A flexible interface detection method and device based on tactile perception

Abstract

The application relates to a flexible interface detection method and device based on tactile perception, which comprises the following steps: controlling a three-dimensional displacement table to move downward along the Z-axis direction, acquiring the Z-direction force value of the three-direction force sensor in real time, stopping moving when the force value reaches a preset threshold, and establishing a reference plane for sensor scanning of the flexible interface; on the reference plane, realizing synchronous control of three-direction force sensor data acquisition and the displacement table based on a hard trigger mode; based on the data acquisition method, performing line-by-line scanning on the flexible interface, collecting the force change data of the sensor and the flexible interface in the X, Y and Z directions as three-dimensional tactile information; and performing fusion processing and calculation on the three-dimensional force data to realize high-precision, high-resolution and multi-dimensional tactile scanning imaging of the flexible interface, and finally realize flexible interface detection based on tactile perception. Compared with the prior art, the application realizes automatic detection of the flexible interface and greatly improves the detection precision.

Description

Technical Field

[0001] This invention relates to the field of sensor technology, and in particular to a method and device for detecting flexible interfaces based on tactile perception. Background Technology

[0002] Surface quality inspection is one of the important application scenarios for intelligent equipment related to flexible interfaces, such as leather defect detection, textile product evaluation, and medical diagnosis of skin diseases. Traditional product surface quality inspection methods rely on manual inspection, but manual inspection is inefficient, requires a lot of manpower, and is easily affected by human experience and subjective factors, resulting in low sampling rates, poor accuracy, and high product defect rates.

[0003] With the development, application and popularization of intelligent sensing technology, machine vision-based detection methods have been widely studied and applied in the field of surface quality inspection. Machine vision methods can achieve non-contact, non-destructive and automated inspection, and have the outstanding advantage of high inspection efficiency, which largely overcomes the drawbacks of manual inspection.

[0004] Despite the significant development of optical imaging device performance and continuous improvement of image processing, compression and transmission technologies in recent years, machine vision-based detection methods have greatly improved in both efficiency and accuracy. However, it is undeniable that machine vision detection technology still has some unsolvable problems, such as (1) detection is limited by the light source, and the quality of the light source affects the imaging quality, thus directly affecting the detection accuracy; (2) poor environmental adaptability, requiring a clean, unobstructed, and interference-free operating environment; (3) detection accuracy has reached a bottleneck, and it cannot form effective visual features for some subtle internal defects, while it cannot form visual features for some normal texture images. The above problems not only greatly limit its application scenarios, but also the detection accuracy has reached a bottleneck. Without the intervention of other modal information, it is difficult to improve the surface quality detection based solely on visual modal information. At present, multi-dimensional intelligent perception fusion has become an important breakthrough direction for the application of intelligent perception technology. Among them, the fusion of tactile information and visual information has significant applications in intelligent robot equipment, intelligent fabric detection equipment, etc., and is an inevitable trend for flexible interface tactile perception intelligent equipment. However, at present, an effective detection method for flexible interface detection based on tactile perception has not yet been formed. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art by providing a flexible interface detection method and device based on tactile perception, so as to realize the automatic detection of flexible interfaces.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] One aspect of the present invention provides a method for detecting flexible interfaces based on tactile perception. This method involves acquiring three-dimensional tactile parameters of the flexible interface using a three-dimensional displacement stage and a triaxial force sensor, fusing the acquired three-dimensional force data, and outputting a tactile image in real time after calculation. The method includes the following steps:

[0008] Step 1: Control the three-dimensional displacement stage to move downward along the Z-axis, and obtain the Z-axis force value of the triaxial force sensor in real time. When the force value reaches the preset threshold, stop moving and establish the reference plane for the sensor to scan the flexible interface.

[0009] Step 2: Synchronize the data acquisition of the triaxial force sensor with the three-dimensional displacement stage based on the hard triggering method;

[0010] Step 3: Control the triaxial force sensor to scan line by line on the reference plane, collect the specific values ​​of the force changes in the X, Y and Z directions during the process of the triaxial force sensor scanning the flexible interface line by line, and obtain the three-dimensional tactile information of the sensor in contact with the flexible interface.

[0011] As a preferred technical solution, the synchronization of data acquisition from the triaxial force sensor and the three-dimensional displacement stage based on the hard triggering method is specifically as follows:

[0012] Based on the motion control information, a pulse signal of corresponding frequency is generated. The pulse signal is used to control the motor driver to drive the motor and count the pulse signal synchronously. When the count reaches a preset threshold, a hard trigger signal is generated, which synchronously triggers the triaxial force sensor to collect data and restarts the counting.

[0013] As a preferred technical solution, the motion control information includes acceleration / deceleration values, velocity values, displacement amount, and displacement direction.

[0014] As a preferred technical solution, the preset threshold is determined based on the resolution required for flexible interface scanning.

[0015] As a preferred technical solution, the following are also included:

[0016] Step four: After completing the line-by-line scan of the entire flexible interface, the three-dimensional force data is fused to achieve high-precision, high-resolution, and multi-dimensional scanning imaging of the flexible interface.

[0017] As a preferred technical solution, the tactile imaging display of a flexible interface using three-dimensional data specifically involves:

[0018] The hard trigger signals are counted synchronously, and the threshold of the hard trigger signals is used as the column coordinates of the image. The line break count of the progressive scan is used as the row coordinates of the image. The force data collected by the triaxial force sensor is used as the bit depth. The data are encoded to form a digital image signal and output.

[0019] Another aspect of the present invention provides a flexible interface detection device based on tactile perception, comprising:

[0020] The triaxial force sensor can simultaneously detect changes in force in the X, Y, and Z directions and output corresponding electrical signals.

[0021] A three-dimensional displacement stage is used to control the movement of a triaxial force sensor along the X, Y, and Z directions;

[0022] An integrated acquisition and control platform is used to realize the movement control of a three-dimensional displacement stage, establish a sensor scanning reference plane for the flexible interface, perform time-sequence control of line-by-line scanning on the reference plane, and acquire, store, process, and transmit the output signals of the triaxial force sensor.

[0023] As a preferred technical solution, the three-dimensional displacement stage includes a stepper motor, a guide rail, and a transmission lead screw.

[0024] As a preferred technical solution, the integrated acquisition and control platform includes a central processing unit (CPU) and a storage unit, a clock generation unit, a motor control unit, a motor drive unit, and a data acquisition unit, all connected to the CPU. The motor drive unit is connected to a stepper motor, and the data acquisition unit is connected to the triaxial force sensor. During actual measurement, the motor control unit, based on the acceleration / deceleration values, velocity values, displacement, and displacement direction information sent by the CPU, parses pulse signals of corresponding frequencies. The pulse signals are sent to the motor drive unit to control the stepper motor's movement. The data acquisition unit synchronously acquires the output signals of the triaxial force sensor using a hard triggering method. The storage unit is used to store the triaxial force values ​​of the entire flexible interface.

[0025] As a preferred technical solution, the central processing unit is based on the Xilinx Zynq SoC platform and includes a programmable system and a programmable logic unit. The programmable system is used to interact with the host computer and control the three-dimensional displacement stage. The programmable logic unit is used to count the pulse signals and generate hard trigger signals, and to collect, process, store and transmit the force values ​​output by the triaxial force sensor in parallel.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] (1) Acquiring three-dimensional tactile information: Compared with the existing method of only detecting positive pressure to obtain one-dimensional tactile information, this invention proposes and implements a method to simultaneously detect the force changes in the X, Y and Z directions as three-dimensional tactile information of flexible interfaces, which can significantly improve the detection accuracy. For example, for fine scratches on flexible interfaces, due to the limitation of sensor size, it is impossible to detect by only detecting Z-direction pressure, but it can be clearly detected by fusing and calculating the force data in the X and Y directions. Correspondingly, this invention also breaks through the limitation of single-dimensional sensor resolution by fusing and calculating the acquired three-dimensional tactile information data.

[0028] (2) Automatic detection of flexible interfaces: This application is divided into three stages: reference plane establishment, formal measurement, and tactile computational imaging. Before detection, the device will automatically initialize. When detecting flexible interfaces, the reference plane is first adaptively established according to different detection objects. That is, the three-dimensional displacement stage is controlled to move downward along the Z-axis and the Z-force value of the triaxial force sensor is collected in real time. When the force value reaches the preset threshold, the movement stops and the reference plane for the sensor to scan the flexible interface is established. Then, the triaxial force sensor is controlled to scan the flexible interface line by line on the established reference plane. Finally, the collected data is fused and processed for computational imaging. Thus, the automatic detection of pressure on the flexible interface is realized, which improves efficiency compared with the traditional manual solution and has stronger robustness compared with the machine vision solution.

[0029] (3) High accuracy and consistency of the collected data on the stress change of the flexible interface: Unlike the existing schemes that lack the synchronization of data acquisition rate and sensor displacement speed, this invention realizes the synchronization of sensor data acquisition and three-dimensional displacement stage based on a hard triggering method. This method has higher real-time performance than the program control method, which can better ensure the correspondence between the data collected by the sensor during line-by-line scanning and the displacement, avoid data distortion problems, and at the same time ensure the consistency of detection resolution in each area of ​​the entire flexible interface, thereby improving the accuracy of the collected data on the stress change of the flexible interface. Attached Figure Description

[0030] Figure 1 This is a flowchart of the flexible interface detection method based on tactile perception in Example 1;

[0031] Figure 2 This is a flowchart illustrating the synchronization of sensor displacement and data acquisition in Example 1;

[0032] Figure 3 This is a schematic diagram of the tactile sensor displacement device of the flexible interface detection device based on tactile perception in Example 2;

[0033] Figure 4 This is a schematic diagram of the three-dimensional tactile parameter information acquisition space of the flexible interface in Example 2;

[0034] Figure 5 This is a block diagram of the integrated data acquisition and control platform in Example 2.

[0035] Among them, 1. Stepper motor, 2. Guide rail, 3. Triaxial force sensor. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0037] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0038] Furthermore, this invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0039] Example 1

[0040] This embodiment provides a flexible interface detection method based on tactile perception. This method provides and implements a design concept for detecting the surface quality and defects of flexible interfaces by detecting three-dimensional tactile information of the interface surface. The entire system includes a high-precision three-dimensional displacement stage composed of a triaxial force sensor, a stepper motor, a guide rail, and a transmission lead screw, and an integrated acquisition and control platform. Specifically, when detecting the surface quality of a flexible interface, this invention uses a high-precision three-dimensional displacement stage to control the triaxial force sensor to scan line by line on the flexible interface under test. During the scanning process, the changes in frictional force in the X and Y directions and the changes in force in the Z direction of the sensor contact with the flexible interface are simultaneously acquired. The acquired force data is encoded into digital images and output, then fused, processed, and calculated to ultimately realize a method for detecting the surface quality of flexible interfaces through tactile perception.

[0041] For details, see Figure 1 This method includes the following steps:

[0042] Step S1, construct a tactile sensor displacement device: that is, construct a set such as Figure 3 The tactile sensor displacement device shown includes: 1. a stepper motor; 2. a high-precision three-dimensional displacement stage composed of a guide rail and a transmission lead screw; and 3. a triaxial force sensor, wherein the triaxial force sensor serves as the actuator of the high-precision three-dimensional displacement stage.

[0043] Step S2, determine the reference plane of the triaxial force sensor scanning flexible interface in the spatial coordinate system: set the threshold F th The device described in step one controls the displacement of the triaxial force sensor along the Z-axis, synchronously detecting the change in force on the sensor in the Z-direction. When the force value reaches F... th Stop the Z-direction displacement and read the current Z-direction coordinate. Fth Establish such Figure 2 The (X, Y, Z) shown Fth The scanning reference plane.

[0044] Step S3, measure the three-dimensional tactile parameter information of the flexible interface: such as Figure 4 As shown, a high-precision three-dimensional displacement stage controls a triaxial force sensor in the (X, Y, Z) axes. Fth The plane scans the flexible interface line by line, simultaneously detecting the changes in frictional force in the X and Y directions and the changes in force in the Z direction where the sensor is in contact with the flexible interface. The changes in force data in the three directions are used as three-dimensional tactile parameter information.

[0045] Step S4, Synchronous Control of Sensor Displacement and Data Acquisition: Since the motion of the sensor during the line-by-line scanning of the flexible interface is not a single uniform motion, but includes acceleration, deceleration, and uniform motion phases, to ensure that the data acquired during the line-by-line scanning process corresponds to the displacement, the following design is implemented: Figure 5The integrated acquisition and control platform shown features a hard triggering method that enables synchronization of triaxial force sensor data acquisition with the three-dimensional displacement stage.

[0046] For details, see Figure 2 The specific steps are as follows:

[0047] Step S41, design a... Figure 5 The integrated acquisition and control platform shown includes: Xilinx SoC minimum system circuit, clock drive circuit, storage circuit, power supply circuit, motor control circuit, motor drive circuit, analog signal conditioning circuit, and analog-to-digital conversion circuit. Its functions include: 3-channel stepper motor control and drive, parallel processing and acquisition of up to 8 channels of analog signals, and human-machine interaction via LWIP communication.

[0048] In step S42, the Xilinx SoC PS terminal sends motion control information such as acceleration / deceleration values, speed values, displacement amount and displacement direction to the motor control circuit for parsing, and outputs a pulse signal of the corresponding frequency after parsing;

[0049] In step S43, the pulse signal output in step S42 is synchronously transmitted to the motor drive circuit and the PL terminal of the Xilinx SoC. The PL terminal simultaneously performs pulse falling edge detection and counting. When the count value accumulates to the settable value Cnt, the PL terminal generates an interrupt signal Intr and clears Cnt to zero.

[0050] Step S44: When the count value reaches Cnt, the PL terminal triggers the ADC and analog signal conditioning unit to collect the force change signals output by the triaxial force sensor in the X, Y, and Z directions at the current moment, and transmits the data to the PS terminal DDR through AXI DMA to set the Cnt value and adjust the flexible interface scanning resolution.

[0051] Step S5, Image representation of three-dimensional tactile parameter information: The three-dimensional tactile parameter information of the flexible interface scanned by the three-dimensional force sensor is encoded into a digital image and represented.

[0052] Specifically, this step is as follows:

[0053] In steps S51 and S43, the interrupt signal Intr generated at the PL terminal is received Figure 5 The PS terminal of the platform shown performs an interruption count, which is reset to zero when a newline is generated during line-by-line scanning.

[0054] Step S52: The interrupted Intr count value is used as the column coordinate of the image, the line break count of the progressive scan is used as the row coordinate of the tactile image, and the force and friction data collected at the corresponding coordinates are used as the bit depth information of the pixel at that coordinate.

[0055] Step S53: Arrange the collected three-dimensional tactile parameter information according to row and column coordinates, and output the force data images in the X, Y, and Z directions.

[0056] Step S54 involves fusing, processing, and calculating the three-directional force data images to achieve high-precision, high-resolution, and multi-dimensional tactile imaging.

[0057] The invention can effectively improve the accuracy of surface quality detection of flexible interfaces, enhance the calibration and measurement capabilities of intelligent equipment for tactile sensing of flexible interfaces, and promote the industrial development of intelligent equipment for tactile sensing of flexible interfaces.

[0058] Example 2

[0059] See Figure 3 and Figure 5 This embodiment provides a flexible interface detection device based on tactile perception, including:

[0060] The triaxial force sensor can simultaneously detect changes in force in the X, Y, and Z directions and output corresponding electrical signals.

[0061] A three-dimensional displacement stage is a mechanical structure used to control the movement of a triaxial force sensor along the X, Y, and Z directions, including a stepper motor, guide rails, and a lead screw.

[0062] An integrated acquisition and control platform is used to realize the movement control of a three-dimensional displacement stage, establish a reference plane for the sensor to scan the flexible interface, perform time-sequence control of line-by-line scanning on the reference plane, and acquire, store, process and transmit the output signals of the triaxial force sensor.

[0063] For ease of description, the above devices are described in various functional units. The systems, devices, modules, or units illustrated in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0064] For details, see Figure 4The integrated data acquisition and control platform includes a central processing unit (CPU) and a storage unit, a clock generation unit, a motor control unit, a motor drive unit, and a data acquisition unit, all connected to the CPU. The motor drive unit is connected to a stepper motor, and the data acquisition unit is connected to a triaxial force sensor. During actual measurement, the motor control unit analyzes the acceleration / deceleration values, velocity values, displacement, and displacement direction information sent by the CPU to extract pulse signals of corresponding frequencies. These pulse signals are then sent to the motor drive unit to control the stepper motor's movement. The data acquisition unit synchronously acquires the output signals from the triaxial force sensor using a hard-triggered method. The storage unit stores the triaxial force values ​​of the entire flexible interface.

[0065] Specifically, the host computer sends the given acceleration / deceleration values, velocity values, displacement, and displacement direction to the PS terminal (ARM processor) of the Xilinx SoC. The PS terminal writes the information to the motor control unit register via SPI communication. After the motor control unit calculates the information, it outputs a pulse signal of the corresponding frequency. The pulse signal is synchronously sent to the motor driver to control the motor movement and to the PL terminal (FPGA) of the Xilinx SoC for counting. When the count reaches a preset value, an interrupt signal is generated, triggering the data acquisition unit to acquire the analog signal output by the current triaxial force sensor.

[0066] In this embodiment, the controller uses a Xilinux SoC, which includes a processing system (PS) and a programmable logic block (PL). The clock generator (Clock Module) generates a fixed frequency signal, the memory uses double-rate synchronous dynamic random access memory (DDR), and the data acquisition unit includes an amplifier, a filter, and a digital-to-analog converter connected in sequence.

[0067] The Xilinx SoC is a general-purpose chip integrating a power supply (PS) and an FPGA (PL). The pulse signal is generated by the Xilinx SoC's PS (ARM processor) providing acceleration, deceleration, speed, and displacement values ​​to the motor control unit (typically written to registers via SPI communication). The motor control unit receives this data, processes it, and generates pulse signals with corresponding frequency variations. These pulse signals are simultaneously sent to the motor driver to drive the motor's movement and to the Xilinx SoC's PL (FPGA) for counting. Because the motor's movement and these pulses are almost synchronized, this achieves synchronization between the sensor's displacement speed and data acquisition.

[0068] Furthermore, the central processing unit (CPU) can be implemented in any suitable manner. For example, the CPU can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. The memory controller can also be implemented as part of the memory's control logic. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, ASICs, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0069] The basic workflow of the device provided in this embodiment is as follows:

[0070] Step 1, Equipment Initialization: Return the X, Y, and Z axis motors to zero, verify the reading of each general-purpose IO input / output, verify the data acquisition function of the triaxial force sensor, and return the verification information.

[0071] Step 2: Determine the reference plane for the triaxial force sensor scanning the flexible interface in the spatial coordinate system: The host computer sends a set threshold F. th The integrated acquisition and control platform controls the three-dimensional displacement stage to move downwards along the Z-axis, and simultaneously acquires the signal output by the triaxial force sensor after detecting the force change in the Z-axis. When the force value reaches F... th Stop moving in the Z direction and read the current Z-coordinate. Fth Establish such Figure 2 The (X, Y, Z) shown Fth The scanning reference plane.

[0072] Step 3, measure the three-dimensional tactile parameters of the flexible interface: such as Figure 4 As shown, a high-precision three-dimensional displacement stage controls a triaxial force sensor in the (X, Y, Z) axes. FthThe plane scans the flexible interface line by line, simultaneously detecting the changes in frictional force in the X and Y directions and the changes in force in the Z direction when the sensor is in contact with the flexible interface. The force change data in the three directions are used as three-dimensional tactile parameter information.

[0073] Step 4: Synchronous control of sensor displacement and data acquisition during the measurement process: Since the motion mode of the sensor during the line-by-line scanning of the flexible interface is not a single uniform motion, but includes acceleration, deceleration, and uniform speed stages, in order to ensure that the data acquired during the line-by-line scanning process corresponds to the displacement, the integrated acquisition and control platform provides a hard triggering method with high real-time performance, realizing the synchronization of sensor data acquisition and displacement stage.

[0074] Step 5, Real-time imaging of 3D tactile parameter information: The measured 3D force data of the flexible interface is fused, calculated and transmitted to the host computer for real-time display of tactile imaging.

[0075] The specific steps are the same as in Example 1.

[0076] Example 3

[0077] This embodiment provides a computer-readable storage medium including one or more programs executable by one or more processors of an electronic device, the one or more programs including instructions for performing the tactile perception-based flexible interface detection method as described in Embodiment 1.

[0078] It should be noted that computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0079] This invention can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This invention can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0080] The various embodiments in this invention are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0081] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

[0082] Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A flexible interface detection method based on tactile perception, characterized in that, The method involves acquiring three-dimensional tactile parameters of a flexible interface using a three-dimensional displacement stage and a triaxial force sensor, fusing the acquired three-dimensional force data, and outputting a tactile image in real time after calculation. The method includes the following steps: Step 1: Control the three-dimensional displacement stage to move downward along the Z-axis, and obtain the Z-axis force value of the triaxial force sensor in real time. When the force value reaches the preset threshold, stop moving and establish the reference plane for the sensor to scan the flexible interface. Step 2: Synchronize the data acquisition of the triaxial force sensor with the three-dimensional displacement stage based on the hard triggering method; Step 3: Control the triaxial force sensor to scan line by line on the reference plane, collect the specific values ​​of the force changes in the X, Y and Z directions during the process of the triaxial force sensor scanning the flexible interface line by line, and obtain the three-dimensional tactile information of the sensor in contact with the flexible interface. Step four: After completing the line-by-line scan of the entire flexible interface, the three-dimensional force data is fused to achieve high-precision, high-resolution, and multi-dimensional scanning imaging of the flexible interface. The synchronization of data acquisition from the triaxial force sensor and the three-dimensional displacement stage based on the hard triggering method is as follows: Based on the motion control information, a pulse signal of corresponding frequency is generated. The pulse signal is used to control the motor driver to drive the motor and count the pulse signal synchronously. When the count reaches a preset threshold, a hard trigger signal is generated, which synchronously triggers the triaxial force sensor to collect data and restarts the counting. The specific method of using 3D data to display tactile images of flexible interfaces is as follows: The hard trigger signals are counted synchronously, and the threshold of the hard trigger signals is used as the column coordinates of the image. The line break count of the progressive scan is used as the row coordinates of the image. The force data collected by the triaxial force sensor is used as the bit depth. The data are encoded to form a digital image signal and output.

2. The flexible interface detection method based on tactile perception according to claim 1, characterized in that, The motion control information includes acceleration / deceleration values, velocity values, displacement amount, and displacement direction.

3. The flexible interface detection method based on tactile perception according to claim 1, characterized in that, The preset threshold is determined based on the resolution required for scanning the flexible interface.

4. A flexible interface detection device based on tactile perception, characterized in that, For implementing the flexible interface detection method as described in any one of claims 1-3, the system comprises: The triaxial force sensor can simultaneously detect changes in force in the X, Y, and Z directions and output corresponding electrical signals. A three-dimensional displacement stage is used to control the movement of a triaxial force sensor along the X, Y, and Z directions; An integrated acquisition and control platform is used to realize the movement control of a three-dimensional displacement stage, establish a reference plane for the sensor to scan the flexible interface, perform time-sequence control of line-by-line scanning on the reference plane, and acquire, store, process and transmit the output signals of the triaxial force sensor.

5. The flexible interface detection device based on tactile perception according to claim 4, characterized in that, The three-dimensional displacement stage includes a stepper motor, a guide rail, and a lead screw.

6. The flexible interface detection device based on tactile perception according to claim 4, characterized in that, The integrated acquisition and control platform includes a central processing unit and a storage unit, a clock generation unit, a motor control unit, a motor drive unit, and a data acquisition unit, all connected to the central processing unit. The motor drive unit is connected to a stepper motor, and the data acquisition unit is connected to the triaxial force sensor. During actual measurement, the motor control unit analyzes the movement control information of acceleration / deceleration, speed, displacement, and displacement direction issued by the central processing unit to extract pulse signals of the corresponding frequency. A pulse signal is sent to the motor drive unit to control the stepper motor to move; the data acquisition unit synchronously acquires the output signal of the triaxial force sensor based on a hard triggering method; the storage unit is used to store the triaxial force values ​​of the entire flexible interface.

7. The flexible interface detection device based on tactile perception according to claim 6, characterized in that, The central processing unit is based on the Xilinx Zynq SoC platform and includes a programmable system and a programmable logic unit. The programmable system is used to interact with the host computer and control the three-dimensional displacement stage. The programmable logic unit is used to count the pulse signals and generate hard trigger signals, and to perform parallel acquisition, processing, storage and transmission of the force data output by the triaxial force sensor.

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