Bionic finger device and intelligent equipment

Abstract

The embodiment of the utility model provides a bionic finger device and intelligent equipment. The bionic finger device comprises a transparent bottom plate; the flexible sensing piece is arranged and fixed on the transparent bottom plate in a covering manner, and a plurality of feature parts are arranged on the flexible sensing piece; and a circuit board, the circuit board is provided with a light source and an image acquisition module, the light source is used for emitting light to the flexible sensing member, and the image acquisition module is used for acquiring an image of deformation of the flexible sensing member when the flexible sensing member is pressed. According to the embodiment of the invention, the light source emits the light to the flexible sensing piece, and the image acquisition module acquires the image of the feature part on the flexible sensing piece, so that the contact position of the flexible sensing piece and the target object and the magnitude and direction of the contact force can be obtained. Therefore, the bionic finger device achieves the function of tactile perception.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of artificial intelligence devices, and particularly relates to a bionic finger device and an intelligent device. BACKGROUND

[0002] With the development of artificial intelligence technology, the functions of intelligent devices such as robots are becoming more and more powerful. Correspondingly, the tasks that can be performed by intelligent devices are becoming more and more delicate, for example, intelligent devices can be used for assembly operations and handling fragile objects, or assisting humans in various basic or tedious labor in different environments (such as agriculture, home, disabled assistance, etc.). In specific applications, in the process of performing delicate tasks, intelligent devices often need to have certain tactile perception ability to quickly adapt to different environments, therefore, it is urgent to add a component to the intelligent device that can have tactile perception ability to realize the function of tactile perception. CONTENT OF THE UTILITY MODEL

[0003] The present application aims to provide a bionic finger device and an intelligent device to solve the problem that the components of existing intelligent devices lack tactile perception ability.

[0004] In order to solve the above technical problems, the present application is implemented as follows:

[0005] In a first aspect, the present application discloses a bionic finger device, which comprises:

[0006] a transparent bottom plate;

[0007] a flexible sensing piece, which is covered and fixed on the transparent bottom plate, and is provided with a plurality of feature parts;

[0008] and a circuit board, which is provided with a light source and an image acquisition module, the light source is used for emitting light to the flexible sensing piece, and the image acquisition module is used for acquiring the image of the deformation of the flexible sensing piece under pressure.

[0009] Optionally, the flexible sensing piece comprises a flexible reflective layer and a flexible light-shielding layer; wherein,

[0010] the flexible reflective layer is provided on the side close to the transparent bottom plate, and the feature parts are provided on the flexible reflective layer;

[0011] Optionally, the flexible reflective layer is provided with a plurality of small holes, and at least part of the feature parts are arranged in the small holes.

[0012] Alternatively, the feature parts are independently provided on the side of the flexible reflective layer close to the transparent bottom plate.

[0013] The flexible light-shielding layer is connected to the flexible reflecting layer on the side away from the transparent bottom plate.

[0014] Optionally, the flexible light-shielding layer and the feature are integrally formed.

[0015] Alternatively, the flexible light-shielding layer and the feature are separate structures.

[0016] Optionally, the flexible reflecting layer is a silver silicone layer, and the flexible light-shielding layer is a black silicone layer.

[0017] Optionally, the flexible sensing member is provided with a reflecting layer on the side close to the transparent bottom plate, and the feature is arranged in the reflecting layer.

[0018] The flexible sensing member is provided with a light-shielding layer on the side away from the transparent bottom plate.

[0019] Optionally, the reflecting layer is a metal reflecting layer.

[0020] Optionally, the bionic finger device further comprises a transparent flexible support member, which is filled in the accommodating space between the transparent bottom plate and the flexible sensing member.

[0021] Optionally, the transparent bottom plate is provided with a bending portion, and the flexible support member has a clamping groove, and the bending portion is at least partially embedded in the clamping groove.

[0022] Optionally, the flexible support member and the transparent bottom plate are integrally formed, or the flexible support member and the transparent bottom plate are separate structures.

[0023] Optionally, the circuit board is provided with a hollow portion, and the light source and / or the image acquisition module are embedded in the hollow portion.

[0024] Optionally, the transparent bottom plate is provided with a hollow avoiding portion at a position opposite to the light source and / or the image acquisition module, and the light source and / or the image acquisition module are at least partially located in the avoiding portion.

[0025] Optionally, a plurality of features are arrayed on the flexible sensing member.

[0026] In a second aspect, the application further discloses an intelligent device, which comprises the bionic finger device.

[0027] In the embodiment of the present application, the flexible sensing member in the bionic finger device can be used to contact with the target object. The flexible sensing member will be deformed when it contacts with the target object, and the position and / or brightness of the feature part on the flexible sensing member will change accordingly. Therefore, by emitting light to the flexible sensing member through the light source and collecting the image of the deformation of the flexible sensing member under pressure through the image acquisition module, the contact position of the flexible sensing member and the target object and the size and direction of the contact force can be obtained, so that the bionic finger device realizes the function of tactile perception. Therefore, the human-computer interaction action is better completed, and the tactile perception function of the intelligent device applying the bionic finger device is improved.

[0028] The additional aspects and advantages of the present application will be partially given in the following description, and some will become apparent from the following description, or be understood by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0029] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0030] Figure 1 is a structural schematic diagram of a bionic finger device according to an embodiment of the present application;

[0031] Figure 2 is Figure 1 is a structural schematic diagram of a bionic finger device from another angle according to the embodiment of the present application;

[0032] Figure 3 is Figure 1 is an exploded structural schematic diagram of a bionic finger device according to the embodiment of the present application;

[0033] Figure 4 is a structural schematic diagram of a transparent bottom plate according to an embodiment of the present application;

[0034] Figure 5 is a structural schematic diagram of a flexible reflective layer according to an embodiment of the present application;

[0035] Figure 6 is a structural schematic diagram of a flexible light-shielding layer according to an embodiment of the present application;

[0036] Figure 7 is a structural schematic diagram of a flexible support according to an embodiment of the present application;

[0037] Reference signs: 10 - transparent bottom plate, 101 - bending part, 11 - flexible sensing member, 110 - feature part, 111 - flexible reflective layer, 112 - flexible light-shielding layer, 113 - small hole, 12 - circuit board, 121 - image acquisition module, 13 - flexible support, 14 - bottom shell. DETAILED DESCRIPTION

[0038] The embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, and are only used to explain the present application, and cannot be understood as a limitation of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0039] The terms "first", "second" in the description and claims of the present application can explicitly or implicitly include one or more features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in a "or" relationship.

[0040] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0041] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0042] The embodiment of the present application provides a bionic finger device, which can be used for robots, mechanical arms and other intelligent devices. Specifically, the bionic finger device can be used for directly contacting a target object.

[0043] Reference Figure 1, a structural schematic diagram of a bionic finger device is shown, referring to Figure 2 , a structural schematic diagram of the bionic finger device is shown, referring to Figure 1 , a structural schematic diagram of the bionic finger device is shown, referring to Figure 3 , a structural schematic diagram of the bionic finger device is shown, referring to Figure 1 , an exploded structural schematic diagram of the bionic finger device is shown. As shown in Figures 1 to 3 , the bionic finger device can specifically include: a transparent bottom plate 10; a flexible sensing piece 11, the flexible sensing piece 11 is covered and fixed on the transparent bottom plate 10, a plurality of feature parts 110 are arranged on the flexible sensing piece 11; and a circuit board 12, a light source and an image acquisition module 121 are arranged on the circuit board 12, the light source can be used to emit light to the flexible sensing piece 11, and the image acquisition module 121 can be used to acquire the image of the deformation of the flexible sensing piece 11 when it is pressed.

[0044] In the embodiment of the application, the flexible sensing piece 11 in the bionic finger device can be used to contact the target object. When the flexible sensing piece 11 contacts the target object, the flexible sensing piece 11 will be deformed, and the position and / or brightness of the feature part 110 on the flexible sensing piece 11 will change accordingly. Therefore, by emitting light to the flexible sensing piece 11 through the light source and acquiring the image of the deformation of the flexible sensing piece 11 when it is pressed through the image acquisition module 121, the contact position of the flexible sensing piece 11 and the target object and the size and direction of the contact force (the contact force can include pressure, friction, etc.) can be obtained, so that the bionic finger device realizes the function of tactile perception. Thus, the human-computer interaction action is better completed, and the tactile perception function of the intelligent device to which the bionic finger device is applied is improved.

[0045] In specific applications, the transparent bottom plate 10 mainly plays a role in supporting the flexible sensing piece 11 and the circuit board 12. In order to facilitate the light to pass through, the transparent bottom plate 10 also needs to have the performance of transmitting light, so as not to affect the image acquisition of the image acquisition module 121. Therefore, the transparent bottom plate 10 can be made of materials such as acrylic, glass, transparent plastic and the like which can transmit light.

[0046] As shown in Figure 4 , the shape of the transparent bottom plate 10 can be set in reference to the fingertip of the finger, that is, one end of the transparent bottom plate 10 can be designed in a semicircular shape to realize the visual effect of the bionic finger device from the appearance. Of course, in actual applications, the transparent bottom plate 10 can also be set to a rectangular, circular or the like shape according to actual conditions, and the shape of the transparent bottom plate 10 is not specifically limited in the embodiment of the application.

[0047] In a specific application, the flexible sensing member 11 can be made of a material capable of flexible deformation, such as silica gel. During the process of the flexible sensing member 11 contacting the target object, the position of the flexible sensing member 11 contacting the target object will be deformed due to the contact force applied by the target object on the flexible sensing member 11. The greater the contact force, the greater the deformation of the flexible sensing member 11. When the light source projects light onto the flexible sensing member 11, the positions of the flexible sensing member 11 that have been deformed and the positions that have not been deformed have different brightness, and for the deformed area, the degree of deformation is different, and the brightness is also different accordingly.

[0048] As shown in Figure 3 , Figure 5 , a plurality of features 110 can be arrayed on the flexible sensing member 11. Alternatively, the plurality of features 110 can also be distributed in the form of a plurality of radial lines from the center point, a plurality of concentric circles, a chessboard, etc. In the case of the flexible sensing member 11 being deformed due to the contact force, the features 110 can be used to calibrate the position where the deformation occurs. In actual application, the coordinates of each feature 110 can be calibrated, and after the light source projects onto the flexible sensing member 11 and the image acquisition module 121 acquires the image of each feature 110, the contact position of the flexible sensing member 11 and the target object and the size and direction of the contact force can be determined according to the position and brightness of the features 110 that have been deformed on the image.

[0049] In actual application, since the bionic finger device can determine the contact position and the size and direction of the contact force, in the case of the bionic finger device being applied to a smart device, during the process of human-computer interaction, the change of the contact position and the contact force can be used to send corresponding adjustment instructions to the mechanical arm controlling the bionic finger device to adjust the operation of the bionic finger device in real time, so as to realize the adaptive interaction action of the simulated finger, better realize human-computer interaction, and improve the tactile perception function of the smart device applying the bionic finger device.

[0050] In some optional embodiments of the present application, as shown in Figure 3 , the flexible sensing member 11 can include a flexible reflective layer 111 and a flexible light shielding layer 112. The flexible reflective layer 111 is arranged on the side close to the transparent bottom plate 10, and the features 110 are arranged on the flexible reflective layer 111. The flexible light shielding layer 112 is connected to the side of the flexible reflective layer 111 away from the transparent bottom plate 10. In a specific application, the flexible reflective layer 111 can be used to enhance reflection, which is conducive to the image acquisition module 121 obtaining higher quality images, thereby being conducive to further improving the accuracy of touch sensing. The flexible light shielding layer 112 can be used to shield the light outside the flexible reflective layer 111, avoiding the interference of external light on image acquisition.

[0051] Optionally, the flexible reflective layer 111 can be a silver silicone layer made of silver silicone, so that the flexible deformation can be realized, and the light reflection can be enhanced. The flexible light shielding layer 112 can be a black silicone layer made of black silicone to achieve the light shielding effect.

[0052] It should be noted that, in actual application, the flexible reflective layer 111 can also be made of white silicone or other silicones capable of enhancing reflection, and the flexible light shielding layer 112 can also be made of dark blue silicone, brown silicone or other silicones capable of shielding light. The color of the flexible reflective layer 111 and the color of the flexible light shielding layer 112 are not limited in the embodiment of the application.

[0053] In some optional embodiments of the application, the flexible light shielding layer 112 and the feature 110 can be an integrated structure, that is, the feature 110 on the flexible reflective layer 111 is formed at the same time when the flexible light shielding layer 112 is formed. In this way, on the one hand, the operation of separately processing the feature 110 can be avoided, and the processing technology of the feature 110 is simplified. On the other hand, the feature 110 can also be closely connected to the flexible light shielding layer 112 to avoid the feature 110 from falling off. In addition, since the feature 110 and the flexible light shielding layer 112 are an integrated structure, the black feature 110 can also be made of black silicone, which can form a clear distinction with the flexible reflective layer 111, thereby facilitating the feature 110 to better identify the position where the deformation occurs.

[0054] In actual application, as shown in FIG. 2, a plurality of small holes 113 can be arranged on the flexible reflective layer 111. In the process of injection molding the flexible light shielding layer 112 by using black silicone, the black silicone material can be filled into the small holes 113 to form the feature 110 at the position of the small hole 113, that is, at least part of the feature 110 is arranged in the small hole 113. Figure 5

[0055] Of course, the feature 110 can also be independently arranged on the side of the flexible reflective layer 110 close to the transparent bottom plate 10, that is, after the flexible reflective layer 110 is processed, a plurality of features 110 can be connected to the side of the flexible reflective layer 112 close to the transparent bottom plate 10.

[0056] Optionally, the flexible light shielding layer 112 and the feature 110 can also be a split structure, that is, after the flexible reflective layer 111 is processed, a plurality of features 110 can be formed on the flexible reflective layer 111, and then the flexible light shielding layer 112 is processed. The color of the flexible light shielding layer 112 and the color of the feature 110 can be the same or different, so as to further improve the setting flexibility of the feature 110 and the flexible light shielding layer 112.

[0057] ​In some alternative embodiments of this application, a reflective layer is provided on the side of the flexible sensing element 11 closest to the transparent base plate 10, and the feature portion 110 passes through the reflective layer; a light-shielding layer is provided on the side of the flexible sensing element 11 furthest from the transparent base plate 10. The reflective layer increases reflection, allowing the image acquisition module 121 to receive as much light reflected from the flexible sensing element 11 as possible, which is beneficial for imaging. The light-shielding layer provides light protection, preventing external light from affecting the imaging of the image acquisition module 121.

[0058] For example, the reflective layer can be a metal reflective layer or an ink reflective layer. Since the reflective effect of the metal reflective layer is significantly better than that of the ink reflective layer, a metal reflective layer is preferred. Specifically, the metal reflective layer can be a silver-plated layer or a gold-plated layer, etc. The light-shielding layer can be made of a black ink layer or a black paint layer, etc. This application does not specifically limit the specific color and material of the reflective layer and the light-shielding layer.

[0059] like Figures 1 to 3 As shown, the bionic finger device may further include a transparent flexible support 13, which fills the accommodating space between the transparent base plate 10 and the flexible sensing element 11. The flexible support 13 can support the flexible sensing element 11. Due to the supporting effect of the flexible support 13, the flexible sensing element 11 can better maintain its shape and improve the speed of recovery after deformation. This is beneficial for obtaining higher quality images and for better determining the contact position, magnitude, and direction of the contact force between the flexible sensing element 11 and the target object.

[0060] Specifically, the flexible support 13 can be made of flexible transparent silicone, for example, it can be made of AB silicone made of vinyl monomers with additives such as silica, so that it can have both the effect of flexible support and the property of transparency, which is conducive to the passage of light.

[0061] Optionally, the flexible support 13 and the transparent base plate 10 are integrally molded to enhance the reliability of their connection. During the processing of the flexible support 13, a shell tool with a certain shape (specifically, a curved finger-shaped shell) can be used to bond the shell and the transparent base plate 10 together, and the perimeter can be sealed with adhesive to avoid gaps. Then, the aforementioned AB silicone is placed inside the shell, left to cure, and the shell is removed after complete curing. If the shell is difficult to remove, a release agent can be sprayed onto the inner surface of the shell. After removing the shell, the flexible support 13 is formed on the transparent base plate 10.

[0062] Alternatively, the flexible support 13 and the transparent bottom plate 10 can also be in a split structure, i.e., the flexible support 13 and the transparent bottom plate 10 are separately processed, and then the flexible support 13 is connected to the transparent bottom plate 10. In the case of the split structure of the flexible support 13 and the transparent bottom plate 10, the structures of the flexible support 13 and the transparent bottom plate 10 can be relatively simple.

[0063] In some optional embodiments of the present application, as shown in Figures 1 to 4 The transparent bottom plate 10 is provided with a bending portion 101, and the flexible support 13 has a clamping groove, and the bending portion 101 is at least partially embedded in the clamping groove, so as to increase the contact area between the flexible support 13 and the transparent bottom plate 10, thereby enhancing the connection stability between the flexible support 13 and the transparent bottom plate 10.

[0064] It should be noted that in specific applications, the cross-sectional shape of the bending portion 101 can be L-shaped as shown in Figures 1 to 4 , or other shapes such as arc shape, and the embodiments of the present application do not limit this.

[0065] In some optional embodiments of the present application, the circuit board 12 is provided with a hollow portion, and the light source and / or the image acquisition module 121 are embedded in the hollow portion, so as to reduce the overall height of the circuit board 12, thereby reducing the overall height of the bionic finger device.

[0066] In some other optional embodiments of the present application, the transparent bottom plate 10 is provided with a relief portion at a position opposite to the light source and / or the image acquisition module 121, and the light source and / or the image acquisition module 121 are at least partially located in the relief portion, so as to avoid the light source and / or the image acquisition module 121 occupying additional height space, thereby facilitating the reduction of the overall height of the bionic finger device and the miniaturization design of the bionic finger device.

[0067] The following provides a processing example of the bionic finger device according to an embodiment of the present application:

[0068] First, a certain shaped shell tool can be used to bond the shell and the transparent bottom plate 10 together, and the periphery can be sealed to avoid gaps. Then, AB silicone is placed in the shell, and after standing and curing, the shell is removed, and the flexible support 13 is formed on the transparent bottom plate 10.

[0069] Then, a layer of colored silicone is coated on the flexible support 13 to obtain a flexible reflective layer 111. The color is not limited to silver as used in the example, and the flexible reflective layer 111 is uniformly distributed with through holes 113 for filling with other colors (black in the example) in the next step. The silver color is used for reflection, and the black color is used for light absorption, which facilitates imaging when the image acquisition module 121 acquires images. Specifically, during production, a shell with pins arranged inside can be used. The pin arrangement can be made according to the actual image acquisition needs and can be a matrix arrangement or a ring arrangement. The colored silicone is uniformly coated in the shell with pins, and then the flexible support layer that has been produced is tightly coupled together. After complete curing, the pin shell is removed. The flexible reflective layer 111 in the example can be transparent AB silicone mixed with silver powder, and other colored gels can also have similar effects.

[0070] Next, a light shielding layer is coated on the outermost layer of the flexible reflective layer 111. In the example, the light shielding layer is transparent AB silicone mixed with black material, which can also have similar effects with other colored silicones. The light shielding layer is uniformly coated on the surface of the flexible reflective layer and fills the through holes 113 of the flexible reflective layer to obtain a flexible light shielding layer 112 and the feature 110 embedded in the through holes 113. The light shielding layer has the function of shielding external ambient light to avoid interference of external light on image acquisition. In order to make the surface more uniform and the appearance more beautiful, a shell tool similar to the above steps can be used.

[0071] Finally, the circuit board 12 and the image acquisition module 121 are installed at the bottom of the transparent bottom plate 10. In order to protect the circuit board 12 and the functional components on the circuit board 12, a bottom shell 14 can be added to the bottom of the circuit board 12 after the circuit board 12 is assembled. The material of the bottom shell 14 can be plastic or metal, and the material of the bottom shell 14 is not limited in the example.

[0072] In summary, the bionic finger device described in the example can have at least the following advantages:

[0073] In the example, the flexible sensing member of the bionic finger device can be used to contact the target object. When the flexible sensing member contacts the target object, the flexible sensing member deforms, and the position and / or brightness of the feature on the flexible sensing member changes accordingly. Therefore, by emitting light from the light source to the flexible sensing member and acquiring the image of the deformation of the flexible sensing member under pressure by the image acquisition module, the contact position, contact force, and direction of the flexible sensing member and the target object can be obtained, so that the bionic finger device realizes the function of tactile perception. Thus, the bionic finger device can have the function of a simulated finger and better complete human-computer interaction actions and improve the tactile perception function of the intelligent device using the bionic finger device.

[0074] The embodiment of the present application provides a kind of intelligent equipment, the intelligent equipment specifically can include the bionic finger device described in any of the above embodiments. Specifically, the intelligent equipment can include but is not limited to at least one of the carrying robot and the assembly robot.

[0075] It should be noted that in the embodiment of the present application, the mechanism of the intelligent equipment is the same as the structure of the intelligent equipment described in any of the above embodiments, and the beneficial effects are similar, which will not be repeated here.

[0076] The embodiment of the present application further provides an information acquisition method, which can specifically include the following steps:

[0077] Step S11: in the case that the flexible sensing part of the bionic finger device does not contact any object, the reference image of the flexible sensing part is acquired.

[0078] In the embodiment of the present application, the bionic finger device is the bionic finger device described in any of the above embodiments, and the reference image acquired in this step and the to-be-processed image acquired in the subsequent step are collected by the image sensor 121 of the bionic finger device.

[0079] In actual application, in the case that the flexible sensing part 11 of the bionic finger device does not contact any object, the light will be reflected on the flexible sensing part 11 in the case of emitting light to the flexible sensing part 11.

[0080] Step S12: in the case that the flexible sensing part of the bionic finger device contacts the target object, the to-be-processed image of the flexible sensing part is acquired.

[0081] In specific application, in the case that the flexible sensing part 11 contacts the target object, the flexible sensing part 11 is deformed under pressure, and according to the position, size and / or direction of the pressure under pressure, a to-be-processed image is obtained. Due to the difference in position, size and / or direction of the pressure of the flexible sensing part 11 and the target object, the position, area and / or brightness of the corresponding imaging area of the deformed feature part 110 on the to-be-processed image collected by the image acquisition module 121 will be different.

[0082] Step S13: according to the reference image and the to-be-processed image, the pressure information received by the flexible sensing part is acquired, and the pressure information includes: the position, size and / or direction of the pressure.

[0083] In specific application, according to the difference in position, area and / or brightness of the corresponding imaging area of the feature part 110 on the reference image and the to-be-processed image, the contact position and the position, size and / or direction of the pressure can be determined, and the function of tactile perception is realized.

[0084] Optionally, the step of obtaining pressure information according to the reference image and the image to be processed can comprise the following sub-steps, comprising:

[0085] Sub-step S131: obtaining position change information, area change information and / or brightness change information of the imaging area corresponding to each feature part according to the reference image and the image to be processed.

[0086] In a specific application, after imaging, each feature part 100 corresponds to an imaging area on the reference image and the image to be processed. Based on the comparative analysis of the reference image and the image to be processed, the position change information (for example, the position change information of the reference point (for example, the center point) on the imaging area on the reference image and the image to be processed), the area change information (for example, the area size change and / or the area growth direction of the imaging area) and / or the brightness change information of the imaging area corresponding to each feature part 110 can be obtained.

[0087] Sub-step S132: obtaining the pressure information according to the position change information, the area change information and / or the brightness change information of the imaging area.

[0088] Due to the different contact positions and / or the size and direction of the contact force of the flexible sensing part 11 and the target object, the position, area and brightness of the imaging area corresponding to the deformed feature part 110 on the image collected by the image acquisition module 121 will be different. For example, the position of the pressure can be determined according to the imaging area with changed position; the greater the area growth, the greater the pressure; the greater the brightness change, the greater the pressure; the area growth direction is related to the pressure direction. Therefore, according to the position change information, the area change information and the brightness change information of the deformed feature part 110, the position, size and direction of the contact force and other pressure information can be determined, and the function of tactile sensing can be realized.

[0089] In addition, the pressure information can also be obtained according to the position change information, the area change information and / or the brightness change information of the non-imaging area (i.e. the background area) on the reference image and the image to be processed.

[0090] In actual application, since the bionic finger device can determine the pressure information of the contact force, in the case that the bionic finger device is applied to a smart device, during the process of human-computer interaction, the corresponding adjustment instruction can be sent to the robot arm controlling the bionic finger device according to the pressure information, the operation of the bionic finger device is adjusted in real time, the adaptive interaction action of the simulated finger is realized, the human-computer interaction is better realized, and the tactile sensing function of the smart device applying the bionic finger device is improved.

[0091] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0092] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made thereto without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A bionic finger device, characterized in that, The bionic finger device comprises: a transparent bottom plate (10); a flexible sensing member (11) covered and fixed on the transparent bottom plate (10), the flexible sensing member (11) being provided with a plurality of features (110); and a circuit board (12) provided with a light source for emitting light to the flexible sensing member (11) and an image acquisition module (121) for acquiring images of the deformation of the flexible sensing member (11) under pressure.

2. The bionic finger device according to claim 1, characterized in that, The flexible sensing member (11) comprises a flexible reflective layer (111) and a flexible light-shielding layer (112); wherein, the flexible reflective layer (111) is provided on the side close to the transparent bottom plate (10), and the features (110) are provided on the flexible reflective layer (111); the flexible light-shielding layer (112) is connected to the side of the flexible reflective layer (111) away from the transparent bottom plate (10).

3. The bionic finger device according to claim 2, characterized in that, The flexible reflective layer (111) is provided with a plurality of small holes, and at least part of the features (110) are arranged in the small holes; Alternatively, the features (110) are independently provided on the side of the flexible reflective layer (111) close to the transparent bottom plate (10).

4. The bionic finger device according to claim 2, characterized in that, The flexible light-shielding layer (112) and the features (110) are an integral structure; Alternatively, the flexible light-shielding layer (112) and the features (110) are a split structure.

5. The bionic finger device according to any one of claims 2-4, characterized in that, The flexible reflective layer (111) is a silver-colored silica gel layer, and the flexible light-shielding layer (112) is a black-colored silica gel layer.

6. The bionic finger device according to claim 1, characterized in that, The side of the flexible sensing member (11) close to the transparent bottom plate (10) is provided with a reflective layer, and the features (110) are arranged in the reflective layer; The side of the flexible sensing member (11) away from the transparent bottom plate (10) is provided with a light-shielding layer.

7. The bionic finger device according to claim 6, characterized in that, The reflective layer is a metal reflective layer.

8. The bionic finger device according to claim 1, characterized in that, The bionic finger device further comprises a transparent flexible support member (13) filled in the accommodating space between the transparent bottom plate (10) and the flexible sensing member (11).

9. The bionic finger device according to claim 8, characterized in that, The transparent bottom plate (10) is provided with a bending portion (101), and the flexible support member (13) has a clamping groove, and the bending portion (101) is at least partially embedded in the clamping groove.

10. The bionic finger device according to claim 8, characterized in that, The flexible support member (13) and the transparent bottom plate (10) are an integral structure, or the flexible support member (13) and the transparent bottom plate (10) are a split structure.

11. The bionic finger device according to claim 1, characterized in that, The circuit board (12) is provided with a hollow portion, and the light source and / or the image acquisition module (121) are embedded in the hollow portion.

12. The bionic finger device according to claim 1, characterized in that, The transparent bottom plate (10) is provided with a hollow avoiding portion at a position opposite to the light source and / or the image acquisition module (121), and the light source and / or the image acquisition module (121) are at least partially located in the avoiding portion.

13. The bionic finger device according to any one of claims 1-4, 6-12, characterized in that, A plurality of features (110) are arrayed on the flexible sensing member (11).

14. A smart device, comprising: The intelligent device comprises the bionic finger device of any one of claims 1 to 13.

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