (2): Where α is the first deflection angle, β is the second deflection angle, is the deflection angle of the sensing component, and θ is the azimuth angle of the sensing component.

2. The tactile perception method according to claim 1, characterized in that: Determining a plurality of deflection angles of the sensing component in a plurality of directions based on the voltage difference signal includes: A linear fitting is performed based on a predetermined corresponding relationship between the voltage difference signal and the deflection angle to determine a plurality of deflection angles of the sensing component.

3. The tactile perception method according to claim 1, wherein: Determining the deflection condition of the sensing component based on the plurality of deflection angles includes: Based on the pitch angle, the azimuth angle, the coordinate axis rotation representation and the plurality of yaw angles, the yaw angle and the azimuth angle of the sensing component are determined.

4. A tactile perception device, applied to the tactile perception method according to any one of claims 1 to 3, characterized in that: include: A sensing module is used for sensing components to sense external contact and deflect after receiving external contact; a deflection module, configured to deflect a reflective component via an elastic component connected to the sensing component, wherein the reflective component is configured to reflect light emitted by the light-emitting component to a plurality of light-sensitive components; a first determining module, configured to determine a light intensity difference between the photosensitive components based on the intensities of the light received by the plurality of photosensitive components; The second determination module is used to determine the deflection of the sensing component based on the light intensity difference, and the deflection of the sensing component is used to characterize the direction and intensity of the contact from the outside world.

5. A photoelectric whisker sensor, applied to the tactile perception method according to any one of claims 1 to 3, characterized in that: It includes tentacles, elastic films, reflective plates, LED light emitting diodes, light receiving tubes and control boards; The tentacles are used to sense contact from the outside world and deflect after receiving contact from the outside world; The elastic film is used to drive the reflective plate to deflect; The reflector is used to reflect the light emitted by the LED to the light receiving tube; The control board is used to determine the deflection of the tentacle based on the light intensity difference of the light receiving tube, and the deflection of the tentacle is used to characterize the direction and intensity of the contact with the outside world.

6. A robot, characterized in that: It comprises the photoelectric whisker sensor as claimed in claim 5.

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