Tactile assembly and robot

Abstract

The invention discloses a tactile assembly and a robot. The touch component comprises a flexible whisker, a triggering mechanism and a control unit; the flexible whisker can interact with the external environment through deformation; the trigger mechanism is used for converting the deformation of the flexible whisker into an electric signal; the control unit can send out instructions according to the electric signals. The tactile component provided by the invention has a wide application range.

Description

Technical Field

[0001] This application belongs to the field of robot sensing technology, specifically relating to a tactile component and a robot. Background Technology

[0002] In related technologies, mobile robots commonly use infrared, ultrasonic, or visual (such as cameras and lidar) sensors to achieve obstacle avoidance and fall prevention functions. However, these technologies are all susceptible to interference from the external environment or have blind spots, resulting in limited detection range and affecting the robot's obstacle avoidance capabilities. Summary of the Invention

[0003] This application aims to provide a tactile component and robot that addresses at least one of the problems of the prior art.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows: According to a first aspect of this application, a tactile component is provided, comprising: Flexible tentacles, which can interact with the external environment through deformation; A triggering mechanism for converting the deformation of the flexible tentacles into electrical signals; The control unit is capable of issuing commands to external entities based on the electrical signals.

[0005] Optionally, the triggering mechanism is disposed inside the flexible tentacle; and / or, The flexible tendril has a root and an end, the root being used to connect to an external structure, the end being a free end, and the triggering mechanism being at least partially disposed at the root of the flexible tendril.

[0006] Optionally, the triggering mechanism may be a mechanical switch, photoelectric, or magnetic switch.

[0007] Optionally, the triggering mechanism includes a micro switch, which is disposed on the flexible contact and connected to the control unit. When the flexible contact is deformed, the micro switch can be turned on or off.

[0008] Optionally, the triggering mechanism includes a light-blocking element and a light interruptor, the light interruptor being connected to the control unit; The light interruptor has a transmitter and a receiver, and the receiver is capable of receiving the light emitted by the transmitter. When the flexible whiskers deform, the light-shielding component can block the light emitted from the transmitter to the receiver.

[0009] Optionally, the light-shielding element is a light-shielding sheet, which is connected to the root of the flexible tendrils, and the transmitting end and the receiving end are respectively disposed on both sides of the light-shielding sheet.

[0010] Optionally, the triggering mechanism includes a magnetic component and a Hall sensor, the Hall sensor being connected to the control unit; The magnetic element and the Hall sensor are spaced apart on the flexible whisker. When the flexible whisker deforms, the relative positions of the Hall sensor and the magnetic element can change.

[0011] Optionally, it also includes a signal processing unit connected to the triggering mechanism, which is used to receive and process the electrical signal, and the control unit can issue commands to the outside based on the processed electrical signal.

[0012] Optionally, the signal processing unit includes one or more of the following: acquisition circuit, filtering circuit, amplification circuit, and comparison circuit.

[0013] According to a second aspect of this application, a robot is provided, comprising: The robot body and one or more tactile components as described in the first aspect; One or more of the tactile components are disposed on the robot body, and the control unit can issue action commands to the drive system of the robot body according to the electrical signals.

[0014] In the embodiments of this application, the flexible tentacles can interact with the external environment through deformation, and the triggering mechanism can convert this deformation into an electrical signal, so that the control unit can issue corresponding instructions to the outside world according to the electrical signal. It is less affected by environmental interference and has a wide range of applications.

[0015] When applied to robots, it enables robots to sense the presence of objects without directly contacting them, achieving non-contact or pre-contact detection, thereby improving the robot's obstacle avoidance capabilities.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 A schematic diagram of the tactile component provided in this application; Figure 2 This is a schematic diagram of the mechanical switch-type triggering mechanism provided in this application; Figure 3This is a schematic diagram of the photoelectric triggering mechanism provided in this application; Figure 4 This is a schematic diagram of the magnetic triggering mechanism provided in this application; Figure 5 This is a schematic diagram of the robot provided in this application; Figure 6 yes Figure 5 Top view; Figure 7 This is a schematic diagram of the main control circuit of the robot provided in this application.

[0018] Figure label: 1. Flexible tentacles; 2. Triggering mechanism; 21. Micro switch; 22. Magnetic component; 23. Hall sensor; 24. Light shield; 25. Light interruptor; 251. Transmitter; 252. Receiver; 3. Control unit; 4. Signal processing unit; 5. Robot body. Detailed Implementation

[0019] Embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application are within the scope of protection of this application.

[0020] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0021] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0022] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0023] The following is combined with Figures 1-7 This application describes a tactile component and a robot according to embodiments thereof.

[0024] like Figures 1 to 4 As shown, according to a first aspect of this application, a tactile component is provided, including a flexible tentacle 1, a triggering mechanism 2, and a control unit 3; the flexible tentacle 1 is capable of interacting with the external environment through deformation; the triggering mechanism 2 is used to convert the deformation of the flexible tentacle 1 into an electrical signal; and the control unit 3 is capable of issuing commands to the outside world according to the electrical signal.

[0025] Specifically, in this embodiment, the flexible tentacle 1, as a front-end interactive component, possesses flexible deformation characteristics, allowing it to directly contact the external environment and adapt to contact pressure and angle, providing a physical basis for subsequent signal conversion. The triggering mechanism 2 connects the flexible tentacle 1 and the control unit 3. Its core function is to accurately convert the mechanical deformation signal of the tentacle into a recognizable electrical signal, realizing the conversion of mechanical energy into electrical energy. The control unit 3, as a terminal command component, receives the electrical signal output by the triggering mechanism 2, analyzes and processes it based on signal characteristics, and ultimately issues corresponding action commands. The overall structure achieves a closed-loop process of "environmental interaction - signal conversion - command output."

[0026] In the above structure, the tactile component can achieve non-contact detection of mobile devices such as robots through the pre-deformation characteristics of the flexible tentacles 1. For example, when a robot or mobile device is moving and is near or close to obstacles such as steps, the flexible tentacles 1 contact the obstacle before the device body, or deform due to force field traction or airflow disturbance. This deformation can trigger the subsequent signal conversion process without the mobile device having to make contact. The triggering mechanism 2 can capture the deformation of the flexible tentacles 1 and convert it into an electrical signal, avoiding the limitations of traditional contact sensors that must be in direct contact with the target, or the problems of infrared sensors being susceptible to environmental interference or having blind spots, resulting in poor detection of specific objects. The control unit 3 can determine the relative distance and orientation between the tentacles and external objects based on the strength, frequency, and other characteristics of the electrical signal, thereby expanding the application boundaries of the tactile component in fine detection scenarios.

[0027] Furthermore, the flexible tentacle 1 possesses sensitive deformation response characteristics, enabling it to detect the presence of an obstacle and deform as soon as the tactile component approaches it. Compared to traditional rigid sensors, its triggering timing is earlier and its response distance is farther. After the triggering mechanism 2 converts the deformation signal into an electrical signal, the degree of deformation of the tentacle can be distinguished by the signal strength, thereby reflecting the distance between the component and the obstacle. Based on the different characteristics of the electrical signal, the control unit 3 can output graded obstacle avoidance commands, such as implementing a stepped obstacle avoidance action of "early warning, deceleration and avoidance, and emergency stop". The tactile component provided in this application can extend the obstacle avoidance reaction time and refine the obstacle avoidance action levels, effectively reducing the risk of collision or fall and significantly improving the obstacle avoidance reliability of the device in complex environments.

[0028] In the above structure, the flexible contact 1 can be made of nylon or soft plastic, and the triggering mechanism 2 can be set inside or outside the flexible contact 1. The shape, length, diameter and other parameters of the flexible contact 1 can be designed according to actual needs, and there are no restrictions on them.

[0029] Optionally, such as Figures 1 to 4 As shown, the triggering mechanism 2 is disposed inside the flexible contact 1; and / or, the flexible contact 1 has a root and an end, the root being used to connect with an external structure, the end being a free end, and the triggering mechanism 2 is at least partially disposed at the root of the flexible contact 1.

[0030] Specifically, in this embodiment, the trigger mechanism 2 is built into the flexible tentacle 1, achieving integrated design of the tentacle and triggering component, significantly reducing the overall size of the component and optimizing structural compactness. The built-in design also effectively isolates the trigger mechanism 2 from external dust, moisture, and other impurities, improving its environmental adaptability and operational stability, and preventing damage caused by external impacts. Simultaneously, the significantly reduced distance between the trigger mechanism 2 and the deformed part of the tentacle allows for more direct and rapid capture of subtle tentacle deformations, reducing signal transmission path loss and delay, significantly improving the sensitivity and accuracy of electrical signal conversion, and ensuring the real-time response of the control unit 3 to tentacle deformation. This design is suitable for miniaturized, high-precision tactile detection scenarios.

[0031] In one embodiment, the root of the flexible tentacle 1 serves as the connection point to the external structure. This location offers high stability and relatively controllable deformation. By placing at least a portion of the trigger mechanism 2 at the root, the structural stability of the root can reduce the impact of high-frequency tentacle deformation on the connection reliability of the trigger mechanism 2, preventing loosening due to prolonged pulling. Simultaneously, the root's proximity to the external mounting structure facilitates wiring between the trigger mechanism 2 and the control unit 3, reducing wiring complexity. Furthermore, as the torque fulcrum for tentacle deformation, the root offers high deformation transmission efficiency. The trigger mechanism 2 can accurately identify the deformation torque of the tentacle in different directions and angles, and the output electrical signal can more accurately reflect the contact state of the external environment, improving the tactile perception accuracy of the component.

[0032] Optionally, such as Figures 1 to 4 As shown, the triggering mechanism 2 can be a mechanical switch, photoelectric, or magnetic switch.

[0033] Specifically, the mechanical switch trigger mechanism 2 is a device that achieves signal conversion through mechanical contact and linkage. When the flexible contact 1 deforms, it pushes or pulls the spring and contact inside the switch, causing the contact to switch from an open state to a closed state, or from a closed state to an open state, thereby generating an on / off electrical signal. The mechanical switch trigger mechanism 2 has a flexible setting method; it can be built into the flexible contact 1 or assembled at the junction of the contact root and the external connection structure. It directly drives the switch action by using the mechanical force of the contact deformation. It has a simple structure, low cost, strong anti-interference ability, and can stably identify large deformations of the contact, making it suitable for coarse obstacle avoidance scenarios where high detection accuracy is not required.

[0034] In one embodiment, the photoelectric triggering mechanism 2 is a non-contact signal conversion device designed based on the principle of light signal blocking and reflection. The triggering mechanism 2 integrates a light-emitting element and a photosensitive element. When the tentacle is in its natural state, the photosensitive element can receive the light signal emitted by the light-emitting element. When the tentacle deforms, it blocks or reflects the light signal, causing a change in the luminous flux received by the photosensitive element, which is then converted into an electrical signal. The photoelectric triggering mechanism 2 can be embedded inside the flexible tentacle 1. It has a fast response speed, no mechanical wear, and can detect minute deformations of the tentacle, making it suitable for high-precision tactile sensing and non-contact detection scenarios.

[0035] In one embodiment, the magnetic trigger mechanism 2 is a device that achieves signal conversion based on changes in the magnetic field and the Hall effect. The magnetic trigger mechanism 2 incorporates a Hall element and a permanent magnet. In its natural state, the flexible whisker 1 is in a stable magnetic field environment. When the whisker deforms, it causes the permanent magnet or Hall element to shift, changing the magnetic induction intensity and direction of the magnetic field. The Hall element converts the magnetic field change into a linear electrical signal. The magnetic trigger mechanism 2 can have the permanent magnet mounted at the end of the whisker and the Hall element fixed at the root of the whisker, or both integrated inside the whisker. It offers precise output signals, strong resistance to vibration and shock, and a long service life. It can accurately distinguish the direction and amplitude of whisker deformation, making it suitable for high-precision tactile detection and obstacle avoidance control in complex environments.

[0036] Optionally, such as Figure 1 and Figure 2 As shown, the triggering mechanism 2 includes a micro switch 21, which is disposed on the flexible contact 1 and connected to the control unit 3. When the flexible contact 1 is deformed, the micro switch 21 can be turned on or off.

[0037] Specifically, in this embodiment, the triggering mechanism 2 uses a micro switch 21 as the actuating component, which can be directly fixed to the root, side wall or built into the hollow cavity of the flexible tentacle 1. It is linked with the tentacle body through the bracket and connecting rod. The micro switch 21 is stably connected to the control unit 3 through the wire, and the wiring fits the tentacle installation path without affecting the flexibility of the tentacle deformation.

[0038] Furthermore, the micro switch 21 possesses high sensitivity and reliable switching characteristics. The flexible contact 1 can drive the switch contact to move by undergoing a slight deformation, realizing the switching between the on and off states. It accurately converts mechanical deformation into on / off electrical signals. Its structure is simple and easy to assemble, with controllable cost, strong anti-electromagnetic interference capability, and can adapt to high-frequency deformation triggering scenarios. At the same time, the switch contact is stable, which can ensure the reliability of long-term use and adapt to basic tactile sensing needs such as component coarse obstacle avoidance and contact positioning.

[0039] Optionally, such as Figure 1 and Figure 3 As shown, the triggering mechanism 2 includes a light-shielding member and a light-blocking device 25, which is connected to the control unit 3. The light-blocking device 25 has a transmitting end 251 and a receiving end 252, and the receiving end 252 can receive the light emitted by the transmitting end 251. When the flexible whisker 1 is deformed, the light-shielding member can block the light emitted by the transmitting end 251 to the receiving end 252.

[0040] Specifically, in this embodiment, the triggering mechanism 2 employs a non-contact interaction between a light-shielding component and a light-blocking device 25. The transmitter 251 and receiver 252 of the light-blocking device 25 form a stable optical path. The light-shielding component deforms along with the flexible whisker 1, intervening in the optical path to quickly block light transmission. Signal switching can be completed without mechanical contact, completely eliminating mechanical wear and significantly extending the mechanism's service life. Its signal response is smooth and lag-free, accurately capturing minute deformations of the whisker, and providing a stable output electrical signal with strong anti-electromagnetic interference capabilities. When connected to the control unit 3, it enables real-time monitoring of the whisker's deformation state, adapting to high-precision tactile detection scenarios. Furthermore, this compact design allows for flexible integration or mounting onto the whisker without affecting its flexible interactive characteristics, balancing sensing accuracy and structural adaptability.

[0041] Optionally, such as Figure 1 and Figure 3 As shown, the light-shielding component is a light-shielding sheet 24, which is connected to the root of the flexible whisker 1. The transmitting end 251 and the receiving end 252 are respectively disposed on both sides of the light-shielding sheet 24.

[0042] Specifically, in this embodiment, a light-shielding plate 24 is connected to the root of the flexible whisker 1, with the transmitting end 251 and the receiving end 252 positioned on either side to form a stable optical path structure. When the flexible whisker 1 deforms, the light-shielding plate 24 at the root moves synchronously, quickly blocking or opening the optical path to achieve precise signal switching. This design relies on the stable torque transmission characteristics of the root to reduce interference from whisker tip shaking on the optical path and improve the reliability of signal triggering. Simultaneously, the root-mounted installation method facilitates wiring and assembly, does not affect the flexible interactive function of the whisker, is suitable for high-frequency deformation triggering scenarios, and balances structural compactness with sensing stability.

[0043] Optionally, such as Figure 1 and Figure 4 As shown, the triggering mechanism 2 includes a magnetic element 22 and a Hall sensor 23, which is connected to the control unit 3. The magnetic element 22 and the Hall sensor 23 are spaced apart on the flexible whisker 1. When the flexible whisker 1 deforms, the relative position of the Hall sensor 23 and the magnetic element 22 can change.

[0044] Specifically, in this embodiment, the trigger mechanism 2 adopts a configuration where the magnetic component 22 and the Hall sensor 23 are spaced apart and arranged separately at different parts of the flexible tentacle 1. It can be flexibly selected as an internal tentacle cavity or an external tentacle surface, and is conveniently connected to the control unit 3 via wires without compromising the flexible deformation characteristics of the tentacle. When the flexible tentacle 1 deforms under external force, it causes relative displacement between the magnetic component 22 and the Hall sensor 23, changing the magnetic field strength and direction between them. The Hall sensor 23 converts the magnetic field change into a linear electrical signal and transmits it to the control unit 3. This trigger mechanism 2 has no mechanical contact loss, high response sensitivity, and can accurately identify minute deformations and deformation directions of the tentacle. It has strong resistance to electromagnetic interference and environmental corrosion, is suitable for long-term stable use under complex working conditions, and significantly improves the sensing accuracy and durability of the tactile components.

[0045] Optionally, such as Figure 7 As shown, the tactile component also includes a signal processing unit 4, which is connected to the triggering mechanism 2 and is used to receive and process electrical signals. The control unit 3 can issue commands to the outside based on the processed electrical signals.

[0046] Specifically, in this embodiment, the tactile component forms a three-level signal transmission link of triggering mechanism 2-signal processing unit 4-control unit 3 by adding a signal processing unit 4. The signal processing unit 4 is directly connected to the triggering mechanism 2, can preferentially receive the original electrical signal, can filter environmental interference noise in the original signal, amplify the weak signal corresponding to the tiny deformation of the whiskers, and can also classify and analyze signals of different deformation modes to output a standardized, high signal-to-noise ratio processed signal.

[0047] Furthermore, the control unit 3 executes instructions based on this precise signal, significantly reducing the probability of false triggering and improving the timeliness and accuracy of instruction output. Meanwhile, the modular design of the signal processing unit 4 allows it to adapt to various triggering mechanisms 2, such as mechanical switches, photoelectric sensors, and magnetic sensors, enhancing component compatibility and scenario adaptability.

[0048] Optionally, such as Figure 7 As shown, the signal processing unit 4 includes one or more of the following: acquisition circuit, filtering circuit, amplification circuit, and comparison circuit.

[0049] Specifically, in this embodiment, the signal processing unit 4 integrates one or more of the following circuits: acquisition, filtering, amplification, and comparison. These circuits can be combined and configured as needed. The acquisition circuit is responsible for capturing the original electrical signal, the filtering circuit removes interference noise, the amplification circuit enhances weak deformation signals, and the comparison circuit determines the signal threshold. The modular circuit design adapts to the signal characteristics of different triggering mechanisms 2, improving the flexibility and accuracy of signal processing and ensuring the reliability of the output commands of the control unit 3.

[0050] According to the second aspect of this application, such as Figures 5 to 7 As shown, a robot is provided, including: a robot body 5 and one or more first-aspect tactile components; the one or more tactile components are all disposed on the robot body 5, and the control unit 3 can issue action commands to the drive system of the robot body 5 according to electrical signals.

[0051] Specifically, in this embodiment, the tactile components, serving as external sensing terminals for the robot, can be flexibly deployed on key parts of the robot body 5, such as limb ends, edges of the chassis, and joint connections, adapting to the structural layout requirements of robots of different shapes. Each tactile component maintains independent functional integrity, consisting of flexible tentacles 1, a triggering mechanism 2, and a control unit 3. Some solutions may also include a signal processing unit 4. The control unit 3 of each tactile component is connected to the drive system of the robot body 5, capable of receiving environmental sensing electrical signals transmitted by the tactile components and outputting targeted action commands based on these signals. This achieves organic collaboration between the sensing components and the execution subject. The modular design of the tactile components allows for adjustments in quantity and position according to the robot's application scenarios, significantly improving the overall structural adaptability and scalability.

[0052] In the above structure, the flexible tentacles 1 can directly interact with the external environment and undergo adaptive deformation. The triggering mechanism 2 converts the mechanical deformation into electrical signals, and the control unit 3 outputs action commands to the drive system based on the signal characteristics, enabling the robot to respond to external contact or non-contact stimuli in real time. The distributed layout of multiple tactile components enables all-round perception of the surrounding environment, eliminates blind spots, and significantly improves the robot's obstacle avoidance accuracy and environmental adaptability.

[0053] Compared to traditional robots that rely on a single perception mode such as vision and radar, the flexible tentacles 1 of the tactile component provided in this application mimic the way many organisms in nature use their tentacles to navigate in narrow, dark spaces. This adds a dimension of close-range, fine-grained perception to the robot's detection capabilities, effectively solving the limitations of perception in complex, confined spaces, environments with varying light levels or insufficient illumination, or when detecting objects made of soft or sound-absorbing materials. Simultaneously, the flexible design of the tactile component reduces the risk of damage from collisions with the robot's surroundings, extends the device's lifespan, and expands the application boundaries of robots in service, industry, and special operations.

[0054] In one embodiment, reference is made to... Figure 5 and Figure 6 Around the robot platform, multiple tentacle components are arranged in an array or around it. For example, the front flexible tentacle 1 is shorter and used for close-range obstacle avoidance; the side flexible tentacle 1 is longer and used for detecting passages; the flexible tentacle 1 extending diagonally downward is specifically used for preventing falls.

[0055] refer to Figure 7When the robot is moving, if the flexible tentacles 1 on the side front contact an obstacle before the robot body 5, they will bend and deform, causing the triggering mechanism 2 to send an electrical signal. The control unit 3 can then determine the location of the obstacle and instruct the robot to turn or decelerate in advance, thus improving the robot's obstacle avoidance capability. For example, when only the left flexible tentacles 1 are triggered, the control unit 3 can determine that there is an obstacle on the left and issue a "turn right" command.

[0056] When the robot approaches a step or cliff edge, its downward-extending tentacles suddenly lose support and bend under their own weight or inertia, causing the triggering mechanism 2 to send an electrical signal. The control unit 3 then immediately instructs the robot to stop moving forward or backward.

[0057] The tactile component provided in this application has a simple structure, low cost, low power consumption, and is completely unaffected by ambient light and object color. When combined with lidar or ultrasonic and vision solutions, it greatly improves the reliability and safety of the robot in complex environments, enabling the robot to move freely in any complex working conditions.

[0058] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0059] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A tactile component, characterized in that, include: Flexible tentacles (1) are capable of interacting with the external environment through deformation; Triggering mechanism (2), the triggering mechanism (2) is used to convert the deformation of the flexible whisker (1) into an electrical signal; The control unit (3) is capable of issuing commands to the outside world based on the electrical signal.

2. The tactile component according to claim 1, characterized in that, The triggering mechanism (2) is disposed inside the flexible whisker (1); and / or, The flexible whisker (1) has a root and an end, the root being used to connect with an external structure, the end being a free end, and the triggering mechanism (2) being at least partially disposed at the root of the flexible whisker (1).

3. The tactile component according to claim 1, characterized in that, The triggering mechanism (2) can be a mechanical switch, photoelectric, or magnetic.

4. The tactile component according to claim 1, characterized in that, The triggering mechanism (2) includes a micro switch (21), which is disposed on the flexible contact (1) and connected to the control unit (3). When the flexible contact (1) is deformed, the micro switch (21) can be turned on or off.

5. The tactile component according to claim 1, characterized in that, The triggering mechanism (2) includes a light-shielding element and a light interrupter (25), the light interrupter (25) being connected to the control unit (3); The light interrupter (25) has a transmitting end (251) and a receiving end (252), and the receiving end (252) is able to receive the light emitted by the transmitting end (251); When the flexible whisker (1) deforms, it can block the light emitted from the transmitter (251) to the receiver (252).

6. The tactile component according to claim 5, characterized in that, The light-shielding component is a light-shielding sheet (24), which is connected to the root of the flexible whisker (1). The transmitting end (251) and the receiving end (252) are respectively disposed on both sides of the light-shielding sheet (24).

7. The tactile component according to claim 1, characterized in that, The triggering mechanism (2) includes a magnetic component (22) and a Hall sensor (23), the Hall sensor (23) being connected to the control unit (3); The magnetic element (22) and the Hall sensor (23) are spaced apart on the flexible whisker (1). When the flexible whisker (1) deforms, the relative positions of the Hall sensor (23) and the magnetic element (22) can change.

8. The tactile component according to claim 1, characterized in that, It also includes a signal processing unit (4), which is connected to the triggering mechanism (2) and is used to receive and process the electrical signal. The control unit (3) can issue instructions to the outside based on the processed electrical signal.

9. The tactile component according to claim 8, characterized in that, The signal processing unit (4) includes one or more of the following: acquisition circuit, filtering circuit, amplification circuit, and comparison circuit.

10. A robot, characterized in that, include: The robot body (5) and one or more tactile components as described in any one of claims 1-9; One or more of the tactile components are disposed on the robot body (5), and the control unit (3) can issue action commands to the drive system of the robot body (5) according to the electrical signals.

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