Sensor structure

Abstract

The invention discloses a sensor structure, and the structure comprises a housing which at least comprises a main housing and a side panel disposed on the main housing, the main housing and the side panel are detachably connected, and a first accommodation cavity is formed through the enclosing of the main housing and the side panel; the touch assembly is arranged on the side panel, a mounting opening is formed in the side panel, the mounting opening is communicated with the first containing cavity, and the touch assembly comprises a hard transparent plate covering the mounting opening and a flexible touch piece covering the hard transparent plate; the visual component is arranged in the first accommodating cavity; wherein the surface body, extending in the penetrating direction of the mounting opening, of the hard transparent plate is the circumferential surface of the hard transparent plate, the side plate assembly is further provided with a light source assembly acting on the circumferential surface, and the light source assembly comprises a light source arranged on the side plate and an optical material layer arranged on the circumferential surface. The space where the light source is located is independent of the first containing cavity.

Description

Technical Field

[0001] The invention belongs to the technical field of sensors, and in particular relates to a visual-tactile sensor. Background Art

[0002] When robots perceive external objects, they need to rely on visual tactile sensors. Visual tactile sensors are sensors that can convert visual images into tactile information. They can sense information such as the shape and texture of the surface of an object and measure the contact force during interaction.

[0003] The housing of the visual tactile sensor is provided with a silicone block and a transparent plate for supporting the silicone block. A light source and a camera are also provided inside the housing. The light source is used to provide lighting conditions for the camera to ensure the shooting effect of the visual image. In the prior art, the lighting method commonly used is: lighting through red, green and blue light strips, but due to the inconsistent brightness or non-uniform light color of each lamp bead on the light strip, the light emission is uneven, thereby affecting the shooting effect of the visual image. Therefore, it is necessary to improve the prior art to overcome the above defects in the prior art. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is to provide a sensor structure that can effectively improve the visual image shooting effect.

[0005] In order to solve the above technical problems, the present invention provides a sensor structure, comprising: a shell, at least comprising a main shell, a side panel arranged on the main shell, the main shell and the side panel are detachably connected and surround a first receiving cavity; a tactile component, arranged on the side panel, the side panel is provided with an installation port, the installation port is communicated with the first receiving cavity, the tactile component comprises a hard transparent plate covering the installation port, a flexible touch member covering the hard transparent plate, the flexible touch member is exposed on the outside of the shell, and the side panel and the tactile component constitute a side panel component; a visual A component is arranged in the first receiving cavity and is used to collect an image of the deformation generated by the flexible touch member; wherein the surface of the hard transparent plate extending along the penetrating direction of the installation port is its circumferential surface, and the side panel component is also provided with a light source component acting on the circumferential surface, the light source component includes a light source arranged on the side panel and an optical material layer arranged on the circumferential surface, the optical material layer is configured to convert the light received from the light source into light with a preset color, the preset color is the color of the optical material layer itself, and the space where the light source is located is independent of the first receiving cavity.

[0006] Preferably, the main shell has a side opening and a top opening, the side panel is located at the side opening, and the shell also includes a top plate, which is detachably arranged at the top opening and is located above the main shell and the side panel, wherein a plurality of mounting holes are provided on the top end surface of the top plate.

[0007] Preferably, the light source is located on one side of one circumferential surface of the rigid transparent plate, so that the circumferential surface becomes the only light incident surface of the rigid transparent plate;

[0008] The optical material layer is disposed on at least one of the remaining circumferential surfaces of the hard transparent plate; and all of the circumferential surfaces except the light incident surface are in contact with the wall of the mounting opening.

[0009] Preferably, the hard transparent plate has three circumferential surfaces provided with the optical material layer, wherein the color of the optical material layer on each circumferential surface is different, and the optical material layer on each circumferential surface has only one color, and the colors of the optical material layer include at least red, green and blue.

[0010] Preferably, the optical material layer is a fluorescent material layer fixed on the circumferential surface.

[0011] Preferably, the circumferential surface is provided with a limiting convex edge protruding outwardly in a direction perpendicular to the penetration direction, and the outer wall of the side panel is recessed along the penetration direction to form a recessed groove cooperating with the limiting convex edge; wherein the surface body on the hard transparent plate abutting against the flexible touch member is flush with the outer wall of the side panel.

[0012] Preferably, the hard transparent plate is a square plate, and the limiting protrusions are distributed on the top and both sides of the hard transparent plate.

[0013] Preferably, a groove is formed in a depression on the side panel, and the groove is connected to the installation port in a direction perpendicular to the penetration direction, and the light source is arranged in the groove, wherein the groove forms an opening on the inner wall of the side panel, and a shading strip is provided at the opening, and the shading strip is configured to prevent light from the light source from entering the first receiving cavity.

[0014] Preferably, the visual component comprises a camera module, and a reflector disposed below the camera module and facing the hard transparent plate, wherein the reflector and the hard transparent plate are arranged at an acute angle;

[0015] Wherein, the camera module is distributed toward the reflector and is arranged at an acute angle with the horizontal plane.

[0016] Preferably, the flexible touch member includes a transparent elastic layer close to the hard transparent plate, a marking layer laid on the transparent elastic layer, a reflective layer arranged on the marking layer, and a protective layer arranged on the reflective layer; wherein the marking layer includes a plurality of MARK points, a plurality of the MARK points are black dot matrix, and the reflective layer is white.

[0017] The technical solution provided by the present invention has the following advantages:

[0018] The optical material layer is evenly distributed on the entire circumferential surface, which can make the light more uniform and will not be affected by the external environment and cause uneven light, which can effectively improve the visual image shooting effect. In addition, there is no need to set colored lamp beads on the side panels, making the structure more compact, and the area of ​​the hard transparent board and the flexible touch member can be increased when the space is limited. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of the three-dimensional structure of the sensor structure provided by the present invention at a first viewing angle;

[0021] Figure 2 A schematic diagram of the three-dimensional structure of the sensor structure provided by the present invention at a second viewing angle;

[0022] Figure 3 for Figure 1 Schematic diagram of the decomposition structure;

[0023] Figure 4 A schematic diagram of the decomposed structure of the sensor structure provided by the present invention;

[0024] Figure 5 It is a schematic diagram of the structure of the side panel at a first viewing angle;

[0025] Figure 6 is a schematic diagram of the structure of the side panel at a second viewing angle;

[0026] Figure 7 is a schematic diagram of the structure of the side panel from a third-person perspective;

[0027] Figure 8 is a schematic diagram of a cross-sectional structure of a flexible touch member;

[0028] Fig. 9is a schematic diagram of a hard transparent plate at a first viewing angle;

[0029] Fig.10 is a schematic diagram of a hard transparent plate at a second viewing angle;

[0030] Fig.11 is a schematic diagram of the internal structure of the shell;

[0031] Fig.12 It is a schematic diagram of the exploded structure between the camera module and the main housing. DETAILED DESCRIPTION

[0032] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0034] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0035] like Figures 1 to 4 As shown, the present invention provides a sensor structure, which is a visual-tactile sensor. The sensor structure includes: a shell 100, a tactile component 200 and a visual component 300, wherein the visual component 300 is arranged in the shell 100, and the tactile component 200 is arranged on the shell wall of the shell 100.

[0036] The shell 100 includes a main shell 110, a side panel 120 and a top panel 130. The main shell 110 is open on the side and the top, that is, the main shell 110 has a side opening and a top opening. The side panel 120 is arranged at the side opening of the main shell 110. The main shell 110 and the side panel 120 are detachably connected and enclosed to form a first receiving cavity 140. The top panel 130 is detachably arranged at the top opening and is located above the main shell 110 and the side panel 120. The top panel 130 makes the first receiving cavity 140 a closed chamber, and the visual component 300 is arranged in the first receiving cavity 140. Among them, a plurality of mounting holes 131 are arranged on the top surface of the top panel 130, and the plurality of mounting holes 131 are used to connect with an external manipulator.

[0037] The tactile assembly 200 is disposed on the side panel 120, and the side panel 120 and the tactile assembly 200 form a side panel assembly. In this embodiment, the main housing 110, the side panel 120 and the top panel 130 are detachably connected by fasteners, so that when the tactile assembly 200 needs to be replaced, it is only necessary to remove the side panel 120 from the main housing 110 and the top panel 130, which has the advantage of convenient disassembly and replacement.

[0038] like Figure 5 and Figure 6 As shown, a first mounting hole 125 is provided at the bottom corner of the inner wall of the side panel 120, and a first fastener 111 matching the first mounting hole 125 is provided at the bottom corner of the main housing 110. Figure 3 As shown, the top of the main housing 110 is provided with a second mounting hole 112, the top of the side panel 120 is provided with a third mounting hole 126, and the four corners of the top plate 130 are provided with second fasteners 132, and the second fasteners 132 cooperate with the second mounting holes 112 and the third mounting holes 126. Among them, a first boss is provided on the inner wall of the top of the main housing 110, and the first boss is provided with the above-mentioned second mounting hole 112, and a second boss is provided on the inner wall of the top of the side panel 120, and the second boss is provided with the above-mentioned third mounting hole 126. When the side panel assembly needs to be disassembled, it is only necessary to loosen the second fastener 132 corresponding to the second mounting hole 112 and the first fastener 111 on the main housing 110, so as to realize the replacement of the side panel 120 and the tactile assembly 200.

[0039] like Figure 4 and Figure 5As shown, the side panel 120 is provided with an installation port 121, and the installation port 121 is connected to the first receiving cavity 140. Specifically, the tactile component 200 includes a hard transparent plate 210 covering the installation port 121, and a flexible touch member 220 covering the hard transparent plate 210, and the flexible touch member 220 is exposed on the outside of the shell 100. Preferably, the hard transparent plate 210 can be a transparent acrylic plate, or transparent glass, etc. The material of the flexible touch member 220 can be silicone, latex, or gel, etc. When the flexible touch member 220 contacts the object to be grasped (not shown in the figure), the flexible touch member 220 can produce elastic deformation. The visual component 300 is used to collect an image of the deformation produced by the flexible touch member 220.

[0040] like Figure 8 As shown, the flexible touch member 220 includes a transparent elastic layer 221 close to the hard transparent plate 210, a marking layer 222 laid on the transparent elastic layer 221, a reflective layer 223 arranged on the marking layer 222, and a protective layer 224 arranged on the reflective layer 223. Among them, the marking layer 222 can be a single layer or a multi-layer. The marking layer 222 includes a plurality of MARK point arrays, and the plurality of MARK points are black. The reflective layer 223 is white. The contrast between black and white can increase the image contrast, which is more conducive to the visual component 300 to capture a clear image.

[0041] The reflective layer 223 is a thin film attached to the transparent elastomer layer 221 and located on the side of the marking layer 222 away from the transparent elastomer layer 221. The reflective layer 223 is a mirror coating made of copper or aluminum sheet paint, which can form a semi-mirror reflection. When the light emitted by the optical material layer 212 encounters the reflective layer 223, the reflective layer 223 can brighten the brightness of the light. In other words, the reflective layer 223 cooperates with the optical material layer 212 to increase the brightness of the light and further improve the lighting effect. In addition, the mirror coating (reflective layer 223) is more sensitive to slight changes in the surface upward, and can provide a higher contrast signal, thereby effectively improving the shooting effect of the visual component 300. The reflective layer 223 can use a spray pot to spray the paint on the surface of the transparent elastomer layer 221 under high pressure, and can also be deposited into a metal film on the surface of the transparent elastomer layer 221 using a sputtering process.

[0042] The protective layer 224 includes a silicone layer disposed on the reflective layer 223, and a fabric and medical tape layer disposed on the silicone layer. The fabric and medical tape layer not only provide protection for the reflective layer 223, but also increase signal strength.

[0043] Furthermore, if Fig. 9 and Fig.10As shown, the surface of the hard transparent plate 210 extending in the through direction of the mounting opening 121 is its circumferential surface 211, and the side panel assembly is further provided with a light source assembly acting on the circumferential surface 211. The light source assembly includes a light source disposed on the side panel 120 and an optical material layer 212 disposed on the circumferential surface 211. The optical material layer 212 is used to convert the light received from the light source into light with a preset color, and the preset color is the color of the optical material layer 212 itself.

[0044] The optical material layer 212 is continuously and evenly distributed on the entire circumferential surface 211, which can make the light more uniform and will not be affected by the external environment and cause uneven light. In the traditional solution of setting lamp beads, the lamp beads are spaced apart. Even if the spacing distance is controlled to be very small, there is still the above-mentioned spacing distance between adjacent lamp beads, resulting in brighter light in some areas and darker light in some areas, that is, there is a brightness difference and uneven brightness. The uniform distribution of the optical material layer 212 can effectively avoid the problem of brightness difference and has the advantage of uniform light emission. In addition, since there is no need to set colored lamp beads, the structure is more compact, and the area of ​​the hard transparent plate 210 and the flexible touch member 220 can be increased when space is limited.

[0045] like Figure 6 and Figure 7 As shown, a groove 123 is formed in the side panel 120, and the groove 123 is connected to the installation opening 121 in a direction perpendicular to the penetration direction. The light source is arranged in the groove 123, wherein the groove 123 forms an opening on the inner wall of the side panel 120, and a shading strip 124 is arranged at the opening, and the shading strip 124 is used to prevent the light of the light source from entering the first receiving cavity 140.

[0046] It is worth noting that the space where the light source is located is independent of the first receiving cavity 140, so as to avoid the light source from affecting the visual component 300 in the first receiving cavity 140. The light source is used to illuminate the circumferential surface 211 of the rigid transparent plate 210. The purpose of the light source avoiding illuminating the two end surfaces of the rigid transparent plate 210 is to prevent the light of the light source from affecting the shooting of the visual component 300 and affecting the quality of the captured image. The above-mentioned "two end surfaces" refer to: surfaces parallel to the rigid transparent plate 210.

[0047] The above-mentioned optical material layer 212 is arranged on the circumferential surface 211 in the following situations: first, only one circumferential surface 211 is provided with an optical material layer 212; second, at least one circumferential surface 211 is provided with an optical material layer 212, it can be that two circumferential surfaces 211 are provided with an optical material layer 212, three circumferential surfaces 211 are provided with an optical material layer 212, four circumferential surfaces 211 are provided with an optical material layer 212, etc.

[0048] Preferably, the light source is located on one side of one of the circumferential surfaces 211 of the rigid transparent plate 210, so that the circumferential surface 211 becomes the only light incident surface of the rigid transparent plate 210, that is, the rigid transparent plate 210 has only one light incident surface. An optical material layer 212 is provided on at least one of the remaining circumferential surfaces 211 of the rigid transparent plate 210, wherein all circumferential surfaces 211 except the light incident surface are in contact with the wall of the mounting opening 121.

[0049] Furthermore, the hard transparent plate 210 is a square plate body, and the hard transparent plate 210 has four circumferential surfaces 211, one circumferential surface 211 is a light incident surface, and the other three circumferential surfaces 211 are provided with an optical material layer 212. The color of the optical material layer on each circumferential surface 211 is different, and the optical material layer 212 on each circumferential surface 211 has only one color, wherein the color of the optical material layer 212 includes at least red, green, and blue.

[0050] In one embodiment, a red optical material layer 212 is disposed on one of the three circumferential surfaces 211, a green optical material layer 212 is disposed on another, and a blue optical material layer 212 is disposed on another. Preferably, the top circumferential surface 211 of the hard transparent plate 210 is a light incident surface, and the three circumferential surfaces 211 on the two sides and the bottom are provided with optical material layers 212, that is, the three circumferential surfaces 211 on the two sides and the bottom do not need to be provided with colored lamp beads, so that the circumferential surface 211 at the bottom can be closer to the bottom of the side panel 120, which is conducive to the grasping of small objects to be grasped.

[0051] When the light emitted by the light source hits the circumferential surfaces 211 in three different directions, the optical material layer 212 on the three circumferential surfaces 211 changes the light emitted by the light source into red, green and blue and then emits it to the hard transparent plate 210 and the flexible touch member 220. The red, green and blue light can make the deformation image of the flexible touch member 220 collected by the visual component 300 clearer. The color of the optical material layer 212 can also be other colors besides red, green and blue, such as yellow, purple, cyan, etc.

[0052] Of course, the optical material layer 212 on each circumferential surface 211 may also have different colors. For example, the same circumferential surface 211 may have red, green, and blue optical material layers 212 at the same time, and the red optical material layer 212, the green optical material layer 212, and the blue optical material layer 212 are alternately distributed on the same circumferential surface 211. The color of the optical material layer 212 and the arrangement of the colors are not limited and can be determined according to actual usage.

[0053] The optical material layer 212 is a fluorescent material layer fixed on the circumferential surface 211. The fluorescent material layer is fixed on the circumferential surface 211 by gluing, spraying, etc. to form a whole with the hard transparent plate 210, and can be easily installed on the side panel 120, effectively simplifying the installation steps.

[0054] In order to facilitate the installation and positioning of the rigid transparent plate 210 on the side panel 120, as shown in FIG. Fig. 9 and Fig.10 As shown, the circumferential surface 211 of the hard transparent plate 210 is provided with a limiting convex edge 213 protruding outward in a direction perpendicular to the penetration direction, and the outer wall of the side panel 120 is recessed along the penetration direction to form a sinking groove 122 that cooperates with the limiting convex edge 213. When the hard transparent plate 210 is installed, the limiting convex edge 213 of the hard transparent plate 210 is located in the sinking groove 122, thereby achieving the purpose of installation limitation. Among them, the limiting convex edges 213 are distributed on the top and both sides of the hard transparent plate 210.

[0055] The surface of the hard transparent plate 210 that contacts the flexible touch member 220 is flush with the outer wall of the side panel 120. If the hard transparent plate 210 is lower than the outer wall of the side panel 120, when the deformation of the flexible touch member 220 is large, the object to be grasped is likely to interfere with the outer wall of the side panel 120. If the hard transparent plate 210 is higher than the outer wall of the side panel 120, that is, part of the hard transparent plate 210 is exposed to the external environment, the external environment will affect the hard transparent plate 210, thereby affecting the image acquisition effect of the visual component 300.

[0056] like Fig.11 and Fig.12 As shown, the visual component 300 includes a camera module 310, a reflector 320 disposed below the camera module 310 and disposed toward the hard transparent plate 210, and the reflector 320 is disposed at an acute angle with the hard transparent plate 210. Among them, the camera module 310 is distributed toward the reflector 320 and is disposed at an acute angle with the horizontal plane. The camera module 310, the tactile component 200 and the reflector 320 are respectively located on the three sides of an obtuse triangle. Such an arrangement is not only conducive to the camera module 310 taking images, but also makes the housing 100 narrower and the structure more compact.

[0057] Furthermore, the camera module 310 includes a lens circuit board 312, a camera 311 arranged on the bottom surface of the lens circuit board 312, and a power supply circuit board 313 arranged above the lens circuit board 312, wherein the upper and lower distribution of the power supply circuit board 313 and the lens circuit board 312 makes the overall structure more compact.

[0058] like Fig.12As shown, a pair of bosses 113 are symmetrically protruded on the inner wall of the main housing 110, the camera module 310 is arranged in the first receiving cavity 140 through the pair of bosses 113, and the reflector 320 is located below the pair of bosses 113. A wire hoop 114 is also provided above the boss 113, and the wire hoop 114 is used to bundle the cables in the first receiving cavity 140 to avoid the cables being in a mess. A U-shaped wiring groove is also recessed downward at the top of the main housing 110, and a rubber seal 115 is provided in the wiring groove, and a wiring hole 1151 is provided on the rubber seal 115, and the bundled wire harness extends to the outside of the housing 100 through the wiring hole 1151.

[0059] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, ordinary technicians in this field can make other different forms of changes or modifications without creative work, which should fall within the scope of protection of the present invention.

Claims

1. A sensor structure, characterized in that: include: The housing (100) comprises at least a main housing (110) and a side panel (120) arranged on the main housing (110), wherein the main housing (110) and the side panel (120) are detachably connected and surround a first receiving cavity (140); A tactile component (200) is arranged on the side panel (120); a mounting opening (121) is arranged on the side panel (120); the mounting opening (121) is communicated with the first receiving cavity (140); the tactile component (200) comprises a hard transparent plate (210) covering the mounting opening (121), and a flexible touch member (220) covering the hard transparent plate (210); the flexible touch member (220) is exposed on the outside of the housing (100); the side panel (120) and the tactile component (200) constitute a side panel component; A visual component (300) is disposed in the first receiving cavity (140) and is used to collect an image of the deformation generated by the flexible touch member (220); The surface of the hard transparent plate (210) extending in the direction through the mounting opening (121) is its circumferential surface (211); the side panel assembly is further provided with a light source assembly acting on the circumferential surface (211); the light source assembly comprises a light source arranged on the side panel (120) and an optical material layer (212) arranged on the circumferential surface (211); the optical material layer (212) is configured to convert the light received from the light source into light with a preset color, the preset color being the color of the optical material layer (212); and the space where the light source is located is independent of the first receiving cavity (140).

2. The sensor structure according to claim 1, characterized in that: The main shell (110) has a side opening and a top opening, the side panel (120) is located at the side opening, and the shell (100) further includes a top plate (130), the top plate (130) is detachably arranged at the top opening, and is located above the main shell (110) and the side panel (120), wherein a plurality of mounting holes (131) are provided on the top end surface of the top plate (130).

3. The sensor structure according to claim 1, characterized in that: The light source is located on one side of a circumferential surface (211) of the hard transparent plate (210), so that the circumferential surface (211) becomes the only light incident surface of the hard transparent plate (210); The optical material layer (212) is provided on at least one of the remaining circumferential surfaces (211) of the hard transparent plate (210); and all of the circumferential surfaces (211) except the light incident surface are in contact with the wall of the installation opening (121).

4. The sensor structure according to claim 3, characterized in that: The hard transparent plate (210) has three circumferential surfaces (211) provided with the optical material layer (212), wherein the color of the optical material layer on each circumferential surface (211) is different, and the optical material layer on each circumferential surface (211) has only one color, and the color of the optical material layer includes at least red, green, and blue.

5. The sensor structure according to claim 1, characterized in that: The optical material layer is a fluorescent material layer fixed on the circumferential surface (211).

6. The sensor structure according to claim 1, characterized in that: The circumferential surface (211) is provided with a limiting convex edge (213) protruding outwardly in a direction perpendicular to the penetration direction, and the outer wall of the side panel (120) is recessed along the penetration direction to form a recessed groove (122) that cooperates with the limiting convex edge (213); Wherein, the surface of the hard transparent plate (210) that contacts the flexible touch member (220) is flush with the outer wall of the side panel (120).

7. The sensor structure according to claim 6, characterized in that: The hard transparent plate (210) is a square plate body, and the limiting protrusions (213) are distributed on the top and both sides of the hard transparent plate (210).

8. The sensor structure according to claim 1, characterized in that: A groove body (123) is formed in a depression on the side panel (120), and the groove body (123) is connected to the installation opening (121) in a direction perpendicular to the penetration direction. The light source is arranged in the groove body (123), wherein the groove body (123) forms an opening on the inner wall of the side panel (120), and a shading strip (124) is provided at the opening, and the shading strip (124) is configured to prevent light from the light source from entering the first receiving cavity (140).

9. The sensor structure according to claim 1, characterized in that: The visual component (300) comprises a camera module (310), and a reflector (320) disposed below the camera module (310) and facing the hard transparent plate (210), wherein the reflector (320) and the hard transparent plate (210) are arranged at an acute angle. Wherein, the camera module (310) is distributed toward the reflective mirror (320) and is arranged at an acute angle with a horizontal plane.

10. The sensor structure according to claim 1, characterized in that: The flexible touch member (220) comprises a transparent elastic body layer (221) close to the hard transparent plate (210), a marking layer (222) laid on the transparent elastic body layer (221), a reflecting layer (223) provided on the marking layer (222), and a protective layer (224) provided on the reflecting layer (223); The marking layer (222) includes a plurality of MARK dots, a plurality of the MARK dots are black dot matrixes, and the reflective layer (223) is white.

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