Bionic finger device, intelligent equipment and information acquisition method

Abstract

The embodiment of the invention provides a bionic finger device, intelligent equipment and an information acquisition method. The bionic finger device comprises a transparent bottom plate; the flexible sensing piece is arranged and fixed on the transparent bottom plate in a covering manner, and a plurality of feature parts are arranged on the flexible sensing piece; and a circuit board, the circuit board is provided with a light source and an image acquisition module, the light source is used for emitting light to the flexible sensing member, and the image acquisition module is used for acquiring an image of deformation of the flexible sensing member when the flexible sensing member is pressed. According to the embodiment of the invention, the light source emits the light to the flexible sensing piece, and the image acquisition module acquires the image of the feature part on the flexible sensing piece, so that the contact position of the flexible sensing piece and the target object and the magnitude and direction of the contact force can be obtained. Therefore, the bionic finger device achieves the function of tactile perception.

Description

Technical Field

[0001] The present application belongs to the technical field of artificial intelligence equipment, and specifically relates to a bionic finger device, an intelligent device, and an information acquisition method. Background Art

[0002] With the development of artificial intelligence technology, the functions of intelligent devices such as robots are becoming more and more powerful. Correspondingly, the tasks that intelligent devices can perform are becoming more and more sophisticated. For example, intelligent devices may be used for assembly operations and handling fragile items, or in different environments (for example, agriculture, family, assistance for the disabled, etc.), to assist humans in various basic or complicated labor. In specific applications, in the process of performing delicate tasks, intelligent devices are often required to have a certain tactile perception ability to quickly adapt to different environments. Therefore, it is urgent to add a component with tactile perception ability to the intelligent device to realize the tactile perception function. Summary of the invention

[0003] The present application aims to provide a bionic finger device, an intelligent device and an information acquisition method to solve the problem that the components of existing intelligent devices lack tactile perception ability.

[0004] In order to solve the above technical problems, this application is implemented as follows:

[0005] In a first aspect, the present application discloses a bionic finger device, the bionic finger device comprising:

[0006] Transparent base;

[0007] A flexible sensing member, the flexible sensing member is covered and fixed on the transparent bottom plate, and the flexible sensing member is provided with a plurality of characteristic parts;

[0008] and a circuit board, on which a light source and an image acquisition module are arranged, wherein the light source is used to emit light to the flexible sensing member, and the image acquisition module is used to acquire an image of the deformation of the flexible sensing member when it is under pressure.

[0009] Optionally, the flexible sensing element comprises: a flexible reflective layer and a flexible light shielding layer; wherein,

[0010] The flexible reflective layer is arranged close to a side of the transparent bottom plate, and the characteristic portion is arranged on the flexible reflective layer;

[0011] Optionally, a plurality of small holes are provided on the flexible reflective layer, and at least part of the characteristic portion is passed through the small holes;

[0012] Alternatively, the characteristic portion is independently arranged on a side of the flexible reflective layer close to the transparent bottom plate.

[0013] The flexible light shielding layer is connected to a side of the flexible reflecting layer away from the transparent bottom plate.

[0014] Optionally, the flexible light-shielding layer and the characteristic portion are an integrally formed structure;

[0015] Alternatively, the flexible light-shielding layer and the characteristic portion are separate structures.

[0016] Optionally, the flexible reflective layer is a silver silicone layer, and the flexible light-shielding layer is a black silicone layer.

[0017] Optionally, a reflective layer is provided on a side of the flexible sensing member close to the transparent bottom plate, and the characteristic portion penetrates the reflective layer;

[0018] A light shielding layer is arranged on a side of the flexible sensing member away from the transparent bottom plate.

[0019] Optionally, the reflective layer is a metal reflective layer.

[0020] Optionally, the bionic finger device further comprises: a transparent flexible support member, wherein the flexible support member fills the accommodation space between the transparent bottom plate and the flexible sensing member.

[0021] Optionally, a bending portion is provided on the transparent bottom plate, the flexible support member has a slot, and the bending portion is at least partially embedded in the slot.

[0022] Optionally, the flexible support member and the transparent bottom plate are an integrally formed structure, or the flexible support member and the transparent bottom plate are separate structures.

[0023] Optionally, a hollow portion is provided on the circuit board, and the light source and / or the image acquisition module is embedded in the hollow portion.

[0024] Optionally, the transparent bottom plate is provided with a hollow avoidance portion at a position opposite to the light source and / or the image acquisition module, and the light source and / or the image acquisition module are at least partially located in the avoidance portion.

[0025] Optionally, a plurality of the feature portions are distributed in an array on the flexible sensing member.

[0026] In a second aspect, the present application further discloses a smart device, which includes the bionic finger device described in any one of the above items.

[0027] In a third aspect, the present application further discloses an information acquisition method, the method comprising:

[0028] Acquiring a reference image of the flexible sensing member of the bionic finger device when the flexible sensing member is not in contact with any object;

[0029] When the flexible sensing member of the bionic finger device is in contact with the target object, acquiring an image to be processed of the flexible sensing member;

[0030] Acquire pressure information on the flexible sensing member according to the reference image and the image to be processed, wherein the pressure information includes: position, magnitude and / or direction of the pressure;

[0031] Wherein, the bionic finger device is a device as described in any one of the above items, and the reference image and the image to be processed are collected by an image sensor of the device.

[0032] Optionally, the step of acquiring pressure information according to the reference image and the image to be processed includes:

[0033] Acquiring position change information, area change information and / or brightness change information of an imaging area corresponding to a characteristic portion according to the reference image and the image to be processed;

[0034] The pressure information is obtained according to the position change information, the area change information and / or the brightness change information of the imaging area.

[0035] In an embodiment of the present application, the flexible sensing member in the bionic finger device can be used to contact a target object. When the flexible sensing member contacts the target object, it will be deformed, and the position and / or brightness of the characteristic portion on the flexible sensing member will change accordingly. Therefore, by emitting light to the flexible sensing member through the light source, and capturing an image of the deformation of the flexible sensing member when it is compressed through the image acquisition module, the contact position between the flexible sensing member and the target object and the magnitude and direction of the contact force can be obtained, so that the bionic finger device can realize the tactile perception function. Thereby, the human-computer interaction action can be better completed, and the tactile perception function of the intelligent device using the bionic finger device can be improved.

[0036] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0038] Figure 1 is a schematic structural diagram of a bionic finger device described in an embodiment of the present application;

[0039] Figure 2 yes Figure 1 A schematic structural diagram of the bionic finger device from another angle shown;

[0040] Figure 3 yes Figure 1 A schematic diagram of the exploded structure of the bionic finger device shown;

[0041] Figure 4 is a structural schematic diagram of a transparent bottom plate described in an embodiment of the present application;

[0042] Figure 5 is a schematic structural diagram of a flexible reflective layer described in an embodiment of the present application;

[0043] Figure 6 is a schematic structural diagram of a flexible light-shielding layer described in an embodiment of the present application;

[0044] Figure 7 is a structural schematic diagram of a flexible support member described in an embodiment of the present application;

[0045] Figure 8 is one of the images acquired by the image acquisition module of the embodiment of the present application;

[0046] Fig. 9 This is the second image acquired by the image acquisition module of the embodiment of the present application;

[0047] Fig.10 This is the third image acquired by the image acquisition module of the embodiment of the present application;

[0048] Fig.11 This is the fourth image acquired by the image acquisition module of the embodiment of the present application;

[0049] Fig.12 is the fifth image acquired by the image acquisition module of the embodiment of the present application;

[0050] Figure numerals: 10 - transparent bottom plate, 101 - bending part, 11 - flexible sensing element, 110 - characteristic part, 111 - flexible reflective layer, 112 - flexible shading layer, 113 - small hole, 12 - circuit board, 121 - image acquisition module, 13 - flexible support member, 14 - bottom shell. DETAILED DESCRIPTION

[0051] Embodiments of the present invention will be described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0052] The term "first" or "second" in the specification and claims of the present application may include one or more of the features explicitly or implicitly. In the description of the present invention, unless otherwise specified, "plurality" means two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the objects connected before and after are in an "or" relationship.

[0053] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0054] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] The embodiment of the present application provides a bionic finger device, which can be used in intelligent devices such as robots and mechanical arms. Specifically, the bionic finger device can be used to directly contact a target object.

[0056] Reference Figure 1 , showing a schematic structural diagram of a bionic finger device according to an embodiment of the present application, referring to Figure 2 , showing Figure 1 The schematic diagram of the structure of the bionic finger device from another angle is shown in FIG. Figure 3 , showing Figure 1 The schematic diagram of the decomposition structure of the bionic finger device is shown in FIG. Figures 1 to 3As shown, the bionic finger device may specifically include: a transparent base plate 10; a flexible sensing member 11, which is covered and fixed on the transparent base plate 10, and is provided with a plurality of feature parts 110; and a circuit board 12, on which a light source and an image acquisition module 121 are provided, the light source may be used to emit light to the flexible sensing member 11, and the image acquisition module 121 may be used to acquire an image of the deformation of the flexible sensing member 11 when it is under pressure.

[0057] In an embodiment of the present application, the flexible sensing member 11 in the bionic finger device can be used to contact a target object. When the flexible sensing member 11 contacts the target object, it will be deformed, and the position and / or brightness of the characteristic portion 110 on the flexible sensing member 11 will change accordingly. Therefore, by emitting light to the flexible sensing member 11 through the light source, and capturing an image of the deformation of the flexible sensing member 11 when it is compressed through the image acquisition module 121, the contact position of the flexible sensing member 11 with the target object and the size and direction of the contact force (the contact force may include pressure, friction, etc.) can be obtained, so that the bionic finger device can realize the function of tactile perception. Thereby, the human-computer interaction action can be better completed, and the tactile perception function of the intelligent device using the bionic finger device can be improved.

[0058] In a specific application, the transparent bottom plate 10 mainly supports the flexible sensing element 11 and the circuit board 12. In order to facilitate the passage of light and not affect the image acquisition module 121 to acquire images, the transparent bottom plate 10 also needs to have light-transmitting properties. Therefore, the transparent bottom plate 10 can be made of light-transmitting materials such as acrylic, glass, and transparent plastic.

[0059] like Figure 4 As shown, the shape of the transparent bottom plate 10 can be set with reference to the fingertip, that is, one end of the transparent bottom plate 10 can be designed in a semicircular shape to achieve the visual effect of the bionic finger device from the appearance. Of course, in actual applications, the transparent bottom plate 10 can also be set to a rectangular, circular or other shape according to actual conditions, and the embodiment of the present application does not specifically limit the shape of the transparent bottom plate 10.

[0060] In specific applications, the flexible sensing member 11 can be made of a material that can produce flexible deformation, such as silicone. In the process of the flexible sensing member 11 contacting the target object, due to the contact force applied by the target object to the flexible sensing member 11, the position where the flexible sensing member 11 contacts the target object will be deformed, and the greater the contact force, the greater the deformation of the flexible sensing member 11. When the light source projects light onto the flexible sensing member 11, the brightness of the deformed position on the flexible sensing member 11 is different from that of the non-deformed position, and for the deformed area, the degree of deformation is different, and the brightness will also be different accordingly.

[0061] like Figure 3 , Figure 5 As shown, multiple feature parts 110 can be distributed in an array on the flexible sensing member 11. Alternatively, the multiple feature parts 110 can also be distributed in the form of multiple rays, multiple concentric rings, a checkerboard, etc. emanating from a center point. In the case where the flexible sensing member 11 is deformed due to contact force, the feature part 110 can be used to calibrate the position where the deformation occurs. In practical applications, the coordinates of each feature part 110 can be calibrated. After the light source is projected onto the flexible sensing member 11 and the image acquisition module 121 acquires the image of each feature part 110, the contact position between the flexible sensing member 11 and the target object and the magnitude and direction of the contact force can be determined based on the position and brightness of the deformed feature part 110 on the image.

[0062] For example, Figure 8 As shown, when the flexible sensing member 11 is not in contact with the target object, when the light source emits light to the flexible sensing member 11, the light is reflected on the flexible sensing member 11 to obtain Figure 8 When the flexible sensing member 11 is in contact with the target object, the following may be obtained depending on the contact position and the magnitude and direction of the contact force: Figures 9 to 12 Any image in .

[0063] like Figures 9 to 12 As shown, due to the different contact positions and / or contact forces between the flexible sensing member 11 and the target object, there will be differences in the position and brightness of the deformed feature portion 110 on the image captured by the image acquisition module 121. Therefore, the contact position and the size and direction of the contact force can be determined based on the position and brightness of the deformed feature portion 110, thereby realizing the function of tactile perception.

[0064] In practical applications, since the bionic finger device can determine the contact position and the size and direction of the contact force, when the bionic finger device is applied to intelligent devices, during the process of human-computer interaction, corresponding adjustment instructions can be issued to the mechanical arm controlling the bionic finger device according to the changes in the contact position and contact force, and the operation of the bionic finger device can be adjusted in real time to realize adaptive interactive actions of the simulated fingers, better realize human-computer interaction, and enhance the tactile perception function of the intelligent device using the bionic finger device.

[0065] In some optional embodiments of the present application, such as Figure 3As shown, the flexible sensing member 11 may include: a flexible reflective layer 111 and a flexible light shielding layer 112; wherein the flexible reflective layer 111 is arranged on a side close to the transparent bottom plate 10, and the feature portion 110 is arranged on the flexible reflective layer 111; the flexible light shielding layer 112 is connected to the side of the flexible reflective layer 111 away from the transparent bottom plate 10. In a specific application, the flexible reflective layer 111 can be used to enhance reflection, which is beneficial for the image acquisition module 121 to obtain a higher quality image, thereby further improving the accuracy of touch perception. The flexible light shielding layer 112 can be used to block the light outside the flexible reflective layer 111 to prevent external light from interfering with image acquisition.

[0066] Optionally, the flexible reflective layer 111 may be a silver silicone layer made of silver silicone, so that it can achieve flexible deformation and enhance light reflection. The flexible light shielding layer 112 may be a black silicone layer made of black silicone to achieve a light shielding effect.

[0067] It should be noted that, in practical applications, the flexible reflective layer 111 can also be made of white or other silicone that can enhance reflection, and the flexible light-shielding layer 112 can also be made of dark blue, brown or other silicone that can shield light. The embodiment of the present application does not specifically limit the colors of the flexible reflective layer 111 and the flexible light-shielding layer 112.

[0068] In some optional embodiments of the present application, the flexible shading layer 112 and the feature portion 110 may be an integrally formed structure, that is, the feature portion 110 on the flexible reflective layer 111 is simultaneously formed in the process of forming the flexible shading layer 112. In this way, on the one hand, the operation of separately processing the feature portion 110 can be avoided, and the processing technology of the feature portion 110 can be simplified. On the other hand, the feature portion 110 can also be tightly connected to the flexible shading layer 112 to prevent the feature portion 110 from falling off. In addition, since the feature portion 110 and the flexible shading layer 112 are an integrally formed structure. Accordingly, the black feature portion 110 can also be made of black silicone, and the color can be clearly distinguished from the flexible reflective layer 111, thereby facilitating the feature portion 110 to better identify the location where the deformation occurs.

[0069] In practical applications, such as Figure 5 As shown, the flexible reflective layer 111 may be provided with a plurality of small holes 113. In the process of using black silicone to injection mold the flexible light shielding layer 112, the black silicone material may be filled into the small holes 113 to form the feature part 110 at the position of the small hole 113, that is, at least part of the feature part 110 is penetrated in the small hole 113.

[0070] Of course, the feature portion 110 can also be independently arranged on the side of the flexible reflective layer 110 close to the transparent bottom plate 10, that is, after the flexible reflective layer 110 is processed, multiple feature portions 110 can be connected to the side of the flexible reflective layer 112 close to the transparent bottom plate 10.

[0071] Optionally, the flexible light shielding layer 112 and the characteristic portion 110 may also be a separate structure, that is, after the flexible reflective layer 111 is processed, a plurality of characteristic portions 110 may be formed on the flexible reflective layer 111, and then the flexible light shielding layer 112 may be processed. The color of the flexible light shielding layer 112 may be the same as or different from the color of the characteristic portion 110, so as to further improve the flexibility of setting the characteristic portion 110 and the flexible light shielding layer 112.

[0072] In some other optional embodiments of the present application, a reflective layer is provided on the side of the flexible sensing member 11 close to the transparent bottom plate 10, and the characteristic portion 110 is provided through the reflective layer; a light shielding layer is provided on the side of the flexible sensing member 11 away from the transparent bottom plate 10. The reflective layer can be used to increase reflection, which is beneficial for the image acquisition module 121 to receive as much light reflected from the flexible sensing member 11 as possible, which is beneficial for imaging. The light shielding layer can have a light shielding effect, preventing external light from entering and affecting the imaging of the image acquisition module 121.

[0073] For example, the reflective layer may be a metal reflective layer or an ink reflective layer. Since the reflective effect of the metal reflective layer is significantly better than that of the ink reflective layer, the metal reflective layer may be preferred. The metal reflective layer may specifically be a silver-plated layer or a gold-plated layer. The light-shielding layer may be made of a black ink layer or a black paint layer. The embodiment of the present application does not specifically limit the specific color and material of the reflective layer and the light-shielding layer.

[0074] like Figures 1 to 3 As shown, the bionic finger device may also include: a transparent flexible support member 13, which fills the accommodation space between the transparent bottom plate 10 and the flexible sensing member 11, and the flexible support member 13 may be used to support the flexible sensing member 11. Due to the supporting effect of the flexible support member 13, the flexible sensing member 11 may better maintain its shape and increase the speed of resetting after deformation. In this way, it is conducive to obtaining a higher quality image and better judging the contact position between the flexible sensing member 11 and the target object and the size and direction of the contact force.

[0075] Specifically, the flexible support member 13 can be made of flexible transparent silicone, for example, AB silicone made by adding vinyl monomer to additives such as silicon dioxide, so that it can have the effect of flexible support and have transparent properties, which is conducive to the passage of light.

[0076] Optionally, the flexible support member 13 and the transparent base plate 10 are an integrally formed structure to enhance the reliability of the connection between the two. During the processing of the flexible support member 13, a shell tool with a certain shape (specifically, a curved finger-shaped shell) can be used to bond the shell and the transparent base plate 10 together, and the periphery can be sealed to avoid gaps. Then the above-mentioned AB silicone is placed in the shell, left to solidify, and the shell is removed after it is completely solidified. If it is not easy to peel off the shell, the inner surface of the shell can be sprayed with a release agent. After removing the shell, the flexible support member 13 can be formed on the transparent base plate 10.

[0077] Alternatively, the flexible support member 13 and the transparent bottom plate 10 may also be separate structures, that is, the flexible support member 13 and the transparent bottom plate 10 are processed separately, and then the flexible support member 13 is connected to the transparent bottom plate 10. In the case where the flexible support member 13 and the transparent bottom plate 10 are separate structures, the structures of the flexible support member 13 and the transparent bottom plate 10 can be relatively simple.

[0078] In some optional embodiments of the present application, such as Figures 1 to 4 As shown, a bending portion 101 is provided on the transparent bottom plate 10, and the flexible support member 13 has a slot, and the bending portion 101 is at least partially embedded in the slot to increase the contact area between the flexible support member 13 and the transparent bottom plate 10, thereby enhancing the connection stability between the flexible support member 13 and the transparent bottom plate 10.

[0079] It should be noted that, in a specific application, the cross-sectional shape of the bending portion 101 can be Figures 1 to 4 The L-shape shown may also be other shapes, such as an arc shape, etc., which is not limited in the embodiments of the present application.

[0080] In some optional embodiments of the present application, a hollow portion is provided on the circuit board 12, and the light source and / or image acquisition module 121 is embedded in the hollow portion to reduce the overall height of the circuit board 12, thereby reducing the overall height of the bionic finger device.

[0081] In some other optional embodiments of the present application, the transparent base plate 10 is provided with a avoidance portion at a position opposite to the light source and / or image acquisition module 121, and the light source and / or image acquisition module 121 is at least partially located in the avoidance portion to avoid the light source and / or image acquisition module 121 from occupying additional height space, thereby facilitating reduction of the overall height of the bionic finger device and facilitating the miniaturized design of the bionic finger device.

[0082] The following is a processing example of the bionic finger device described in an embodiment of the present application:

[0083] First, a shell tool with a certain shape can be used to bond the shell and the transparent bottom plate 10 together, and the periphery can be sealed to avoid gaps. Then, AB silicone is placed in the shell, left to solidify, and the shell is removed after complete solidification, so that the flexible support 13 can be formed on the transparent bottom plate 10.

[0084] Then, a colored silicone layer is covered on the outside of the flexible support member 13 to obtain a flexible reflective layer 111. The color is not limited to the silver color used in this example. The flexible reflective layer 111 is evenly distributed with through holes 113 for filling other colors (black in this example). Silver is used for reflection and black is used for light absorption, which is convenient for imaging when the image acquisition module 121 is collecting. Specifically, during the production, a shell with ejector pins distributed inside can be used. The ejector pins can be arranged according to the actual needs of collecting images, which can be arranged in a matrix or in a ring. The colored silicone is evenly applied to the shell with ejector pins, and then it is tightly fastened with the already prepared flexible support layer, and left to solidify. After the curing is complete, the ejector pin shell is removed. The flexible reflective layer 111 in this example can be a mixture of transparent AB silicone and silver powder. Other colored colloids can also have similar effects.

[0085] Next, the outermost layer of the flexible reflective layer 111 is covered with a light shielding layer, which is made of a mixture of transparent AB silicone and black material in this example, and other colored silicones can also be used to achieve similar effects. The layer is evenly coated on the surface of the flexible reflective layer and filled with the through hole 113 of the flexible reflective layer to obtain a flexible light shielding layer 112 and a feature portion 110 embedded in the through hole 113. This light shielding layer has the function of shielding the external ambient light and preventing the external light from interfering with the collected image. In order to make the surface more uniform and the appearance more beautiful, a shell tool similar to the above steps can be used.

[0086] Finally, a circuit board 12 and an image acquisition module 121 are installed at the bottom of the transparent base plate 10. In order to protect the circuit board 12 and the functional components on the circuit board 12, a bottom shell 14 can be installed at the bottom of the circuit board 12 after the circuit board 12 is assembled. The material of the bottom shell 14 can be plastic or metal, etc. The embodiment of the present application does not specifically limit the material of the bottom shell 14.

[0087] In summary, the bionic finger device described in the embodiment of the present application can at least include the following advantages:

[0088] In an embodiment of the present application, the flexible sensing member in the bionic finger device can be used to contact a target object. When the flexible sensing member contacts the target object, it will be deformed, and the position and / or brightness of the characteristic portion on the flexible sensing member will change accordingly. Therefore, by emitting light to the flexible sensing member through the light source, and capturing an image of the deformation of the flexible sensing member when it is compressed through the image acquisition module, the contact position between the flexible sensing member and the target object and the magnitude and direction of the contact force can be obtained, so that the bionic finger device can realize the tactile perception function. Thereby, the bionic finger device can have the function of simulating fingers, better complete human-computer interaction actions, and enhance the tactile perception function of the intelligent device using the bionic finger device.

[0089] The embodiment of the present application provides an intelligent device, which may specifically include the bionic finger device described in any of the above embodiments. Specifically, the intelligent device may include but is not limited to at least one of a handling robot and an assembly robot.

[0090] It should be noted that in the embodiment of the present application, the structure of the smart device is the same as the structure of the smart device described in any of the above embodiments, and its beneficial effects are also similar, which will not be repeated here.

[0091] The present application also provides a method for obtaining information, which may include the following steps:

[0092] Step S11: Acquire a reference image of the flexible sensing member of the bionic finger device when the flexible sensing member is not in contact with any object.

[0093] In the embodiment of the present application, the bionic finger device is the bionic finger device as described in any of the above embodiments, and the reference image obtained in this step and the image to be processed obtained in the subsequent steps are collected by the image sensor 121 of the bionic finger device.

[0094] In practical applications, when the flexible sensing member 11 of the bionic finger device is not in contact with any object, when light is emitted to the flexible sensing member 11, the light is reflected on the flexible sensing member 11 to obtain Figure 8 The reference image shown. Figure 8 As shown, the position, area and brightness distribution of the imaging area corresponding to the feature point 110 on the reference image are relatively regular.

[0095] Step S12: when the flexible sensing member of the bionic finger device is in contact with the target object, obtaining an image to be processed of the flexible sensing member.

[0096] In a specific application, when the flexible sensing member 11 contacts the target object, the flexible sensing member 11 is deformed by pressure. Depending on the position, size and / or direction of the pressure, the following may be obtained: Figures 9 to 12 Due to the differences in the position, size and / or direction of the pressure between the flexible sensing member 11 and the target object, the position, area and / or brightness of the corresponding imaging area of ​​the deformed feature 110 on the image to be processed captured by the image acquisition module 121 may be different.

[0097] Step S13: acquiring pressure information on the flexible sensing member according to the reference image and the image to be processed, wherein the pressure information includes: position, magnitude and / or direction of the pressure.

[0098] In a specific application, by comparing the reference image and the image to be processed, the difference in position, area and / or brightness of the feature portion 110 in the corresponding imaging area can determine the contact position and the position, size and / or direction of the pressure, thereby realizing the function of tactile perception.

[0099] Optionally, the step of acquiring pressure information according to the reference image and the image to be processed may include the following sub-steps:

[0100] Sub-step S131: acquiring position change information, area change information and / or brightness change information of an imaging area corresponding to a characteristic portion according to the reference image and the image to be processed.

[0101] In a specific application, after imaging, each characteristic portion 100 corresponds to an imaging area in the reference image and the image to be processed, such as Figures 8 to 12 Based on the comparative analysis of the reference image and the image to be processed, position change information (for example, position change information of a reference point (for example, a center point) on the imaging area in the reference image and the image to be processed), area change information (for example, area size change and / or area growth direction of the imaging area) and / or brightness change information of the imaging area corresponding to each feature portion 110 can be obtained.

[0102] Sub-step S132: obtaining the pressure information according to the position change information, the area change information and / or the brightness change information of the imaging area.

[0103] like Figures 9 to 12As shown, due to the difference in the contact position and / or the size and direction of the contact force between the flexible sensing member 11 and the target object, the position, area and brightness of the imaging area corresponding to the deformed feature 110 on the image captured by the image acquisition module 121 will be different. For example, the position where the pressure is generated can be determined based on the imaging area where the position changes; the more the area grows, the greater the pressure; the greater the brightness change, the greater the pressure; the direction of area growth is related to the direction of pressure. Therefore, based on the position change information, area change information and brightness change information of the deformed feature 110, the pressure information such as the position, size and direction of the contact force can be determined to achieve the function of tactile perception.

[0104] In addition, the reference image and the non-imaging area (i.e., background area, such as Figures 8 to 12 The pressure information is obtained by using the position change information, area change information and / or brightness change information of the light-colored area in the image.

[0105] In practical applications, since the bionic finger device can determine the pressure information of the contact force, when the bionic finger device is applied to intelligent devices, during the process of human-computer interaction, corresponding adjustment instructions can be issued to the mechanical arm controlling the bionic finger device according to the pressure information, so as to adjust the operation of the bionic finger device in real time, realize adaptive interactive actions of the simulated fingers, better realize human-computer interaction, and enhance the tactile perception function of the intelligent device using the bionic finger device.

[0106] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0107] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A bionic finger device, characterized in that: The bionic finger device comprises: A transparent bottom plate (10); A flexible sensing member (11), the flexible sensing member (11) is covered and fixed on the transparent bottom plate (10), and a plurality of characteristic parts (110) are provided on the flexible sensing member (11); and a circuit board (12), wherein a light source and an image acquisition module (121) are provided on the circuit board (12), wherein the light source is used to emit light to the flexible sensing member (11), and the image acquisition module (121) is used to acquire an image of the deformation of the flexible sensing member (11) when it is under pressure.

2. The bionic finger device according to claim 1, characterized in that: The flexible sensing element (11) comprises: a flexible reflection layer (111) and a flexible light shielding layer (112); wherein: The flexible reflective layer (111) is arranged close to one side of the transparent bottom plate (10), and the characteristic portion (110) is arranged on the flexible reflective layer (111); The flexible light shielding layer (112) is connected to a side of the flexible reflective layer (111) away from the transparent bottom plate (10).

3. The bionic finger device according to claim 2, characterized in that: The flexible reflective layer (111) is provided with a plurality of small holes, and at least a portion of the characteristic portion (110) is disposed in the small holes; Alternatively, the characteristic portion (110) is independently arranged on a side of the flexible reflective layer (111) close to the transparent bottom plate (10).

4. The bionic finger device according to claim 2, characterized in that: The flexible light shielding layer (112) and the characteristic portion (110) are an integrally formed structure; Alternatively, the flexible light-shielding layer (112) and the characteristic portion (110) are separate structures.

5. The bionic finger device according to any one of claims 2 to 4, characterized in that: The flexible reflective layer (111) is a silver silicone layer, and the flexible light shielding layer (112) is a black silicone layer.

6. The bionic finger device according to claim 1, characterized in that: A reflective layer is provided on one side of the flexible sensing element (11) close to the transparent bottom plate (10), and the characteristic portion (110) is disposed through the reflective layer; A light shielding layer is provided on the side of the flexible sensing element (11) away from the transparent bottom plate (10).

7. The bionic finger device according to claim 6, characterized in that: The reflective layer is a metal reflective layer.

8. The bionic finger device according to claim 1, characterized in that: The bionic finger device further comprises: a transparent flexible support member (13), wherein the flexible support member (13) fills the accommodation space between the transparent bottom plate (10) and the flexible sensing member (11).

9. The bionic finger device according to claim 8, characterized in that: The transparent bottom plate (10) is provided with a bending portion (101), the flexible support member (13) has a slot, and the bending portion (101) is at least partially embedded in the slot.

10. The bionic finger device according to claim 8, characterized in that: The flexible support member (13) and the transparent bottom plate (10) are an integrally formed structure, or the flexible support member (13) and the transparent bottom plate (10) are separate structures.

11. The bionic finger device according to claim 1, characterized in that: The circuit board (12) is provided with a hollow portion, and the light source and / or the image acquisition module (121) is embedded in the hollow portion.

12. The bionic finger device according to claim 1, characterized in that: The transparent bottom plate (10) is provided with a hollowed-out avoidance portion at a position opposite to the light source and / or the image acquisition module (121); the light source and / or the image acquisition module (121) are at least partially located in the avoidance portion.

13. The bionic finger device according to any one of claims 1 to 4 and 6 to 12, characterized in that: A plurality of the features (110) are distributed in an array on the flexible sensing member (11).

14. A smart device, characterized in that: The smart device comprises the bionic finger device according to any one of claims 1 to 13.

15. An information acquisition method, characterized in that: The method comprises: Acquiring a reference image of the flexible sensing member of the bionic finger device when the flexible sensing member is not in contact with any object; When the flexible sensing member of the bionic finger device is in contact with the target object, acquiring an image to be processed of the flexible sensing member; Acquire pressure information on the flexible sensing member according to the reference image and the image to be processed, wherein the pressure information includes: position, magnitude and / or direction of the pressure; Wherein, the bionic finger device is the device as claimed in any one of claims 1 to 14, and the reference image and the image to be processed are collected by an image sensor of the device.

16. The method according to claim 15, characterized in that The step of acquiring pressure information according to the reference image and the image to be processed comprises: Acquiring position change information, area change information and / or brightness change information of an imaging area corresponding to a characteristic portion according to the reference image and the image to be processed; The pressure information is obtained according to the position change information, the area change information and / or the brightness change information of the imaging area.

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