Visual tactile sensor and robot

Abstract

The invention relates to the technical field of sensors, and provides a visual tactile sensor and a robotic.The visual tactile sensor comprises a shell, an elastic body, a light-transmitting plate, a camera, a light source and a light uniformizing plate, the camera, the light source and the light uniformizing plate are arranged in the shell, the elastic body is connected to the surface of the front end of the light-transmitting plate, and the light-transmitting plate is embedded in the front end of the shell; the elastic body protrudes out of the front end surface of the shell, the light-transmitting plate is made of light-transmitting materials, one end of the light uniformizing plate corresponds to the light source, the other end of the light uniformizing plate corresponds to the side portion of the light-transmitting plate, and the light-transmitting plate is used for transmitting light from the side portion of the light-transmitting plate to the front end surface of the light-transmitting plate. Therefore, more uniform light can be obtained to irradiate the surface of the elastic body connected to the surface of the front end of the light-transmitting plate, the light supplementing uniformity of the light source in the visual tactile sensor is effectively improved, the imaging quality of the elastic body of the visual tactile sensor is further improved, and meanwhile, the precision and the stability of the visual tactile sensor are improved.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a visual-tactile sensor and a robot. Background Art

[0002] The visual-tactile sensor is a new type of sensor that combines visual and tactile perception. It converts tactile signals into visual information through optical imaging technology. It is widely used in end effectors such as robot fingers and grippers to achieve high-precision object manipulation and environmental interaction.

[0003] The front surface of the visual tactile sensor is generally covered with an elastomer, and a camera is embedded inside. When an object contacts the elastomer, the surface of the elastomer will deform (such as bulges, depressions or texture changes). The camera captures these deformation images and transmits signal information to the controller. During this process, a light source needs to be set up internally for fill light to improve the visibility and accuracy of the deformation image.

[0004] However, in related technologies, LED lamp beads are generally used to directly illuminate the surface of the elastomer. Due to the characteristics of point light sources, uneven distribution of light intensity is easily caused, which directly affects the accuracy of contact force backcalculation and recognition effects such as object texture, and has a significant impact on imaging effects and accuracy. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: how to improve the uniformity of the light source inside the visual tactile sensor.

[0006] The present invention provides a visual-tactile sensor, comprising a shell, an elastomer, a light-transmitting plate, and a camera, a light source, and a light-diffusing plate arranged in the shell, wherein the elastomer is connected to the front end surface of the light-transmitting plate, the light-transmitting plate is embedded in the front end of the shell, the elastomer protrudes from the front end surface of the shell, the light-transmitting plate is made of a light-transmitting material, one end of the light-diffusing plate is arranged corresponding to the light source, and the other end of the light-diffusing plate is arranged corresponding to the side of the light-transmitting plate, and the light-transmitting plate is used to transmit light from the side of the light-transmitting plate to the front end surface of the light-transmitting plate.

[0007] Optionally, the visual-tactile sensor also includes a camera board and a light source board arranged in the shell, the camera is connected to the camera board, the light source board is connected to the camera board and is located on the side of the camera board facing the front end of the shell, the light source is connected to the surface of the light source board facing away from the camera board, the light source board is provided with a camera hole adapted for the camera, the camera is located in the camera hole and protrudes from the surface of the light source board where the light source is located.

[0008] Optionally, the light source includes three groups of lamp beads of red, green and blue respectively, the three groups of lamp beads are respectively arranged on the sides of the light source board, and the lamp beads of each group are arranged in a straight line and evenly spaced.

[0009] Optionally, the visual-tactile sensor also includes a support cover arranged in the shell, the support cover is connected to the camera board, the light source board is located between the support cover and the camera board, the support cover is a funnel-shaped structure, the light-distributing plate is passed through the edge of the funnel-shaped structure and is arranged corresponding to the lamp beads, the bottom of the funnel-shaped structure is provided with a through hole adapted to the camera, and the inner surface of the funnel-shaped structure is a black frosted surface.

[0010] Optionally, the visual-tactile sensor further includes a stud, the edge shape of the funnel-shaped structure of the support cover is adapted to the shape of the camera board, and the stud is supported and connected between the edge of the funnel-shaped structure of the support cover and the camera board.

[0011] Optionally, a mounting hole compatible with the light diffuser is provided on the edge of the funnel-shaped structure, a limit block is provided on the side wall of the light diffuser, the light diffuser is passed through the mounting hole, the limit block abuts against the edge of the mounting hole, and a T-shaped slot is also provided on the wall of the mounting hole.

[0012] Optionally, the surface of the light diffuser includes a first surface, a second surface, and a third surface. The area of ​​the surface of the light diffuser corresponding to the side of the light-transmitting plate is the first surface, the area of ​​the surface of the light diffuser corresponding to the light source is the second surface, the third surface is arranged opposite to the first surface and is inclined relative to the first surface. The first surface is provided with a pattern, and the surface of the light diffuser except the first surface and the second surface is provided with an inwardly reflective coating.

[0013] Optionally, the shell is provided with a connecting hole and a positioning hole, the connecting hole is used for connecting with the robot, and the positioning hole is used for positioning with the robot.

[0014] Optionally, the visual-tactile sensor further includes a perforated plate disposed in the housing, and the perforated plate is disposed corresponding to the connecting hole and the positioning hole.

[0015] Optionally, the shell includes a front cover and a rear cover, the front cover and the rear cover are detachably connected, the front cover is provided with a stepped hole adapted to the light-transmitting plate, the front end surface of the light-transmitting plate is provided with a retaining edge structure, and the retaining edge structure is connected to the stepped structure of the stepped hole.

[0016] Compared with the prior art, the visual tactile sensor provided by the present invention has the following technical effects: The visual tactile sensor provided by the present invention can be applied to end effectors such as robot fingers and grippers. By arranging an elastomer at the front end of the shell and protruding from the front end surface, it can be connected with a light-transmitting plate embedded in the front end of the shell. When the contact module of the visual tactile sensor comes into contact with an object, the elastomer can produce deformation, and then the deformation image information of the elastomer can be obtained through the cooperation of the camera and light source fill light in the shell. In this process, a light-diffusing plate is arranged between the light source and the light-transmitting plate. The light-transmitting plate is made of a light-transmitting material. The light emitted by the light source can be refracted and reflected inside the light-diffusing plate. The light-diffusing plate can transmit the light of the light source incident at one end to the other end, and then connect with the light from the other end to the light of the light-transmitting plate. The part opposite to the light plate is incident on the light-transmitting plate, thereby converting the relatively concentrated light of, for example, a point light source into a relatively uniform surface light source and emitting it to the light-transmitting plate. Moreover, by arranging the light-homogenizing plate in correspondence with the side of the light-transmitting plate, that is, the light is incident from the side of the light-transmitting plate, the light is refracted and reflected again inside the light-transmitting plate, and the light-transmitting plate can transmit the light from the side of the light-transmitting plate to the front end surface of the light-transmitting plate, so that more uniform light can be obtained to irradiate the surface of the elastomer connected to the front end surface of the light-transmitting plate, effectively improving the uniformity of the light source fill light inside the visual-tactile sensor, thereby improving the elastomer imaging quality of the visual-tactile sensor, and at the same time improving the accuracy and stability of the visual-tactile sensor.

[0017] In addition, the present invention also provides a robot comprising the above-mentioned visual-tactile sensor.

[0018] Compared with the related art, the robot provided by the present invention has substantially the same technical effects as those of the above-mentioned visual-tactile sensors by setting the above-mentioned visual-tactile sensors, and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the three-dimensional structure of the visual-tactile sensor according to an embodiment of the present invention; Figure 2 A schematic diagram of the explosion structure of the visual-tactile sensor implemented in the present invention; Figure 3 Schematic diagram of the three-dimensional structure of the support cover and the light diffuser according to an embodiment of the present invention; Figure 4 for Figure 3 The main schematic diagram of Figure 5 for Figure 3 Schematic diagram of the right side; Figure 6 Schematic diagram of the three-dimensional structure of the light dodging plate according to an embodiment of the present invention; Figure 7 for Figure 6 The main schematic diagram of Figure 8 for Figure 6 Schematic diagram of the rear view; Figure 9 for Figure 6 Schematic diagram from above; Figure 10 for Figure 1 Schematic diagram of the right side.

[0020] Description of reference numerals: 10-housing, 11-front cover, 111-stepped hole, 12-back cover, 121-connecting hole, 122-positioning hole, 21-elastic body, 22-light-transmitting plate, 221-edge structure, 30-light-diffusing plate, 31-limiting block, 32-first surface, 33-second surface, 34-third surface, 40-support cover, 41-mounting hole, 411-T-slot, 42-through hole, 50-camera board, 51-camera, 60-light source board, 61-light source, 70-hole shielding plate, 80-stud, 90-wire pressing plate. DETAILED DESCRIPTION

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0022] It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present invention described herein can be practiced in an order other than that illustrated or described herein.

[0023] In the description of the present invention, the directions or positional relationships indicated by “up”, “down”, “left”, “right”, “top”, “bottom”, “front”, “back”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention. They do not indicate or imply that the device referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the scope of protection of the present invention.

[0024] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical connections; direct connections or indirect connections via an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0025] Throughout this specification, references to the terms "embodiment," "one embodiment," and "an implementation" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or implementation are included in at least one embodiment or implementation of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.

[0026] In order to solve the above technical problems, Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a visual-tactile sensor, including a shell 10, an elastomer 21, a light-transmitting plate 22, and a camera 51, a light source 61 and a light-diffusing plate 30 arranged in the shell 10, the elastomer 21 is connected to the front end surface of the light-transmitting plate 22, the light-transmitting plate 22 is embedded in the front end of the shell 10, the elastomer 21 protrudes from the front end surface of the shell 10, the light-transmitting plate 22 is made of a light-transmitting material, one end of the light-diffusing plate 30 is arranged corresponding to the light source 61, and the other end of the light-diffusing plate 30 is arranged corresponding to the side of the light-transmitting plate 22, and the light-transmitting plate 22 is used to transmit light from the side of the light-transmitting plate 22 to the front end surface of the light-transmitting plate 22.

[0027] It should be noted that the working principle of the visual tactile sensor is generally to cause deformation when the elastomer 21 contacts an object, then obtain deformation image information of the elastomer 21 through the camera 51, and then perform calculations and analysis to obtain information such as contact force and object texture. In this embodiment, the elastomer 21 is elastic and made of silicone, for example. The light-transmitting plate 22 and the light-diffusing plate can both be made of acrylic material with good and stable light transmittance and good structural stability. The elastomer 21 can fully cover the front end surface of the light-transmitting plate 22, that is, the end surface of the light-transmitting plate 22 facing away from the interior of the housing 10. The surface of the elastomer 21 can also be provided with a marking layer and a reflective layer to facilitate the visual collection and analysis of the deformation image.

[0028] In this embodiment, the visual tactile sensor provided in this embodiment can be applied to end effectors such as robot fingers and grippers. By setting an elastic body 21 at the front end of the shell 10 and protruding from the front end surface, it can be connected with the light-transmitting plate 22 embedded in the front end of the shell 10. When the contact module of the visual tactile sensor comes into contact with the object, the elastic body 21 can be deformed, and then the deformation image information of the elastic body 21 can be obtained through the combination of the camera 51 and the light source 61 in the shell 10. In this process, a light-transmitting plate 30 is set between the light source 51 and the light-transmitting plate 22. The light-transmitting plate 22 is made of a light-transmitting material. The light emitted by the light source 61 can be refracted and reflected inside the light-transmitting plate 30. The light-transmitting plate 30 can transmit the light from the light source 61 incident at one end to the other end. And it enters the light-transmitting plate 22 from the other end opposite to the light-transmitting plate 22, thereby converting the more concentrated light of, for example, a point light source into a more uniform surface light source and transmitting it to the light-transmitting plate 22, and by arranging the light-homogenizing plate 30 corresponding to the side of the light-transmitting plate 22, that is, the light enters from the side of the light-transmitting plate 22, the light is refracted and reflected again in the light-transmitting plate 22, and the light-transmitting plate 22 can transmit the light from the side of the light-transmitting plate 22 to the front end surface of the light-transmitting plate 22, so that more uniform light can be obtained on the surface of the elastomer 21 connected to the front end surface of the light-transmitting plate 22, effectively improving the uniformity of the light source fill light inside the visual tactile sensor, thereby improving the imaging quality of the elastomer 21 of the visual tactile sensor, and at the same time improving the accuracy and stability of the visual tactile sensor.

[0029] Alternatively, as Figure 1 and Figure 2 As shown, the visual-tactile sensor also includes a camera board 50 and a light source board 60 arranged in the shell 10, the camera 51 is connected to the camera board 50, the light source board 60 is connected to the camera board 50, and is located on the side of the camera board 50 facing the front end of the shell 10, the light source 61 is connected to the surface of the light source board 60 facing away from the camera board 50, the light source board 60 is provided with a camera hole adapted to the camera 51, the camera 51 is located in the camera hole and protrudes from the surface of the light source board 60 where the light source 61 is located.

[0030] Specifically, the shape of the camera board 50 can be adapted to the internal space of the shell 10, and can be connected to the shell 10 by, for example, screws. Chips, circuits and other structures can be set on the camera board 50 for signal processing and transmission, etc. The shape of the light source board 60 can be adapted to the shape of the camera board 50, and can be connected to the camera board 50 through a connector. On the one hand, it ensures structural stability, and on the other hand, it can transmit power to the light source 61 through the connector. The structure is compact, reasonable and reliable.

[0031] In this embodiment, by arranging interconnected camera boards 50 and light source boards 60 in the shell 10, stable structural support is given to the camera 51 and the light source 61 to ensure the stability of the overall structure. By opening a camera hole on the light source board 60, the camera 51 is arranged in the camera hole and protrudes from the surface of the light source board 60 where the light source 61 is located. On the one hand, it ensures that the camera can acquire normal images without being hindered by the light source board 60 and ensures the stability of the structure. On the other hand, the camera 51 protrudes from the surface where the light source 61 is located, which to a certain extent prevents the light source 61 from directly irradiating the camera 51 and affecting the shooting, thereby further improving the quality and accuracy of the deformation image acquisition.

[0032] Alternatively, as Figure 2 As shown, the light source 61 includes three groups of lamp beads of red, green and blue respectively. The three groups of lamp beads are respectively arranged on the sides of the light source board 60, and the lamp beads of each group are arranged in a straight line and evenly spaced.

[0033] Specifically, the light diffuser 30 is also configured in three, each light diffuser 30 is correspondingly provided with a group of lamp beads, and the three groups of lamp beads are arranged around three sides of the camera 51 to further improve the uniformity of the fill light.

[0034] In this embodiment, three groups of lamp beads of red, green and blue are provided. The three groups of lamp beads can be adjusted separately and homogenized by three light-diffusing plates 30, and then mixed into lights of different colors in the light-transmitting plate 22 for use in imaging needs of different elastomers. For example, if the proportions of red, green and blue are the same, they are converged and mixed into white light, providing reliable, stable and uniform fill light for the elastomer. At the same time, by arranging each group of lamp beads in a straight line and evenly spaced, on the one hand, the straight line arrangement is more convenient to cooperate with the light-diffusing plate 30, and on the other hand, the evenly spaced arrangement further improves the uniformity of the light.

[0035] Alternatively, as Figures 1 to 5 As shown, the visual-tactile sensor also includes a support cover 40 arranged in the shell 10, the support cover 40 is connected to the camera board 50, the light source board 60 is located between the support cover 40 and the camera board 50, the support cover 40 is a funnel-shaped structure, the light homogenizing plate 30 is passed through the edge of the funnel-shaped structure and is arranged corresponding to the lamp beads, the bottom of the funnel-shaped structure is provided with a through hole 42 adapted to the camera 51, and the inner surface of the funnel-shaped structure is a black frosted surface.

[0036] Specifically, the visual-tactile sensor further includes a stud 80 . The edge shape of the funnel-shaped structure of the support cover 40 is adapted to the shape of the camera board 50 . The stud 80 is supported and connected between the edge of the funnel-shaped structure of the support cover 40 and the camera board 50 .

[0037] Preferably, the support cover 40 is a square funnel-shaped structure, and threaded holes can be opened at the four corners of its edge, that is, the four corners of the camera board 50, and studs 80 are set between the threaded holes of the support cover 40 and the camera board 50 for supporting connection. Threaded holes are opened at both ends of the stud 80, and then the support cover 40 and the stud 80 are connected, and the camera board 50 and the stud 80 are connected respectively by screws, so that the stud 80 not only stably connects the support cover 40 and the camera board 50, but also supports a stable space between the two, preventing the light source board 60 from being damaged by excessive connection and compression. The structure is reasonable and reliable. At the same time, it should be noted that the threaded holes on the camera board can also be connected to the shell 10 by screws.

[0038] In this embodiment, a support cover 40 with a funnel-shaped structure is provided in the shell 10 and connected to the camera board 50. On the one hand, by passing the light homogenizing plate 30 through the edge of the funnel-shaped structure and correspondingly arranging it with the lamp beads, the light homogenizing plate 30 is given stable support, and the light source board 60 is arranged between the support cover 40 and the camera board 50, which can effectively protect the lamp beads on the light source board 60 from being damaged by the connection and compression. At the same time, it will not affect the effective transmission of the light source 61 to the light homogenizing plate 30. On the other hand, the through hole 42 opened at the bottom of the funnel-shaped structure of the support cover 40 can cooperate with the camera 51, which can effectively protect the camera 51. At the same time, the black frosted surface of the inner surface of the funnel-shaped structure can effectively absorb light and prevent the inner surface from reflecting light, thereby preventing ambient light or light from the light source 61 from directly irradiating the camera 51 and affecting the shooting, thereby further improving the quality and accuracy of the deformation imaging of the elastomer 21, that is, improving the accuracy of the use of this visual tactile sensor.

[0039] Alternatively, as Figures 2 to 5 As shown, the edge of the funnel-shaped structure is provided with a mounting hole 41 adapted to the light diffuser 30, and the side wall of the light diffuser 30 is provided with a limit block 31. The light diffuser 30 is passed through the mounting hole 41, and the limit block 31 abuts against the edge of the mounting hole 41, and the hole wall of the mounting hole 41 is also provided with a T-slot 411.

[0040] Specifically, there are three mounting holes 41, corresponding to the number and shape of the light diffuser 30. The two opposite side walls of the light diffuser 30 are provided with limit blocks 31, which have better limiting stability. The support cover 40 can be made of, for example, nylon material and has a certain deformation, which helps the interference insertion connection of the light diffuser 30, further improving the stability of the overall structure.

[0041] In this embodiment, by opening a mounting hole 41 at the edge of the funnel-shaped structure of the support cover 40 and inserting the light diffuser 30 into the mounting hole 41, the light diffuser 30 can be stably supported, thereby improving the stability of the structure. In addition, by providing a limit block 31 on the side wall of the light diffuser 30, effective limiting and positioning can be performed, so that when the light diffuser 30 is inserted into the mounting hole 41, the limit block 31 can effectively stop at the edge of the mounting hole 41, preventing the light diffuser 30 from being inserted too much or too little, thereby affecting the accuracy. At the same time, by opening a T-slot 411 in the hole wall of the mounting hole 41, it is convenient for the mounting hole 41 to have a certain deformation, which facilitates the insertion and connection of the light diffuser 30 and provides a certain deformation space, which is more conducive to the mounting hole 41 clamping the light diffuser 30, thereby improving the stability and firmness of the overall structure.

[0042] Alternatively, as Figure 2 and Figures 6 to 9 As shown, the surface of the light diffuser 30 includes a first surface 32, a second surface 33 and a third surface 34. The area of ​​the surface of the light diffuser 30 corresponding to the side of the light-transmitting plate 22 is the first surface 32, and the area of ​​the surface of the light diffuser 30 corresponding to the light source 61 is the second surface 33. The third surface 34 is arranged opposite to the first surface 32 and is inclined relative to the first surface 32. The first surface 32 is provided with a pattern. Except for the first surface 32 and the second surface 33, the surface of the light diffuser 30 is provided with an inwardly reflective coating.

[0043] Specifically, the light-diffusing plate 30 is an acrylic plate, such as Figure 2 and Figure 8 As shown, the area of ​​the surface of the light diffuser 30 facing the inside of the housing 10 and corresponding to the peripheral side of the light-transmitting plate 22 is the first surface 32, that is, Figure 8 The area marked with the planing line, such as Figure 2 and Figure 7 As shown, the surface opposite to the first surface 32 is set as an inclined surface, that is, the third surface 34, and the angle between it and the first surface 32 can be set to, for example, 30 degrees, so that the third surface 34 can more easily enter the light-transmitting plate 22 after reflecting light and illuminate the surface of the elastic body 21, as shown in FIG. Figure 2 and Figure 9 As shown, the second surface 33 is arranged corresponding to the light source 51. Figure 9 The solid arrow in the figure indicates the light propagation path. Light emitted by the light source 61 enters the light diffuser 30 from the second surface 33, is reflected by the coating on the surface of the light diffuser 30, and finally is reflected by the inclined surface, that is, the third surface 34, to the first surface 32, exits the light diffuser 30, and enters the light-transmitting plate 22. The reasonable structural design can further improve the light propagation efficiency and effectively prevent light loss in the propagation path.

[0044] In this embodiment, by setting the surface of the light-diffusing plate 30 except the first surface 32 and the second surface 33 to be an inward-reflective coating, the second surface 33 is set corresponding to the light source 61, the first surface 32 is set corresponding to the side of the light-transmitting plate 22, and the first surface 32 is set relative to the third surface 34. Then, when the light emitted by the light source 61 enters the light-diffusing plate 30 from the second surface 33, the light can be directly emitted into the light-transmitting plate 22 through internal reflection and illuminated on the elastomer 21, thereby reducing the loss in the light propagation path and effectively improving the fill light efficiency. At the same time, by setting the first surface 32 to a pattern, the texture structure of the pattern can further reflect the light, and the relatively concentrated light can be dispersed and averaged, thereby further improving the uniformity of the light.

[0045] Alternatively, as Figure 1 and Figure 2 As shown, the shell 10 includes a front cover 11 and a rear cover 12, and the front cover 11 and the rear cover 12 are detachably connected. The front cover 11 is provided with a stepped hole 111 adapted to the light-transmitting plate 22, and the front end face of the light-transmitting plate 22 is provided with a retaining edge structure 221, and the retaining edge structure 221 is connected to the stepped structure of the stepped hole 111.

[0046] Specifically, the rear cover 12 is a square groove structure, and the side wall of the front cover 11 is provided with a connecting ear structure. When connected, the connecting ear of the front cover 11 is inserted into the square groove of the rear cover 12, and a threaded hole adapted to the connecting ear is opened on the side wall of the rear cover 12. The connecting ear can be connected to the threaded hole by a screw, and the connection is tight, which is convenient for disassembly and assembly.

[0047] In this embodiment, by providing the shell 10 with a detachably connected front cover 11 and a rear cover 12, the overall disassembly and assembly is facilitated, and the light-transmitting plate 22 and the elastomer 21 are connected to the front cover, which facilitates the regular replacement of the elastomer 21. At the same time, by providing a stepped hole 111 on the front cover 11 that is adapted to the retaining structure 221 of the light-transmitting plate 22, after the light-transmitting plate 22 and the elastomer 21 are connected to the stepped hole 111, during use, the elastomer 21 is subjected to pressure, which prevents it from being pressed into the shell 10, thereby ensuring the effectiveness of the structure and improving the stability of the structure.

[0048] Alternatively, as Figure 1 、 Figure 2 and Figure 10 As shown, the housing 10 is provided with a connecting hole 121 and a positioning hole 122 . The connecting hole 121 is used for connecting with the robot, and the positioning hole 122 is used for positioning with the robot.

[0049] Specifically, the connection holes 121 and positioning holes 122 are provided on the bottom wall of the groove of the rear cover 12. The number of the connection holes 121 and the positioning holes 122 can be designed according to actual needs and are not specifically limited here. Furthermore, the rear cover 12 can be detachably connected to a wire pressing plate 90, which can be made of a material with a certain degree of elasticity. The wire pressing plate 90 can effectively compact and fix the internal wiring harness, preventing the wiring harness from becoming disorganized and protecting the wiring harness. At the same time, when performing maintenance and repairs, only the wire pressing plate 90 can be removed, making it convenient and quick to use.

[0050] It should be noted that general visual and tactile sensors on the market are independent modular entities. When connecting them to, for example, a robot, additional connection and installation structures need to be designed, which is inconvenient and reduces installation efficiency.

[0051] In this embodiment, by setting a connecting hole 121 and a positioning hole 122 on the shell 10, the connecting hole can be used as a structure for connecting and installing with the robot. The installation is quick and convenient, and it is easy to process and produce. The positioning hole 122 can be directly matched and positioned with structures such as the positioning pins on the robot's end effector, further improving the installation efficiency, as well as the accuracy and stability of the connection.

[0052] Optionally, as shown in FIG Figure 2 and Figure 10 As shown, the visual-tactile sensor further includes a shielding plate 70 disposed in the housing 10 , and the shielding plate 70 is disposed corresponding to the connecting hole 121 and the positioning hole 122 .

[0053] Specifically, the perforated plate 70 is connected to the bottom of the groove of the back cover 12, and its shape can be adapted according to the hole positions of the connecting hole 121 and the positioning hole 122 on the back cover 12. As long as it can cover the connecting hole 121 and the positioning hole 122, its specific shape and structure are not specifically limited here.

[0054] In this embodiment, by providing a shielding plate 70 in the shell 10 and corresponding to the connecting hole 121 and the positioning hole 122, the hole positions of the connecting hole 121 and the positioning hole 122 can be effectively blocked inside the shell to prevent, for example, screws or positioning pins from excessively extending into the connecting hole 121 or the positioning hole 122 when the visual-tactile sensor is connected to the robot, that is, excessively extending into the shell 10 to damage internal components and structures such as the camera board 50 or the wiring harness, thereby facilitating use and further improving the overall structural reliability.

[0055] In addition, another embodiment of the present invention provides a robot including the above-mentioned visual-tactile sensor.

[0056] Exemplarily, the visual-tactile sensor is connected to the gripper of the end effector of the robot through the connecting hole 121 and the positioning hole 122 .

[0057] In this embodiment, the robot provided in this embodiment is provided with the above-mentioned visual-tactile sensor, and its technical effects are substantially the same as those of the above-mentioned visual-tactile sensor, which will not be described in detail here.

[0058] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A visual tactile sensor, characterized in that: The invention comprises a shell (10), an elastic body (21), a light-transmitting plate (22), and a camera (51), a light source (61) and a light-diffusing plate (30) arranged in the shell (10), wherein the elastic body (21) is connected to the front end surface of the light-transmitting plate (22), the light-transmitting plate (22) is embedded in the front end of the shell (10), the elastic body (21) protrudes from the front end surface of the shell (10), the light-transmitting plate (22) is made of a light-transmitting material, one end of the light-diffusing plate (30) is arranged corresponding to the light source (61), the other end of the light-diffusing plate (30) is arranged corresponding to the side of the light-transmitting plate (22), and the light-transmitting plate (22) is used to transmit light from the side of the light-transmitting plate (22) to the front end surface of the light-transmitting plate (22).

2. The visual-tactile sensor according to claim 1, wherein The visual-tactile sensor further comprises a camera board (50) and a light source board (60) arranged in the housing (10), wherein the camera (51) is connected to the camera board (50), the light source board (60) is connected to the camera board (50) and is located on a side of the camera board (50) facing the front end of the housing (10), the light source (61) is connected to a surface of the light source board (60) facing away from the camera board (50), the light source board (60) is provided with a camera hole adapted to the camera (51), and the camera (51) is located in the camera hole and protrudes from the surface of the light source board (60) where the light source (61) is located.

3. The visual-tactile sensor according to claim 2, wherein: The light source (61) comprises three groups of red, green and blue lamp beads, respectively. The three groups of lamp beads are respectively arranged on the side of the light source plate (60), and the lamp beads of each group are arranged in a straight line and evenly spaced.

4. The visual-tactile sensor according to claim 3, wherein: The visual-tactile sensor further comprises a support cover (40) arranged in the housing (10), the support cover (40) being connected to the camera board (50), the light source board (60) being located between the support cover (40) and the camera board (50), the support cover (40) being a funnel-shaped structure, the light homogenizing plate (30) being arranged through the edge of the funnel-shaped structure and corresponding to the lamp beads, a through hole (42) being provided at the bottom of the funnel-shaped structure and being adapted for the camera (51), and the inner surface of the funnel-shaped structure being a black frosted surface.

5. The visual-tactile sensor according to claim 4, wherein: The visual-tactile sensor further comprises a stud (80), the edge shape of the funnel-shaped structure of the support cover (40) is adapted to the shape of the camera board (50), and the stud (80) is supported and connected between the edge of the funnel-shaped structure of the support cover (40) and the camera board (50).

6. The visual-tactile sensor according to claim 4, wherein: The edge of the funnel-shaped structure is provided with a mounting hole (41) adapted to the light-diffusing plate (30), a side wall of the light-diffusing plate (30) is provided with a limiting block (31), the light-diffusing plate (30) is passed through the mounting hole (41), the limiting block (31) abuts against the edge of the mounting hole (41), and a T-shaped slot (411) is further provided on the hole wall of the mounting hole (41).

7. The visual-tactile sensor according to claim 1, wherein: The surface of the light-diffusing plate (30) includes a first surface (32), a second surface (33) and a third surface (34); the area of ​​the surface of the light-diffusing plate (30) corresponding to the side of the light-transmitting plate (22) is the first surface (32); the area of ​​the surface of the light-diffusing plate (30) corresponding to the light source (61) is the second surface (33); the third surface (34) is arranged opposite to the first surface (32) and is inclined relative to the first surface (32); the first surface (32) is provided with a pattern; and the surface of the light-diffusing plate (30) except the first surface (32) and the second surface (33) is provided with an inwardly reflective coating.

8. The visual-tactile sensor according to claim 1, wherein: The housing (10) is provided with a connection hole (121) and a positioning hole (122), wherein the connection hole (121) is used for connection with the robot, and the positioning hole (122) is used for positioning with the robot.

9. The visual-tactile sensor according to claim 8, wherein: The visual-tactile sensor further comprises a perforated plate (70) arranged in the housing (10), wherein the perforated plate (70) is arranged corresponding to the connecting hole (121) and the positioning hole (122).

10. The visual-tactile sensor according to claim 1, wherein The housing (10) comprises a front cover (11) and a rear cover (12), wherein the front cover (11) and the rear cover (12) are detachably connected, the front cover (11) is provided with a stepped hole (111) adapted to the light-transmitting plate (22), the front end surface of the light-transmitting plate (22) is provided with a retaining edge structure (221), and the retaining edge structure (221) is connected to the stepped structure of the stepped hole (111).

11. A robot, characterized in that: The method comprises the visual-tactile sensor according to any one of claims 1 to 10.

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