Non-imaging photoelectric or acoustic tactile sensing device, electronic skin, and robot

Abstract

The invention relates to a non-imaging photoelectric or acoustic tactile sensing device, an electronic skin and a robot. The sensing device includes: a tactile sensor forming an electrical signal characterizing a force based on object contact, the electrical signal being configured to output and / or to perform discrete pulse encoding via an encoder, the encoding rule being to trigger an output spike as an event when a degree of change of the force exceeds a set threshold; the SNN pulse neural network is used for triggering and executing a response based on the event, and the response is used for outputting tactile recognition and / or classification of the object according to a discrete pulse time sequence formed by coding; the tactile sensor comprises sensor units, each sensor unit comprises a flexible body, a light sensing part and a light source, the light sensing part receives light emitted by the light source, a protruding flexible structure is fixed to the surface of each flexible body, and the flexible structures are made of light-proof materials and deform under external force pressing to change the condition of the light received by the light sensing parts. The photosensitive member outputs an electrical signal according to the received light.

Description

Technical Field

[0001] The present invention relates to robot tactile perception, and in particular to a non-imaging photoelectric or acoustic wave tactile sensing device, electronic skin, and robot. Background Art

[0002] Robotic devices have a need for tactile acquisition. Traditional tactile sensors continuously output signals. Although the processing system has tried its best to process them quickly, it is still difficult to achieve ultra-high temporal resolution. The event camera is based on the brightness change of each pixel. It only outputs an event when the cumulative brightness change of a certain pixel reaches a certain threshold. With the help of event-driven, it achieves extremely low power consumption and ultra-high temporal resolution compared to traditional continuous output cameras. Spiking Neural Network (SNN) belongs to the third generation of neural networks. SNN solves the power and computing power problems of the second generation neural network ANN, making embodied intelligence possible. SNN uses discrete pulse time series input, which is highly consistent with event-driven.

[0003] WO2021256999A1 discloses a sensing system, proposing that a visual sensor is combined with a first SNN, a tactile sensor is combined with a second SNN, and the combination layer implements the fusion of vision and touch with a third SNN. Looking at the tactile part alone, an architecture of combining an event-driven tactile sensor with an SNN is given, wherein the tactile sensor is implemented using a capacitor. CN112809679B discloses a method for grasping a deformable object, and also proposes the fusion of vision, touch and SNN, but does not specifically record how tactile sensing is implemented. The implementation of tactile sensors in a capacitive manner has the advantages of high precision and low cost, but is limited by the capacitor charging and discharging effect, and the response speed of capacitive tactile sensors is basically in the millisecond level, making it difficult to give full play to the time resolution advantage of event-driven.

[0004] The response speed of light is very fast, often reaching nanoseconds or above, providing a good foundation for achieving higher time resolution.

[0005] CN117182945A discloses a visual tactile sensor and a tactile perception method, which proposes that a silicone tactile device contacts an external object to generate deformation, an illumination device provides light, and a camera captures the deformation image generated by the silicone tactile device and inputs it into a neural network model to predict six-dimensional force information. The essence of photography is the use of light, and the analysis of tactile information by imaging is called visual touch in the industry. The defects of the CN117182945A solution are: limited by image display, the force cannot be accurately analyzed; event-driven combined with SNN is not used to solve the problems of time resolution, power and computing power; the sensor structure is complex, costly, and difficult to miniaturize, which is not conducive to the large-scale deployment of robot electronic skin; and it involves image analysis and processing, which requires high computing power and is subject to the upper limit of chip processing speed response. Summary of the invention

[0006] The present invention requires low power and high computing power for tactile sensing, and achieves ultra-high time resolution, while also requiring clear force analysis to achieve high tactile sensing accuracy.

[0007] A non-imaging photoelectric tactile sensing device is provided, comprising: a tactile sensor, which forms an electrical signal representing a force based on contact with an object, the electrical signal is configured to be output and / or discretely pulse encoded via an encoder, wherein the encoding rule is to trigger an output spike as an event when the degree of change in the force exceeds a set threshold; an SNN pulse neural network, which executes a response based on event triggering, wherein the response is configured to output tactile recognition and / or classification of the object according to a discrete pulse time series output formed by the encoding; the tactile sensor comprises at least one sensor unit, each sensor unit comprises at least one flexible body, a photosensitive member and a light source, the photosensitive member receives light emitted by the light source, a protruding flexible structure is fixed on the surface of each flexible body, the flexible structure is made of an opaque material, and is deformed under external pressure to change the light received by the photosensitive member, and the photosensitive member outputs an electrical signal according to the received light.

[0008] As an improvement, the electrical signal is configured as an analog signal, which is converted into a voltage and then compared with the time difference by a hardware encoder to form a time series; or, the electrical signal is converted or configured into a digital signal, and the encoder forms a time series based on software pulse code modulation.

[0009] As another improvement, a corresponding light-enclosed area is formed under each flexible body, and the flexible body serves as a partial boundary of the light-enclosed area; the flexible structure on the surface of the flexible body protrudes downward toward the light-enclosed area, and a light-emitting channel is correspondingly arranged in the light-enclosed area under the flexible structure, and the light-emitting channel is used to emit light to the flexible structure through the light source, and the flexible structure is deformed under external pressure to change the shielding area of ​​the light passing through the light-emitting channel; the photosensitive member is arranged in the light-enclosed area to receive the light reflected from the light source of the flexible structure, and forms an electrical signal according to the reflected light changed by the deformation of the flexible structure. Furthermore, in the light-enclosed area under each flexible structure, a light-shielding member and a light source are arranged corresponding to the flexible structure, and the light-shielding member is provided with a light-transmitting hole as a light-emitting channel, and the light source emits light to the flexible structure through the light-transmitting hole, and a light-transmitting member is arranged in the light-transmitting hole as a bearing in physical contact with the flexible structure, and the flexible structure is pressed to the surface of the light-transmitting member under the action of external force to deform and thus change the light-shielding area. Alternatively, a surface light source is provided in the light-enclosed area below each flexible structure corresponding to the flexible structure, and the light-emitting surface of the surface light source is reused as a light-emitting channel and a support for the flexible structure. The flexible structure is pressed to the light-emitting surface of the surface light source under the action of an external force to cause deformation, thereby changing the light-shielding area. Alternatively, a light-shielding member and a light source are provided in the light-enclosed area below each flexible structure corresponding to the flexible structure, and the light-shielding member is provided with a light-transmitting hole as a light-emitting channel. The light source emits light toward the flexible structure through the light-transmitting hole, and the flexible structure changes the blocking condition of the light-transmitting hole under the pressure of an external force, thereby changing the light-shielding area.

[0010] Furthermore, there are at least three photosensitive members, each of which is distributed around the flexible structure. The lower surface of the flexible structure forms an axisymmetry, and the center of the flexible structure and the light outlet channel are located on the same vertical line; each photosensitive member is in the same plane and is evenly distributed around the vertical line.

[0011] As another improvement, the flexible body is made of conductive material and serves as a sensing electrode for detecting proximity. The tactile sensor includes a capacitance-to-digital conversion circuit and a processing module. The capacitance-to-digital conversion circuit is coupled to each sensing electrode to obtain the capacitance change caused by the approach of an external object. The processing module is coupled to the capacitance-to-digital conversion circuit to output a proximity sensing signal according to the capacitance change. Further, the capacitor is configured as a self-capacitor; and / or the flexible body has at least two, each of which is configured to form at least one mutual capacitor for detecting the approach of an external object through the capacitance-to-digital conversion circuit.

[0012] A non-imaging acoustic wave tactile sensing device is also provided, comprising: a tactile sensor, which forms an electrical signal representing the force based on the contact of an object, the electrical signal is configured to be output and / or discretely pulse encoded via an encoder, wherein the encoding rule is to trigger an output spike as an event when the degree of change in the force exceeds a set threshold; an SNN pulse neural network, which executes a response based on event triggering, wherein the response is configured to output tactile recognition and / or classification of the object based on a discrete pulse time series output formed by the encoding; the tactile sensor comprises at least one sensor unit, each sensor unit comprises at least one flexible body, an acoustic wave receiver and a sound source, the acoustic wave receiver receives the acoustic wave emitted by the sound source, a protruding flexible structure is fixed on the surface of each flexible body, the flexible structure is deformed under external force to change the acoustic wave received by the acoustic wave receiver, and the acoustic wave receiver outputs an electrical signal based on the received acoustic wave. Furthermore, a corresponding sound wave confined area is formed under each flexible body, and the flexible body serves as a partial boundary of the sound wave confined area; the flexible structure on the surface of the flexible body protrudes downward toward the sound wave confined area, and a channel is correspondingly arranged in the sound wave confined area under the flexible structure, and the channel is used for sound waves emitted by a sound source toward the flexible structure, and the flexible structure is deformed under external force to change the shielding area of ​​the sound waves passing through the channel; a sound wave receiver is arranged in the sound wave confined area to receive the sound waves reflected by the sound source of the flexible structure, and forms an electrical signal according to the situation of the reflected sound waves changed by the deformation of the flexible structure.

[0013] Also provided is an electronic skin comprising the above-mentioned tactile sensing device.

[0014] A robot is also provided, comprising the electronic skin.

[0015] Beneficial effects of the present invention:

[0016] Based on the flexible protrusion, the pressing deformation changes the photosensitive element to receive light, and the encoder converts the pulse code of the electrical signal of the photosensitive element into the input SNN to perform event-responsive tactile recognition and / or classification. On the one hand, the nanosecond response speed of light is combined with event-driven to make the tactile sensing achieve a time resolution advantage far higher than that of capacitance. On the other hand, the pressure detection accuracy is ensured. On the third aspect, low power and high computing power are achieved, so that tactile sensing can meet occasions with better time requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 An example architecture for non-imaging optoelectronic tactile SNN sensing is given;

[0018] Figure 2 The overall example structure of the tactile sensor is given;

[0019] Figure 3 The internal formation of the tactile sensor is shown;

[0020] Figure 4a An example of the first relative structural design of the light outlet channel, the flexible structure and the light source is given;

[0021] Figure 4b An example of a second relative structural design of the light outlet channel, the flexible structure and the light source is given;

[0022] Figure 4c A third relative structural design of the light outlet channel, the flexible structure and the light source is illustrated; and Figure 5 A schematic diagram of the circuit topology for proximity detection is given. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0024] Example 1

[0025] Example 1 exemplifies a tactile sensing architecture based on an event-driven non-imaging photoelectric tactile sensor combined with SNN. According to the architecture of this exemplary embodiment, photoelectric tactile sensing can be implemented, so that intelligent machine equipment such as industrial robots and home service robots have higher tactile sensitivity performance.

[0026] Figure 1 An example architecture of non-imaging photoelectric tactile SNN sensing is given. As an example, a tactile sensing device implemented based on the architecture includes a tactile sensor, an encoder, and an SNN pulse neural network. The tactile sensor is composed of one or more sensor units, each of which includes a flexible body, a photosensitive member, and a light source. The photosensitive member can use a light emitting diode or a photoresistor to receive light emitted by the light source to achieve miniaturization. The flexible body is made of silicone, and a protruding flexible structure is fixed on the surface. The flexible structure and the flexible body are integrally formed or combined in parts, and are made of opaque materials. The deformation of the protrusion of the flexible structure under external force changes the light received by the photosensitive member, including but not limited to the implementation of deformation to change the amount or distribution or reflection of light. The photosensitive member outputs an electrical signal representing the force based on the light received by the object contact.

[0027] This electrical signal can be directly configured as an output of the tactile sensing device, that is, the output of a continuous signal of the sensor. Alternatively, the electrical signal is discretely pulsed via an encoder, wherein the encoding rule is to trigger an output spike as an event when the force change exceeds a set threshold, thereby forming event-driven sensing.

[0028] This electrical signal can be configured as an analog signal to meet higher precision requirements and short-distance transmission situations. In this case, the encoder uses hardware circuits to implement differentials. After the analog signal is converted into voltage, it is compared through hardware for time differential to form a time series. It has the advantage of high conversion speed and is conducive to the realization of ultra-high time resolution of the sensor. Alternatively, in situations where volume is considered and computing power is sufficient, such as obtaining a large computing power based on SNN, this electrical signal can be converted or directly configured as a digital signal. The encoder is implemented using software to form a time series based on software pulse code modulation.

[0029] This discrete pulse sequence is input into the SNN spiking neural network, which executes a response based on event triggering, wherein the response is configured to output tactile recognition and / or classification of the object based on the encoded discrete pulse time sequence.

[0030] In the non-imaging photoelectric tactile SNN sensing architecture, the photosensitive element receives light based on the deformation of the flexible protrusion under pressure. The encoder converts the pulse code of the electrical signal of the photosensitive element into the pulse code and inputs it into the SNN to perform event-responsive tactile recognition and / or classification. On the one hand, the nanosecond response speed of light is combined with event-driven to make tactile sensing achieve a time resolution advantage far higher than that of capacitance. On the other hand, the pressure detection accuracy is ensured. On the third aspect, low power and high computing power are achieved, so that tactile sensing can meet occasions with better time requirements.

[0031] As a further example, the R-SpiNNaker chip shown in CN113837355A is used to run the SNN pulse neural network and software coding. The R-Spi NNaker chip is synchronously coupled with the corresponding electronic devices as the processor of the tactile sensor on the same circuit board to achieve full miniaturization of the tactile sensing device. Furthermore, the R-SpiNNaker chip cooperates to form a distributed pulse neural network to achieve a greater increase in computing power.

[0032] As a further improvement plan, in order to achieve higher accuracy of force detection by tactile sensors, Figure 2 The overall exemplary structure shown is a further implementation of the above-mentioned tactile sensor. Figure 3 The internal formation of the example structure is shown in more detail. As an example, the tactile sensor is composed of a housing 101 and a metal cover plate 102 that are locked together by fastening screws 103. The circuit board 104 and the sensor unit 200 are located in the structure. The sensor unit 200 extends out of the hollow hole on the surface of the metal cover plate 102 to contact the object. The tactile sensor includes one or more sensor units 200, and each sensor unit 200 independently completes the tactile perception of the contact object.

[0033] See also Figure 3The sensor unit 200 includes a flexible body 201, a light source 202, and a photosensitive member 203. A corresponding light-enclosed area is formed below the flexible body 201, and the flexible body 201 can cooperate with the opaque structural member below or the side wall of the shell to form a light-enclosed space, and the flexible body 201 serves as a partial boundary of the light-enclosed area. The surface of the flexible body 201 protrudes downward toward the light-enclosed area to form a flexible structure 2011. The flexible body 201 is a cover body with a surface that is folded upward to lift the force. The flexible structure 2011 is fixed to the inner surface of the cover body and is made of opaque material to form a pressure to affect the reflection of light. A light-exiting channel is correspondingly arranged in the light-enclosed area below the flexible structure 2011. The light-exiting channel is used to emit light to the flexible structure 2011 through the light source 202. The relative design of the light-exiting channel, the flexible structure and the light source can be diverse, and the core is to realize that the flexible structure is deformed under the pressure of external force to change the shielding area of ​​the light passing through the light-exiting channel. To help understand the diversity allowed herein, three implementation schemes are given below. It should be understood that these schemes are merely illustrative of exemplary structural implementations. Figure 3 A structural design method for light output channel, flexible structure and light source is given. Figure 4a The light path of the structure is schematically shown. A light shielding member 204 is arranged in the light-enclosed area below the flexible structure 2011. A light-transmitting hole 2041 is provided in the middle of the light shielding member 204 as a light-emitting channel. The light shielding member 204 covers the light source. The light source emits light toward the flexible structure 2011 through the light-transmitting hole 2041. A light-transmitting member 2012 is built into the light-transmitting hole 2011 as a support in physical contact with the flexible structure 2011. The light-transmitting member 2012 is, for example, a transparent plate with a flat surface. The flexible structure 2011 is pressed to the surface of the light-transmitting member 2012 under the action of an external force. Since the bottom is an elastic downward convex hemisphere, the light-transmitting member 2012 is deformed due to the collision, thereby changing the light-shielding area relative to the light-transmitting hole 2041. As another exemplary implementation scheme, Figure 4b A second relative structural design of the light-emitting channel, the flexible structure and the light source is provided. The light source 202 is a surface light source correspondingly arranged in the light-enclosed area below the flexible structure 2011. The light-emitting surface of the surface light source is reused as the light-emitting channel to form a support for the flexible structure 2011. The flexible structure 2011 is pressed to directly contact the light-emitting surface of the surface light source under the action of an external force, thereby deforming and changing the light-shielding area. As another exemplary implementation scheme, Figure 4c A third relative structural design of the light emitting channel, the flexible structure and the light source is provided. A shading member 204 is correspondingly arranged in the light-enclosed area below the flexible structure 2011. The shading member 204 is provided with a light-transmitting hole 2041 as the light emitting channel. The light source 202 emits light toward the flexible structure 2011 through the light-transmitting hole 2041. When pressed by an external force, the flexible structure 2011 changes the blocking condition of the light-transmitting hole 2041 and thus changes the shading area.

[0034] See also Figures 4a to 4c , the photosensitive member 203 is arranged in the light-sealed area to receive the reflected light of the flexible structure 2011. The photosensitive member 203 can be any position that can receive the reflected light in the light-sealed area. When the sensor only needs to measure the normal unidimensional force, the number of the photosensitive member 203 can be one. When the sensor only needs to measure the three-dimensional force, at least three photosensitive members 203 are arranged. Each photosensitive member 203 is distributed around the flexible structure 2011. When the flexible structure 2011 is pressed, the normal and tangential deformations of the bottom surface of the hemisphere affect the corresponding changes in the reflected light. The light is correspondingly received by the photosensitive member 203 in this position. The three-dimensional force perception of artificial touch can be obtained through the difference in the output of each photosensitive member 203. Further, the lower surface of the flexible structure 2011 forms an axisymmetry, the flexible structure 2011 and the center of the light outlet channel are located on the same vertical line, and each photosensitive member 203 is in the same plane and evenly distributed along the vertical line. The detection sensitivity of each tangential direction can be balanced while saving computing power.

[0035] The photosensitive element 203 forms a transformation from an optical signal to an electrical signal. Since the flexible structure 2011 is pressed under the action of an external force to change the shielding area of ​​the channel, the light passing through the channel is changed, and the light intensity of the light projected to the flexible structure 2011 in the light-sealed area changes greatly. The output fluctuation range of the electrical signal output by the light receiving device according to the reflected light changed by the deformation of the flexible structure is greatly improved, achieving higher sensor detection sensitivity and accuracy. Each sensor unit independently corresponds to a light-sealed area and light source, avoiding mutual light coupling between sensor units, and further improving detection accuracy.

[0036] As a further improvement scheme, the flexible body is made of a conductive material, such as conductive silicone, which has both touch, elasticity and conductivity. The conductive silicone is used as a sensing electrode for detecting proximity. Figure 5A circuit topology diagram of proximity detection is given. The tactile sensor is provided with a CDC capacitance-to-digital conversion circuit 400, a processing module 500, and two sensing electrodes 310, 320. The processing module 500 couples the capacitance-to-digital conversion circuit 400. The capacitance-to-digital conversion circuit 400 couples each sensing electrode 310, 320 to obtain the capacitance change caused by the approach of an external object. The capacitance change can be configured as a change in self-capacitance and / or mutual capacitance. In the self-capacitance scheme, the capacitance-to-digital conversion circuit 400 inputs excitation to each electrode respectively and receives a self-capacitance signal from itself. The approach of an external conductor is coupled with the self-capacitance of the sensing electrode to form a self-capacitance change. The processing module 500 determines the proximity of the conductor based on the self-capacitance change, which has the advantage of a long detection distance. In the mutual capacitance scheme, one of the sensing electrodes 310, 320 is used as an excitation and the other as a receiver. The dielectric constant of the conductor or non-conductor is different from that of the air. The mutual capacitance sensing electric field formed by the conductor or non-conductor entering the electrodes 310, 320 causes the dielectric constant to change, and the mutual capacitance output changes. The processing module 500 outputs a proximity sensing signal based on the mutual capacitance change. Furthermore, the flexible body is coupled to the capacitor digital conversion circuit 400 through an analog switch or a digital switch. The digital conversion circuit 400 controls the electrode to switch between being connected to the ground and being connected to the CDC through the switch, and in the process of detecting external force, the flexible body is configured to be grounded through the switch to achieve internal electric field shielding during force measurement.

[0037] Example 2

[0038] Embodiment 2 exemplifies the technology of implementing tactile collection by the sensor using sound waves. Compared with Embodiment 1, the difference is that light changes are changed into sound wave changes. Specifically, it includes at least one sensor unit, each sensor unit includes at least one flexible body, and a corresponding sound wave enclosed area is formed under each flexible body, and the flexible body serves as a partial boundary of the sound wave enclosed area; a flexible structure protruding downward toward the sound wave enclosed area is fixed on the surface of each flexible body, and a channel is correspondingly arranged in the sound wave enclosed area under the flexible structure, and the channel is used to emit sound waves directed to the ultrasonic receiver through a sound source such as an ultrasonic generator. The flexible structure is deformed under the pressure of external force to change the shielding area of ​​the sound waves passing through the channel, thereby affecting the sound waves received by the ultrasonic receiver; each sound wave enclosed area contains at least one ultrasonic receiver for receiving sound waves, which is used to output an electrical signal representing the external force according to the sound waves changed by the deformation of the flexible structure.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A non-imaging photoelectric tactile sensing device, characterized in that: include: A tactile sensor, which forms an electrical signal representing the force based on the contact of the object, wherein the electrical signal is configured to be output and / or to be encoded as discrete pulses via an encoder, wherein the encoding rule is to trigger an output spike as an event when the degree of change of the force exceeds a set threshold; An SNN spiking neural network, triggering execution of a response based on the event, wherein the response is configured to output tactile recognition and / or classification of the object according to a discrete pulse time sequence formed by encoding; The tactile sensor includes at least one sensor unit, each of which includes at least one flexible body, a photosensitive element and a light source. The photosensitive element receives light emitted by the light source. A protruding flexible structure is fixed on the surface of each flexible body. The flexible structure is made of opaque material and deforms under external force to change the light received by the photosensitive element. The photosensitive element outputs the electrical signal based on the received light.

2. The photoelectric tactile sensing device according to claim 1, characterized in that: The electrical signal is configured as an analog signal, and after the analog signal is converted into a voltage, a time difference comparison is performed via a hardware encoder to form a time series; Alternatively, the electrical signal is converted or configured into a digital signal, and the encoder forms a time sequence based on software pulse code modulation.

3. The photoelectric tactile sensing device according to claim 1, characterized in that: A corresponding light-confined area is formed under each flexible body, and the flexible body serves as a partial boundary of the light-confined area; The flexible structure on the surface of the flexible body protrudes downward toward the light-enclosed area, and a light-emitting channel is correspondingly arranged in the light-enclosed area below the flexible structure. The light-emitting channel is used to emit light toward the flexible structure through the light source, and the flexible structure is deformed under external pressure to change the shielding area of ​​the light passing through the light-emitting channel; The photosensitive element is arranged in the light-sealed area to receive the light of the reflected light source of the flexible structure, and forms the electrical signal according to the reflected light changed by the deformation of the flexible structure.

4. The photoelectric tactile sensing device according to claim 3, characterized in that: A shading member and a light source are arranged in the light-enclosed area below each flexible structure corresponding to the flexible structure. The shading member is provided with a light-transmitting hole as the light outlet channel. The light source emits light toward the flexible structure through the light-transmitting hole. A light-transmitting member is arranged in the light-transmitting hole as a support in physical contact with the flexible structure. Under the action of external force, the flexible structure is pressed to the surface of the light-transmitting member to cause deformation, thereby changing the shading area.

5. The photoelectric tactile sensing device according to claim 3, characterized in that: A surface light source is arranged corresponding to the flexible structure in the light-enclosed area below each flexible structure. The light-emitting surface of the surface light source is reused as a light output channel and a support for the flexible structure. Under the action of external force, the flexible structure is pressed to the light-emitting surface of the surface light source to deform and thus change the shading area.

6. The photoelectric tactile sensing device according to claim 3, characterized in that: A shading member and a light source are arranged corresponding to the flexible structure in the light-enclosed area below each flexible structure. The shading member is provided with a light-transmitting hole as the light-emitting channel. The light source emits light toward the flexible structure through the light-transmitting hole. When pressed by an external force, the flexible structure changes the blocking condition of the light-transmitting hole and thus changes the shading area.

7. The photoelectric tactile sensing device according to claim 3, characterized in that: There are at least three photosensitive members, each of which is distributed around the flexible structure.

8. The photoelectric tactile sensing device according to claim 7, characterized in that: The lower surface of the flexible structure forms an axisymmetry, and the center of the flexible structure and the light output channel are located on the same vertical line; The photosensitive members are located in the same plane and are evenly distributed along the vertical circumference.

9. The photoelectric tactile sensing device according to claim 1 or 3, characterized in that: The flexible body is made of conductive material and serves as a sensing electrode for detecting proximity. The tactile sensor includes a capacitance-to-digital conversion circuit and a processing module. The capacitance-to-digital conversion circuit is coupled to each sensing electrode to obtain the capacitance change caused by the approach of an external object. The processing module is coupled to the capacitance-to-digital conversion circuit to output a proximity sensing signal according to the capacitance change.

10. The photoelectric tactile sensing device according to claim 9, characterized in that: The capacitor is configured as a self-capacitor; And / or, the flexible bodies include at least two, and the flexible bodies are configured to form at least one mutual capacitance for detecting the approach of an external object through a capacitance-to-digital conversion circuit.

11. A non-imaging acoustic wave tactile sensing device, characterized in that: include: A tactile sensor, which forms an electrical signal representing the force based on the contact of the object, and the electrical signal is configured to be output and / or encoded as discrete pulses via an encoder, wherein the encoding rule is to trigger an output spike as an event when the degree of change in the force exceeds a set threshold; An SNN spiking neural network that executes a response based on an event trigger, wherein the response is configured to output a tactile recognition and / or classification of an object based on a discrete pulse time sequence formed by encoding; The tactile sensor includes at least one sensor unit, each of which includes at least one flexible body, a sound wave receiver and a sound source. The sound wave receiver receives the sound waves emitted by the sound source. A protruding flexible structure is fixed on the surface of each flexible body. The flexible structure deforms under external force to change the sound waves received by the sound wave receiver. The sound wave receiver outputs an electrical signal based on the received sound waves.

12. The acoustic wave tactile sensing device according to claim 11, characterized in that: A corresponding sound wave enclosed area is formed under each flexible body, and the flexible body serves as a partial boundary of the sound wave enclosed area; the flexible structure on the surface of the flexible body protrudes downward toward the sound wave enclosed area, and a channel is correspondingly arranged in the sound wave enclosed area under the flexible structure. The channel is used to emit sound waves toward the flexible structure through a sound source, and the flexible structure is deformed under external force to change the shielding area of ​​the sound waves passing through the channel; the sound wave receiver is arranged in the sound wave enclosed area to receive the sound waves reflected by the sound source of the flexible structure, and forms the electrical signal according to the situation of the reflected sound waves changed by the deformation of the flexible structure.

13. An electronic skin, characterized in that: Comprising the tactile sensing device as claimed in any one of claims 1-10.

14. A robot, characterized in that: Comprising the electronic skin as described in claim 13.

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