Splicing type multi-mode sensing module and mechanical equipment comprising same

Abstract

The invention discloses a splicing type multi-mode sensing module and mechanical equipment comprising the same, and the sensing module comprises a bottom plate which is of a regular polygon plate-shaped structure; the optical detection assembly comprises a photosensitive device and a light source device; the microphone is mounted on the bottom plate; the elastic shell is installed on the bottom plate and wraps the optical detection assembly and the microphone, a shielding structure is arranged on the inner wall of the elastic shell, and the shielding structure is arranged between the photosensitive device and the light source device. The elastic shell deforms under the action of external force, and the shielding structure can shield a light path between the photosensitive device and the light source device, so that the photosensitive device detects the light intensity change and indirectly detects the external force; moreover, external vibration can be detected through the microphone, so that fusion perception of low-frequency acting force and high-frequency vibration is realized; the splicing type multi-mode sensing modules can be spliced with one another and can be assembled in a modularized mode. The invention relates to the technical field of sensors.

Description

Technical Field

[0001] This invention relates to the field of sensor technology, and in particular to a spliced ​​multimodal sensing module and a mechanical device including the same. Background Technology

[0002] More and more mechanical equipment is now equipped with tactile sensing devices, which can detect the magnitude, location, and direction of external forces, enabling the equipment to perceive its environment and perform corresponding actions more effectively. Especially in the field of robotics, to achieve human-like intelligent behavior, robots must possess comprehensive environmental perception capabilities. Current research mainly focuses on tactile sensing at the end effector of robotic hands to improve grasping and manipulation capabilities, while insufficient tactile sensing over large areas of other robot parts (such as the torso and limbs) limits the robot's overall perception capabilities in complex working environments, making it difficult to fully guarantee the safety and user-friendliness of human-robot interaction.

[0003] In addition, current tactile sensing devices can only detect and sense low-frequency external forces, but cannot respond to high-frequency vibrations. This prevents mechanical equipment from performing more diverse detection and analysis of the external environment under more complex force conditions, which may cause collisions or even damage to the mechanical equipment during operation.

[0004] Therefore, how to increase the tactile area of ​​sensing devices and how to solve the problem of single sensing modality are among the urgent technical challenges that need to be addressed in current sensing devices. Summary of the Invention

[0005] The present invention aims to at least solve one of the aforementioned technical problems existing in the prior art. To this end, this application proposes a spliced ​​multimodal sensing module, which can increase the tactile area of ​​the sensing device to fully sense external forces, and can detect low-frequency external forces and high-frequency vibrations, and comprehensively analyze the force situation.

[0006] This application also proposes a mechanical device having the above-mentioned spliced ​​multimodal sensing module.

[0007] The spliced ​​multimodal sensing module according to a first aspect embodiment of this application includes: The base plate is a regular polygonal plate structure; An optical detection assembly includes a photosensitive device and a light source device, both of which are mounted on the base plate, and the light source device is capable of emitting light toward the photosensitive device. A microphone, which is mounted on the base plate; An elastic housing is mounted on the base plate and covers the optical detection component and the microphone. The inner wall of the elastic housing is provided with a shielding structure, which is disposed between the photosensitive device and the light source device. Pressing the elastic housing can cause the shielding structure to block the light path between the photosensitive device and the light source device. The optical detection components and microphones are multiple in number. Vibration is transmitted to the microphones through the elastic shell and the base plate. The spliced ​​multimodal sensing modules can be spliced ​​together, and the base plates of adjacent spliced ​​multimodal sensing modules are adjacent to each other.

[0008] The spliced ​​multimodal sensing module according to the embodiments of this application has at least the following beneficial effects: the elastic shell deforms under the action of external force, which enables the blocking structure to block the optical path between the photosensitive device and the light source device, so that the photosensitive device detects the change in light intensity and indirectly detects the external force; moreover, the microphone can detect external vibrations, thereby realizing the fusion perception of low-frequency forces and high-frequency vibrations, and the detection frequency band covers both high and low frequencies; each spliced ​​multimodal sensing module can also be spliced ​​with each other, and can be modularly assembled to meet the needs of different working occasions.

[0009] According to some embodiments of this application, the base plate is a regular hexagonal plate structure.

[0010] According to some embodiments of this application, the elastic outer shell has a regular hexagonal shell structure and is adapted to the shape of the base plate, and the edge of the elastic outer shell is connected to the edge of the base plate.

[0011] According to some embodiments of this application, the elastic shell is a silicone component.

[0012] According to some embodiments of this application, the surface of the resilient shell is black.

[0013] According to some embodiments of this application, the optical detection components and the microphone are arranged in a circular array around the center of the base plate.

[0014] According to some embodiments of this application, the optical paths in each of the optical detection components pass through the center of the base plate.

[0015] According to some embodiments of this application, the spliced ​​multimodal sensing module further includes a circuit board, on which the photosensitive device, the light source device and the microphone are all integrated, and the circuit board is fixedly connected to the base plate.

[0016] According to some embodiments of this application, a control system is provided on the circuit board. The control system is electrically connected to the photosensitive device, the light source device and the microphone, and is used to collect optical and acoustic signals for comprehensive analysis.

[0017] According to a second aspect of this application, a mechanical device includes a mechanical body and a plurality of the above-described spliced ​​multimodal sensing modules, wherein each of the spliced ​​multimodal sensing modules is spliced ​​together and mounted on the surface of the mechanical body.

[0018] The mechanical device according to the embodiments of this application has at least the following beneficial effects: by installing multiple spliced ​​multimodal sensing modules, the contact area between the mechanical body and external forces can be increased, thereby fully sensing the external environment through touch and providing better guidance for the movement of the mechanical device.

[0019] 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

[0020] The accompanying drawings are used to provide a further understanding of the technical solutions disclosed in this application and form part of the specification. They are used together with the embodiments disclosed in this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions disclosed in this application.

[0021] Figure 1 This is an exploded view of the spliced ​​multimodal sensing module according to the first aspect embodiment of this application; Figure 2 This is a schematic diagram showing the distribution of optical detection components and microphones in the spliced ​​multimodal sensing module according to the first aspect embodiment of this application; Figure 3 This is a flowchart illustrating the signal conversion, acquisition, and processing of a spliced ​​multimodal sensing module according to the first aspect of this application.

[0022] Reference numerals: 100-base plate, 200-optical detection assembly, 210-photosensitive device, 220-light source device, 300-microphone, 400-elastic housing, 410-shielding structure, 500-circuit board. Detailed Implementation

[0023] The embodiments of this application are described in detail below. Examples of these embodiments are shown 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.

[0024] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this application.

[0025] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0026] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0027] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are 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.

[0028] More and more mechanical equipment is now equipped with tactile sensing devices, which can detect the magnitude, location, and direction of external forces, enabling the equipment to perceive its environment and perform corresponding actions more effectively. Especially in the field of robotics, to achieve human-like intelligent behavior, robots must possess comprehensive environmental perception capabilities. Current research mainly focuses on tactile sensing at the end effector of robotic hands to improve grasping and manipulation capabilities, while insufficient tactile sensing over large areas of other robot parts (such as the torso and limbs) limits the robot's overall perception capabilities in complex working environments, making it difficult to fully guarantee the safety and user-friendliness of human-robot interaction.

[0029] In addition, current tactile sensing devices can only detect and sense low-frequency external forces, but cannot respond to high-frequency vibrations. This prevents mechanical equipment from performing more diverse detection and analysis of the external environment under more complex force conditions, which may cause collisions or even damage to the mechanical equipment during operation.

[0030] Therefore, how to increase the tactile area of ​​sensing devices and how to solve the problem of single sensing modality are among the urgent technical challenges that need to be addressed in current sensing devices.

[0031] To address this, this application proposes a spliced ​​multimodal sensing module. The elastic shell deforms under external force, allowing the blocking structure to obstruct the optical path between the photosensitive device and the light source device. This enables the photosensitive device to detect changes in light intensity and indirectly detect external forces. Furthermore, a microphone can detect external vibrations, achieving fusion sensing of low-frequency forces and high-frequency vibrations, with a detection frequency band covering both high and low frequencies. The various spliced ​​multimodal sensing modules can also be interconnected, enabling modular assembly to meet the needs of different working environments.

[0032] In addition, this application also proposes a mechanical device that, by installing multiple spliced ​​multimodal sensing modules, can increase the contact area between the mechanical body and external forces, thereby fully sensing the external environment through touch and providing better guidance for the movement of the mechanical device.

[0033] Reference Figure 1 The spliced ​​multimodal sensing module in the first aspect embodiment of this application includes a base plate 100, an optical detection component 200, a microphone 300, and an elastic housing 400. The base plate 100 serves as a structural component, supporting the optical detection component 200, the microphone 300, and the elastic housing 400. The optical detection component 200 detects low-frequency external forces through optical detection, while the microphone 300 detects high-frequency external vibrations through acoustic detection. By fusing the detection data from the optical detection component 200 and the microphone 300, a more comprehensive tactile perception of the external environment can be achieved. The elastic housing 400 directly withstands external forces and deforms under the influence of these forces, triggering the optical detection component 200.

[0034] Specifically, the base plate 100 is a regular polygonal plate structure. Its function is that when there are multiple spliced ​​multimodal sensing modules arranged closely together, the base plates 100 of adjacent multimodal sensing modules can be adjacent to each other to achieve the effect of splicing and combination.

[0035] The optical detection assembly 200 includes a photosensitive device 210 and a light source device 220, both mounted on the base plate 100. The light source device 220 emits light to the photosensitive device 210. The photosensitive device 210 detects the light intensity; once the light intensity changes, the photosensitive device 210 can detect the intensity difference and determine the magnitude of the external force based on this. The microphone 300 is mounted on the base plate 100.

[0036] The elastic housing 400 is mounted on the base plate 100 and covers the optical detection assembly 200 and the microphone 300, serving to protect them. Notably, the inner wall of the elastic housing 400 is provided with a shielding structure 410, positioned between the photosensitive device 210 and the light source device 220. Pressing the elastic housing 400 causes the shielding structure 410 to move, blocking the light path between the photosensitive device 210 and the light source device 220. Consequently, the light intensity sensed by the photosensitive device 210 changes, indirectly detecting external forces.

[0037] Vibration can be transmitted to microphone 300 through elastic housing 400 and base plate 100. There are multiple optical detection components 200 and microphones 300. When an external force acts on elastic housing 400, if some optical detection components 200 detect a larger change in light intensity, it indicates that the external force is applied closer to the optical detection component 200 with the largest change in light intensity. Similarly, when external vibration acts on elastic housing 400, if some microphones 300 detect a larger vibration noise, it indicates that the vibration location is closer to the microphone 300 with the largest vibration noise.

[0038] Optionally, the specific shape of the base plate 100 can be a plate-like structure such as an equilateral triangle, square, regular pentagon, or regular hexagon. This allows the base plates 100 of adjacent multimodal sensing modules to be joined together seamlessly when multiple spliced ​​multimodal sensing modules are connected. In this embodiment, the base plate 100 is a regular hexagonal plate-like structure.

[0039] Furthermore, the elastic outer shell 400 has a hexagonal shell structure and is adapted to the shape of the base plate 100. The edge of the elastic outer shell 400 is connected to the edge of the base plate 100, thereby fully covering the top of the base plate 100.

[0040] Furthermore, the elastic outer shell 400 is made of silicone, which has good elasticity and flexibility. It can recover its original shape after being subjected to a large external force, which is beneficial for long-term work.

[0041] Furthermore, the surface of the elastic housing 400 is black, which serves to block light. In some embodiments, a layer of black paint may be applied to the surface of the elastic housing 400, or the elastic housing 400 itself may be mixed with black dye during manufacturing to make the whole body black; in other embodiments, a black light-blocking layer may also be installed on the surface of the elastic housing 400 to achieve a light-blocking effect.

[0042] Furthermore, referring to Figure 2The optical detection component 200 and the microphone 300 are arranged in a circular array around the center of the base plate 100. This uniform distribution makes it easier to estimate the location of external forces and vibrations, thus improving the detection accuracy of the location of action.

[0043] Furthermore, the optical paths in each optical detection component 200 all pass through the center of the base plate 100.

[0044] Furthermore, this spliced ​​multimodal sensing module also includes a circuit board 500, on which the photosensitive device 210, the light source device 220, and the microphone 300 are all integrated. The circuit board 500 is fixedly connected to the base plate 100. The circuit board 500 can, on the one hand, limit the position of the photosensitive device 210, the light source device 220, and the microphone 300, reducing the risk of unstable installation and loosening; on the other hand, it can improve the integration of this spliced ​​multimodal sensing module, making the structure more compact.

[0045] Furthermore, a control system is provided on the circuit board 500. The control system is electrically connected to the photosensitive device 210, the light source device 220, and the microphone 300, and is used to collect optical and acoustic signals for comprehensive analysis. Specifically, the control system includes, but is not limited to, a light source driving circuit, a photosensitive device signal conditioning and amplification circuit, a microphone front-end amplification and filtering circuit, an analog-to-digital conversion unit, a data acquisition and wireless transmission unit, and an inter-module communication interface circuit.

[0046] Reference Figure 3 The signal analysis process of this spliced ​​multimodal sensing module is as follows: the photosensitive device 210 transmits the detected light intensity change value to the photoelectric conversion module to obtain an electrical signal, the microphone 300 transmits the detected acoustic change value to the vibration module for signal amplification, the two signals enter the signal acquisition module for fusion, and are transmitted to the external PC through the signal wireless transmission module. The PC performs further signal processing and analysis to complete the comprehensive analysis of low-frequency and high-frequency signals.

[0047] The mechanical device in the second aspect embodiment of this application includes a mechanical body and multiple spliced ​​multimodal sensing modules. Each spliced ​​multimodal sensing module is spliced ​​together and mounted on the surface of the mechanical body to perform tactile sensing. The mechanical device in this application includes, but is not limited to, robots, robotic arms, or machine tools.

[0048] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A spliced ​​multimodal sensing module, characterized in that, include: The base plate is a regular polygonal plate structure; An optical detection assembly includes a photosensitive device and a light source device, both of which are mounted on the base plate, and the light source device is capable of emitting light toward the photosensitive device. A microphone, which is mounted on the base plate; An elastic housing is mounted on the base plate and covers the optical detection component and the microphone. The inner wall of the elastic housing is provided with a shielding structure, which is disposed between the photosensitive device and the light source device. Pressing the elastic housing can cause the shielding structure to block the light path between the photosensitive device and the light source device. The optical detection components and microphones are multiple in number. Vibration is transmitted to the microphones through the elastic shell and the base plate. The spliced ​​multimodal sensing modules can be spliced ​​together, and the base plates of adjacent spliced ​​multimodal sensing modules are adjacent to each other.

2. The spliced ​​multimodal sensing module according to claim 1, characterized in that: The base plate is a regular hexagonal plate structure.

3. The spliced ​​multimodal sensing module according to claim 2, characterized in that: The elastic outer shell has a regular hexagonal shell structure and is adapted to the shape of the base plate, with the edge of the elastic outer shell connecting to the edge of the base plate.

4. The spliced ​​multimodal sensing module according to claim 1, characterized in that: The elastic outer shell is made of silicone.

5. The spliced ​​multimodal sensing module according to claim 1, characterized in that: The surface of the elastic shell is black.

6. The spliced ​​multimodal sensing module according to claim 1, characterized in that: The optical detection components and the microphone are arranged in a circular array around the center of the base plate.

7. The spliced ​​multimodal sensing module according to claim 6, characterized in that: The optical paths in each of the optical detection components all pass through the center of the base plate.

8. The spliced ​​multimodal sensing module according to any one of claims 1 to 7, characterized in that: The spliced ​​multimodal sensing module also includes a circuit board, on which the photosensitive device, the light source device and the microphone are all integrated, and the circuit board is fixedly connected to the base plate.

9. The spliced ​​multimodal sensing module according to claim 8, characterized in that: The circuit board is equipped with a control system, which is electrically connected to the photosensitive device, the light source device and the microphone, and is used to collect optical and acoustic signals for comprehensive analysis.

10. A mechanical device, characterized in that, It includes a mechanical body and a plurality of spliced ​​multimodal sensing modules as described in any one of claims 1 to 9, wherein each of the spliced ​​multimodal sensing modules is spliced ​​together and installed on the surface of the mechanical body.

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