Active omnidirectional dynamic feedback self-calibration visual tactile sensor

Abstract

The invention relates to the technical field of sensors, and particularly discloses an active omnidirectional dynamic feedback self-calibration visual tactile sensor, which comprises a flexible tactile sensing module, an imaging module, a driving mechanism and a supporting module, the driving mechanism comprises a lifting motion module, a yawing motion module and a pitching motion module; the pitching motion module is arranged on the yawing motion module, and the yawing motion module is used for driving the pitching motion module to do yawing motion; the imaging module is arranged on the pitching motion module, and the pitching motion module is used for driving the imaging module to do pitching motion; the lifting motion module is used for driving the yawing motion module to do lifting motion; the active omni-directional dynamic feedback self-calibration visual tactile sensor has three-degree-of-freedom active motion capabilities of lifting, pitching and turnover, and the active motion mechanism can dynamically adjust the imaging visual angle of the camera and effectively cover a tactile sensing blind area formed by mechanical constraint solidification of the camera in a traditional scheme.

Description

Technical Field

[0001] The invention relates to the technical field of sensors, and in particular to an active omnidirectional dynamic feedback self-calibration visual-tactile sensor. Background Art

[0002] Existing visual tactile sensors generally have the problem of limited field of view caused by the relatively fixed position of the camera. Fixed cameras can only capture a limited area, and the side will form a perception blind spot, resulting in unilateral perception of traditional visual tactile sensors with a limited perception area. This also makes the perception utilization rate of the space around the camera low, which may affect the overall perception efficiency in practical engineering applications. If a wide-angle camera is used to achieve omnidirectional perception of the cylindrical or conical inner surface of the ball head, due to the limitations of the three-dimensional morphological feature solution, the single plane image taken by the camera is difficult to clearly restore the tactile features at each position, and the incident angle of light in the edge area is too large, so the image will be distorted to a certain extent, and the tactile feature resolution of the cylindrical area will gradually decrease with the increase of distance. Therefore, the annular cylindrical area close to and far from the camera will have a certain degree of tactile information distortion. If a multi-camera distributed layout is used to expand the perception range, the sensor volume and structural complexity will be significantly increased, which is difficult to match the miniaturization requirements in practical applications.

[0003] The methods to solve the problems of blind spots and tactile information distortion of visual tactile sensors are still imperfect, and most visual tactile sensors are subject to the limitations of mechanical constraints of cameras. Therefore, it is of great significance to design a self-calibrated visual tactile sensor based on a multi-degree-of-freedom mechanism to achieve active omnidirectional dynamic feedback. Summary of the invention

[0004] The purpose of the present invention is to provide an active omnidirectional dynamic feedback self-calibration visual tactile sensor.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] An active omnidirectional dynamic feedback self-calibration visual tactile sensor comprises: a flexible tactile perception module, an imaging module, a driving mechanism and a supporting module.

[0007] The flexible tactile sensing module is fixedly arranged on the supporting module, and the flexible tactile sensing module has a containing cavity, and the containing cavity is used to contain the imaging module.

[0008] The driving mechanism comprises a lifting motion module, a yaw motion module and a pitch motion module.

[0009] The pitch motion module is arranged on the yaw motion module, and the yaw motion module is used to drive the pitch motion module to perform yaw motion.

[0010] The imaging module is arranged on the pitch motion module, and the pitch motion module is used to drive the imaging module to perform pitch motion.

[0011] The lifting motion module is arranged on the supporting module, and the yaw motion module is arranged on the lifting motion module. The lifting motion module is used to drive the yaw motion module to perform lifting motion so as to adjust the position of the imaging module in the accommodating cavity.

[0012] In the active omnidirectional dynamic feedback self-calibration visual-tactile sensor provided by at least one embodiment of the present disclosure, the flexible tactile sensing module includes an elastomer and a transparent fixed cover.

[0013] The surface of the elastic body is provided with a light-proof reflective coating, and the elastic body is sleeved outside the transparent fixing cover.

[0014] In the active omnidirectional dynamic feedback self-calibration visual-tactile sensor provided by at least one embodiment of the present disclosure, the imaging module has a light source.

[0015] In the active omnidirectional dynamic feedback self-calibration visual-tactile sensor provided by at least one embodiment of the present disclosure, the imaging module includes: a camera bracket and a camera module.

[0016] The camera module includes a camera module assembly and a fixing steel sleeve.

[0017] The camera module is fixedly connected to the camera bracket, and the light source is located on one side of the camera module.

[0018] In the active omnidirectional dynamic feedback self-calibration visual-tactile sensor provided by at least one embodiment of the present disclosure, the lifting motion module includes: a lifting motor, a lifting transmission gear set, a lead screw, a lifting platform and a guide light axis.

[0019] The lifting motor and the lead screw are driven by the lifting transmission gear set.

[0020] The guide light axis is located on the side of the lead screw, and the guide light axis is slidably connected to the lifting platform.

[0021] The lead screw is threadedly connected to the lifting platform.

[0022] The lifting motor is fixedly connected to the supporting module.

[0023] In the active omnidirectional dynamic feedback self-calibration visual-tactile sensor provided by at least one embodiment of the present disclosure, the yaw motion module includes: a yaw motor, a yaw drive worm, a yaw driven worm gear and a yaw rotation bracket.

[0024] The yaw driving worm is fixedly connected to the output shaft of the yaw motor, and the yaw driving worm is meshed with the yaw driven worm wheel.

[0025] The yaw rotating bracket is rotatably connected to the lifting platform, and the yaw rotating bracket is fixedly connected to the yaw driven worm gear.

[0026] The yaw motor is fixedly connected to the lifting platform.

[0027] In the active omnidirectional dynamic feedback self-calibration visual-tactile sensor provided by at least one embodiment of the present disclosure, the pitch motion module includes: a pitch motor, a pitch drive worm, a pitch driven worm gear, a pitch rotation axis and a support frame.

[0028] The pitch rotation axis is rotatably connected to the support frame, and the pitch rotation axis is fixedly connected to the camera bracket.

[0029] The pitch driving worm is fixedly connected to the output shaft of the pitch motor, and the pitch driven worm gear is fixedly connected to the pitch rotating shaft.

[0030] The pitch driving worm is meshed with the pitch driven worm gear;

[0031] The support frame is fixedly connected to the yaw rotation bracket.

[0032] In the active omnidirectional dynamic feedback self-calibration visual-tactile sensor provided by at least one embodiment of the present disclosure, four light sources are provided, and the four light sources are distributed in a circular array with the central axis of the fixed steel sleeve as the center.

[0033] In the active omnidirectional dynamic feedback self-calibration visual-tactile sensor provided by at least one embodiment of the present disclosure, the lead screw is a trapezoidal lead screw.

[0034] The beneficial effects of the present invention are:

[0035] 1) The mechanical structure design gives the camera in the sensor the ability to actively move in multiple degrees of freedom (lift, pitch, and yaw), and the movement of the camera is stable and reliable.

[0036] 2) Omnidirectional perception is achieved through a multi-degree-of-freedom mechanical mechanism, breaking through the spatial motion constraints of the camera in the traditional solution, enabling the sensor to have omnidirectional active perception capabilities, and improving the adaptability of visual-tactile sensors in complex interactive scenarios.

[0037] 3) The camera has the ability to dynamically adjust the imaging angle of view, which can effectively cover the tactile perception blind spots caused by the mechanical constraints of the camera in traditional solutions, thereby improving the perception efficiency and spatial utilization of perception.

[0038] 4) The active movement capability of the camera enables it to focus directly on the tactile information at any position in the sensing area, which can effectively eliminate the need for deep analysis of single-frame images of wide-angle cameras in traditional solutions, greatly alleviate the distortion and restoration distortion in the process of tactile information reconstruction, optimize the sensor's tactile feature resolution capability, and ensure the resolution accuracy of multi-dimensional tactile information.

[0039] 5) The active motion transmission mechanism of the camera is divided into a lifting motion module, a yaw motion module and a pitch motion module according to the degree of freedom, so that different modules can be reconstructed and redesigned according to different working conditions and requirements, and the overall spatial scale can be scaled to adapt to different environments and working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 This is a stereoscopic diagram of an active omnidirectional dynamic feedback self-calibration visual tactile sensor after the flexible tactile sensing module is disassembled.

[0042] Figure 2 It is a three-dimensional exploded view of the coating elastomer and the transparent fixing cover.

[0043] Figure 3 It is a three-dimensional exploded view of the camera bracket and camera module.

[0044] Figure 4 This is a schematic diagram of the connection between the camera module and the fixed steel sleeve.

[0045] Figure 5 A schematic diagram of the local structure of the driving mechanism.

[0046] Figure 6 A schematic diagram of the local structure of the driving mechanism.

[0047] Figure 7 It is a structural diagram of the lifting motion module.

[0048] Figure 8 It is a three-dimensional exploded view of the lifting platform, flanged copper sleeve and hole retaining ring.

[0049] Fig. 9 This is a schematic diagram of the structure of the yaw motion module.

[0050] Fig.10 It is a schematic diagram of the local structure of the pitch motion module.

[0051] Fig.11 This is a three-dimensional exploded view of the support module.

[0052] Fig.12 This is an exploded view of the connection structure between the lifting platform and the yaw transmission mounting base.

[0053] In the figure:

[0054] 10. Flexible tactile sensing module; 11. Coating elastomer; 12. Transparent fixed cover;

[0055] 20. Imaging module; 21. Camera bracket; 22. Camera module; 221. LED light; 222. Camera module; 223. Fixed steel sleeve;

[0056] 30. Driving mechanism; 31. Lifting motion module; 311. Lifting motor; 312. Lifting transmission gear set; 3121. Lifting drive gear; 3122. Idle gear; 3123. Screw gear; 313. Trapezoidal screw; 314. Lifting platform; 315. Flanged copper sleeve; 316. Hole retaining spring; 317. Guide optical axis; 32. Yaw motion module; 321. Yaw motor; 322. Yaw drive worm; 323. Yaw driven worm gear; 324. Yaw rotating bracket; 325. Shaft retaining spring; 33. Pitching motion module; 331. Pitching motor; 332. Pitching drive worm; 333. Pitching driven worm gear; 334. Limiting washer; 335. Pitching rotating axis;

[0057] 40. Support module; 41. Base; 42. Upper retaining frame; 43. Lifting gear transmission support; 44. Yaw transmission mounting seat; 45. M2 stud; 46. M3 stud; 47. M2 bolt; 48. M3 bolt. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the drawings in the embodiments. Obviously, the described embodiments are only a part of the embodiments, rather than all the embodiments.

[0059] Example

[0060] like Figure 1 , 5 As shown in 6 , this embodiment provides an active omnidirectional dynamic feedback self-calibration visual tactile sensor, including a flexible tactile sensing module 10 , an imaging module 20 , a driving mechanism 30 and a supporting module 40 .

[0061] In this embodiment, the flexible tactile sensing module 10 is fixedly disposed on the supporting module 40 , and the flexible tactile sensing module 10 has a receiving cavity, and the receiving cavity is used to receive the imaging module 20 .

[0062] In this embodiment, the driving mechanism 30 includes a lifting motion module 31 , a yaw motion module 32 and a pitch motion module 33 .

[0063] Specifically, the pitch motion module 33 is disposed on the yaw motion module 32 , and the yaw motion module 32 is used to drive the pitch motion module 33 to perform yaw motion.

[0064] Specifically, the imaging module 20 is disposed on the pitch motion module 33 , and the pitch motion module 33 is used to drive the imaging module 20 to perform pitch motion.

[0065] Specifically, the lifting motion module 31 is disposed on the supporting module 40 , and the yaw motion module 32 is disposed on the lifting motion module 31 . The lifting motion module 31 is used to drive the yaw motion module 32 to perform lifting motion to adjust the position of the imaging module 20 in the accommodating cavity.

[0066] The structure of the flexible tactile sensing module will be further disclosed below in conjunction with the accompanying drawings.

[0067] like Figure 2 As shown, the flexible tactile sensing module 10 includes a coating elastic body 11 and a transparent fixing cover 12. The coating elastic body 11 specifically refers to an elastic body with a uniform non-light-transmitting reflective coating layer on the surface.

[0068] The structure of the lifting motion module will be further disclosed below in conjunction with the accompanying drawings.

[0069] like Figure 5 , 6 As shown in FIGS. 7 and 8 , the lifting motion module 31 includes: a lifting motor 311 , a lifting transmission gear set 312 , a trapezoidal lead screw 313 , a lifting platform 314 , two flanged copper sleeves 315 , two hole retaining springs 316 and two guide light axes 317 .

[0070] Furthermore, the lifting transmission gear set 312 includes a lifting drive gear 3121, an idler gear 3122 and a lead screw gear 3123. The lifting drive gear 3121 is fixedly connected to the output shaft of the lifting motor 311, the lead screw gear 3123 is fixedly connected to the trapezoidal lead screw 313, and the idler gear 3122 is meshed with the lifting drive gear 3121 and the lead screw gear 3123 at the same time.

[0071] Furthermore, two guide light axes are symmetrically distributed on both sides of the trapezoidal lead screw 313, and the three axes form an equilateral triangle layout. The hole clamp 316 is used to fix the flanged copper sleeve 315 in the lifting platform 314. The lifting platform 314 is threadedly connected to the trapezoidal lead screw 313, and the flanged copper sleeve 315 and the guide light axis 317 are slidably matched to form a control and transmission link for lifting and lowering the imaging module 20.

[0072] The structure of the yaw motion module will be further disclosed below in conjunction with the accompanying drawings.

[0073] like Figure 5 , 6 As shown in FIG. 9 , the yaw motion module 32 includes: a yaw motor 321 , a yaw driving worm 322 , a yaw driven worm gear 323 , a yaw rotating bracket 324 and a shaft retaining spring 325 .

[0074] Furthermore, the yaw drive worm 322 is fixedly connected to the output shaft of the yaw motor 321, and the yaw drive worm 322 is meshed with the yaw driven worm gear 323. The yaw rotation bracket 324 is formed with a shaft retaining spring 325 below the lifting platform 314 to limit the lifting direction of the lifting platform 314, and is fixedly connected to the yaw driven worm gear 323, thereby forming a control and transmission link for the yaw rotation of the imaging module 20.

[0075] The structure of the pitch motion module will be further disclosed below in conjunction with the accompanying drawings.

[0076] like Figure 3 , 5 As shown in FIG. 10 , the pitch motion module 33 includes a pitch motor 331 , a pitch driving worm 332 , a pitch driven worm gear 333 , two limiting washers 334 and a pitch rotating shaft 335 .

[0077] Furthermore, the pitch axis passes through the support frame on the upper part of the yaw rotation bracket 324 and is fixedly connected to the camera bracket 21. The pitch driving worm 332 is fixedly connected to the output shaft of the pitch motor 331, and the pitch driven worm wheel 333 is fixedly connected to the pitch axis 335. The limit washers 334 are respectively arranged on both sides of the pitch driven worm wheel 333 in the gap between it and the support frame above the yaw rotation bracket 324 to form a positioning constraint, and mesh with the pitch driving worm 332, thereby forming a control and transmission link for the pitch rotation of the imaging module 20.

[0078] The structure of the imaging module will be further disclosed below in conjunction with the accompanying drawings.

[0079] like Figures 3 to 5As shown, the imaging module 20 includes a camera bracket 21 and a camera module 22. The camera module 22 includes four LED lights 221, a camera module 222 and a fixed steel sleeve 223. The camera module 22 is fixed by the camera bracket 21. The four LED lights 221 are distributed in a circular array with the central axis of the fixed steel sleeve 223 as the center.

[0080] The structure of the support module will be further disclosed below in conjunction with the accompanying drawings.

[0081] like Fig.11 and 12 As shown, the support module 40 includes a base 41 , an upper retaining frame 42 , a lifting gear transmission support 43 , a yaw transmission mounting seat 44 , a plurality of M2 studs 45 , a plurality of M3 studs 46 , a plurality of M2 bolts 47 , and a plurality of M3 bolts 48 .

[0082] Furthermore, the upper retaining frame 42 and the base 41 are connected via an M3 stud 46 and a corresponding M3 bolt 48, and the trapezoidal lead screw 313 and the guide light axis 317 are matched with holes at corresponding positions respectively.

[0083] Furthermore, the lifting gear transmission support 43 is connected to the base 41 through two M2 threaded holes thereon, which cooperate with the M2 bolts 47 passing through the corresponding holes of the base 41, and the lifting transmission gear set 312 is arranged on the lifting gear transmission support 43.

[0084] Furthermore, the yaw transmission mounting seat 44 is fixedly connected to the lifting platform 314 through the M2 stud 45 and a plurality of M2 bolts 47 passing through corresponding holes of the lifting platform 314, and rises and falls synchronously with the lifting platform.

[0085] For the control motor, the lifting motor 311 is fixed to the corresponding hole position of the base 41 with the output shaft pointing in the direction of the lifting gear transmission support 43, the yaw motor 321 is fixed in the motor seat hole position on the yaw transmission mounting seat 44, and the pitch motor 331 is fixed in the corresponding motor seat hole position on the plane above the yaw rotating bracket 324.

[0086] Although the embodiments of the present application have been shown and described above, the scope of protection of the present invention is not limited thereto, and any changes or substitutions that are not conceivable through creative work should be included in the scope of protection of the present invention; unless explicitly stated, any elements, actions or instructions used in this document should not be interpreted as critical or necessary.

Claims

1. An active omnidirectional dynamic feedback self-calibration visual tactile sensor, characterized in that: include: Flexible tactile sensing module, imaging module, driving mechanism and supporting module; The flexible tactile sensing module is fixedly arranged on the supporting module, and the flexible tactile sensing module has a containing cavity, and the containing cavity is used to contain the imaging module; The driving mechanism comprises a lifting motion module, a yaw motion module and a pitch motion module; The pitch motion module is arranged on the yaw motion module, and the yaw motion module is used to drive the pitch motion module to perform yaw motion; The imaging module is arranged on the pitch motion module, and the pitch motion module is used to drive the imaging module to perform pitch motion; The lifting motion module is arranged on the supporting module, and the yaw motion module is arranged on the lifting motion module. The lifting motion module is used to drive the yaw motion module to perform lifting motion to adjust the position of the imaging module in the accommodating cavity.

2. The active omnidirectional dynamic feedback self-calibration visual tactile sensor according to claim 1, characterized in that: The flexible tactile sensing module includes an elastic body and a transparent fixed cover; The surface of the elastic body is provided with a light-proof reflective coating, and the elastic body is sleeved outside the transparent fixing cover.

3. The active omnidirectional dynamic feedback self-calibration visual tactile sensor according to claim 1, characterized in that: The imaging module has a light source.

4. The active omnidirectional dynamic feedback self-calibration visual tactile sensor according to claim 3, characterized in that: The imaging module comprises: Camera bracket and camera module; The camera module includes a camera module and a fixed steel sleeve; The camera module is fixedly connected to the camera bracket, and the light source is located on one side of the camera module.

5. The active omnidirectional dynamic feedback self-calibration visual tactile sensor according to claim 4, characterized in that: The lifting motion module comprises: Lifting motor, lifting transmission gear set, lead screw, lifting platform and guide optical axis; The lifting motor and the lead screw are driven by the lifting transmission gear set; The guide light axis is located on the side of the lead screw, and the guide light axis is slidably connected to the lifting platform; The lead screw is threadedly connected to the lifting platform; The lifting motor is fixedly connected to the supporting module.

6. The active omnidirectional dynamic feedback self-calibration visual tactile sensor according to claim 5, characterized in that: The yaw motion module comprises: A yaw motor, a yaw driving worm, a yaw driven worm gear and a yaw rotating bracket; The yaw driving worm is fixedly connected to the output shaft of the yaw motor, and the yaw driving worm is meshed with the yaw driven worm gear; The yaw rotating bracket is rotatably connected to the lifting platform, and the yaw rotating bracket is fixedly connected to the yaw driven worm gear; The yaw motor is fixedly connected to the lifting platform.

7. The active omnidirectional dynamic feedback self-calibration visual tactile sensor according to claim 6, characterized in that: The pitch motion module comprises: Pitch motor, pitch driving worm, pitch driven worm gear, pitch rotating shaft and supporting frame; The pitch axis is rotatably connected to the support frame, and the pitch axis is fixedly connected to the camera bracket; The pitch driving worm is fixedly connected to the output shaft of the pitch motor, and the pitch driven worm gear is fixedly connected to the pitch rotating shaft; The pitch driving worm is meshed with the pitch driven worm gear; The support frame is fixedly connected to the yaw rotation bracket.

8. The active omnidirectional dynamic feedback self-calibration visual tactile sensor according to claim 4, characterized in that: There are four light sources, and the four light sources are distributed in a circular array with the central axis of the fixed steel sleeve as the center.

9. The active omnidirectional dynamic feedback self-calibration visual tactile sensor according to claim 5, characterized in that: The lead screw is a trapezoidal lead screw.

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