Visual tactile sensor

Abstract

The utility model discloses a visual tactile sensor, which relates to the technical field of visual tactile sensors and comprises a mechanical component and an optical component. The mechanical part comprises a transparent elastic body and a transparent supporting body for supporting the transparent elastic body; the transparent elastomer is provided with a mark point pattern and a reflection pattern; the optical component comprises a light source, an image acquisition device and a light filtering device; the image acquisition device comprises a first image acquisition unit and a second image acquisition unit; the first image acquisition unit is configured to directly acquire a picture of the transparent elastomer; and the second image acquisition unit is configured to acquire a picture of the transparent elastomer passing through the light filtering device. According to the utility model, lossless texture information and accurate multi-dimensional force information can be synchronously obtained in real time at the same time.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of vision tactile sensor, especially to a vision tactile sensor. BACKGROUND

[0002] Touch is an important way for human beings to perceive the physical world and interact with it. Giving robots the ability to sense touch can significantly improve their adaptability and operation level in complex tasks. In recent years, vision tactile sensors have received widespread attention due to their ability to provide high-resolution visual information and multi-modal tactile signals simultaneously. They have gradually been applied in fields such as industrial detection, robot operation, and human-computer interaction. Such sensors usually extract object surface texture information by arranging a reflective pattern on the contact interface, and capture the deformation after force by setting a marker point pattern, thereby inferring multi-dimensional mechanical information.

[0003] However, the existing technology has significant defects: the marker point pattern causes optical interference to the reflective pattern, resulting in the acquired reflective pattern containing non-real marker features, thus unable to restore complete and undamaged original texture information.

[0004] Therefore, how to provide a vision tactile sensor that can acquire undamaged texture information and accurate multi-dimensional force information in real time and synchronously at the same time has become a technical problem that needs to be solved in the field. SUMMARY

[0005] The technical problem to be solved by the embodiments of the utility model is how to provide a vision tactile sensor that can acquire undamaged texture information and accurate multi-dimensional force information in real time and synchronously at the same time.

[0006] To solve the above problems, the embodiments of the utility model propose a vision tactile sensor, comprising:

[0007] A mechanical component, including a transparent elastomer and a transparent support supporting the transparent elastomer; the transparent elastomer is provided with a marker point pattern and a reflective pattern;

[0008] An optical component, including a light source, an image acquisition device, and a filter device; the image acquisition device includes a first image acquisition unit and a second image acquisition unit; the light source is configured to provide illumination to the transparent elastomer; the filter device is arranged on the optical path between the transparent elastomer and the second image acquisition unit; the filter device is configured to filter the reflected light of the transparent elastomer to suppress the image information of the marker point pattern; the first image acquisition unit is configured to directly acquire the picture of the transparent elastomer; the second image acquisition unit is configured to acquire the picture of the transparent elastomer passing through the filter device.

[0009] Optionally, the material of the mark point pattern is a first material; the radiation wave band of the light source includes an excitation wave band of the first material; the passing wave band of the filter device includes the radiation wave band of the light source, and a color developing wave band of the first material is at least partially located outside the passing wave band of the filter device, and the reflected light of the reflected pattern can pass through the filter device.

[0010] Optionally, the color developing wave band of the first material has no intersection with the passing wave band of the filter device.

[0011] Optionally, the wavelength difference between the color developing wave band of the first material and the radiation wave band of the light source is not less than a preset threshold.

[0012] Optionally, the first material is a photochromic material.

[0013] Optionally, the material of the reflected pattern is a second material, the material of the mark point pattern is a third material, the second material and the third material present a first color difference under the irradiation of the light source; the second material and the third material present a second color difference after being modulated by the filter device, and the second color difference is smaller than the first color difference.

[0014] Optionally, the second material and the third material are color different metal powder, silica gel or mineral powder.

[0015] Optionally, the filter device is a band-pass filter, a band-stop filter, an optical film, a colored glass filter, a liquid crystal adjustable filter, a prism, a grating, an interference filter or a polarization filter.

[0016] Optionally, the mechanical component further includes a protective layer, and the protective layer is arranged on the outer side of the transparent elastomer.

[0017] Optionally, the mechanical component further includes a reflection device configured to reflect the picture of the mechanical component to the image acquisition device.

[0018] Compared with the prior art, the technical effects that can be achieved by the embodiments of the present application include:

[0019] The core of the present application is to directly collect the picture of the transparent elastomer by the first image acquisition unit and to collect the picture of the transparent elastomer through the filter device by the second image acquisition unit: the direct imaging picture retains the mark point pattern for calculating multi-dimensional force information; the filtered picture suppresses the image information of the mark point pattern, thereby obtaining an image determined by the topography of the reflected pattern and not disturbed, and further capable of calculating high-resolution texture information. The design solves the information interference problem from the physical layer, and realizes high-precision, real-time and synchronous acquisition of lossless texture information and accurate multi-dimensional force information at the same time. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the present invention.

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0023] Figure 1 This is a schematic diagram of the structure of a visual-tactile sensor proposed in an embodiment of the present invention;

[0024] Figure 2 An exploded view of a visual-tactile sensor proposed in an embodiment of this utility model;

[0025] Figure 3 This is a schematic diagram showing the optical band relationship between the narrowband light color rendering material, the narrowband light source, and the filter device in an embodiment of this utility model;

[0026] Figure 4 This is a schematic diagram showing the optical band relationship between the second material, the third material, and the filtering device in this embodiment of the present invention.

[0027] Reference numerals

[0028] Protective layer 11, marking pattern 12, reflective pattern 13, transparent elastomer 14, transparent support 15, outer shell 16, light source 21, image acquisition device 22, filter device 23, first image acquisition unit 221, second image acquisition unit 222. Detailed Implementation

[0029] The technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Similar component reference numerals in the drawings represent similar components. Obviously, the embodiments described below are only some embodiments of this utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0030] It should be understood that the terms "comprise" and "comprising" when used in this specification and the following claims, indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0031] It should also be understood that the terms used herein the present application specification are for the purpose of describing particular embodiments and are not intended to limit the present application. As used in the present application specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0032] Participation Figures 1-2 The present application provides a visual-tactile sensor, which comprises a mechanical component and an optical component.

[0033] The mechanical component comprises a transparent elastomer 14 and a transparent support 15 supporting the transparent elastomer 14; the transparent elastomer 14 is provided with a marker point pattern 12 and a reflection pattern 13. It should be understood that the marker point pattern and the reflection pattern can be directly provided on the surface of the transparent elastomer 14, or the marker point pattern and the reflection pattern can be provided on a flexible substrate, and the flexible substrate is provided on the surface of the transparent elastomer 14. The flexible substrate can be selected to have the marker point pattern and the reflection pattern arranged alternately thereon; or the flexible substrate can be selected to have two layers, on which the marker point pattern and the reflection pattern are arranged respectively, and the two layers are stacked on the surface of the transparent elastomer 14.

[0034] When the transparent elastomer 14 is deformed under force, the change of the reflection pattern 13 directly corresponds to the texture characteristics of the contacted object, which is the key to obtaining high-resolution texture information. The marker point pattern 12 produces corresponding displacement and morphological change when the elastomer is deformed, thereby encoding multi-dimensional force information.

[0035] The optical component comprises a light source 21, an image acquisition device 22, and a light filtering device 23, the image acquisition device 22 comprises a first image acquisition unit 221 and a second image acquisition unit 222; the light source 21 is configured to provide illumination to the transparent elastomer 14; the light filtering device 23 is arranged on the light path between the transparent elastomer 14 and the second image acquisition unit 222; the light filtering device 23 is configured to filter the reflected light of the transparent elastomer 14 to suppress the image information of the marker point pattern 12; the first image acquisition unit 221 is configured to directly acquire the picture of the transparent elastomer 14; the second image acquisition unit 222 is configured to acquire the picture of the transparent elastomer 14 passing through the light filtering device 23.

[0036] Specifically, the light source 21 provides illumination for the whole system, ensuring that the marker point pattern 12 and the reflection pattern 13 can be clearly imaged. The image acquisition device 22 includes a first image acquisition unit 221 and a second image acquisition unit 222. The first image acquisition unit 221 directly acquires a picture of the transparent elastomer 14, which completely captures a clear image of the marker point pattern 12, providing raw data for mechanical calculation based on the marker point pattern 12. The second image acquisition unit 222 acquires a picture of the transparent elastomer 14 through the light filter device 23. The light first passes through the light filter device 23 before reaching the second image acquisition unit 222, so as to suppress the image information of the marker point pattern 12. The marker point pattern 12 is effectively weakened or eliminated, thereby obtaining an image determined by the topography of the reflection pattern 13 only, which is not disturbed. The image acquisition device 22 can be a binocular camera or include two independent cameras, which are not specifically limited in the present application.

[0037] By analyzing the image acquired by the first image acquisition unit 221, the multi-dimensional force information applied to the sensor can be accurately calculated, including the magnitude, direction and even the moment of the force. For example, the image acquired by the first image acquisition unit 221 is analyzed by the optical flow method and the marker point tracking algorithm. At the same time, by analyzing the image gray value of the image acquired by the second image acquisition unit 222, a depth map is obtained, and then the undamaged and high-resolution texture information of the surface of the contacted object can be directly obtained.

[0038] In some embodiments, the marker point pattern 12 is made of a first material, and the first material is a material that can develop color under the illumination of the light source 21. For example, when the light source 21 is a narrow-band light source, the first material is a narrow-band light color developing material. In the specific implementation process, the person skilled in the art can select the light source and the first material according to the needs, and the present application is not specifically limited. The radiation band of the light source 21 should include the excitation band of the first material, the pass band of the light filter device 23 should include the radiation band of the light source 21, and the color developing band of the first material is at least partially located outside the pass band of the light filter device 23, and the reflected light of the reflection pattern 13 can pass through the light filter device 23. The color developing band of the first material is the band corresponding to the specific color of light emitted by the first material under the excitation of the light source 21. The excitation band is determined by the material itself, but the color developing band is also related to the color of the material. For example, different colors of the same material emit different colors under the same light source, and the corresponding color developing bands are also different.

[0039] In a specific implementation, the light source 21 radiates light outward, and the radiated light has a certain waveband, i.e., a light source radiation waveband. The type of the light source 21 is different, and the corresponding radiated waveband is different. The primary function is illumination, and the second function is as an excitation source, which can efficiently excite the first material to emit light. The first material is a color-developing material, and the excitation waveband of the light excited by the first material after receiving the radiated light of the light source 21 is within the radiated waveband of the light source 21. This enables the excited marker point pattern 12 to form a high contrast with the reflected pattern 13 in the imaging picture of the first image acquisition unit 221, thereby generating a clear and easy-to-track marker point image for force signal calculation.

[0040] Further, the color-developing waveband of the first material is at least partially outside the passing waveband of the light filtering device 23, i.e., the light excited by the marker point pattern 12 after receiving the light source 21 cannot pass through the light filtering device 23, and at least part of the light is blocked by the light filtering device 23. At the same time, the light reflected by the reflected pattern 13 is retained because its wavelength is within the passing waveband of the light filtering device 23, i.e., the reflected light of the reflected pattern 13 can pass through the light filtering device 23. Therefore, in the picture formed by the second image acquisition unit 222, the image signal of the marker point pattern 12 is weakened, thereby obtaining a texture image determined by the morphology of the reflected pattern 13. This active optical separation method based on spectral characteristics is more direct and reliable than relying on post-processing algorithms, and ensures the losslessness of the texture information on the basis of weakening the influence of the marker point pattern 12.

[0041] In some embodiments, the color-developing waveband of the first material has no intersection with the passing waveband of the light filtering device 23, i.e., the light excited by the marker point pattern 12 after receiving the light source 21 cannot pass through the light filtering device 23, and is completely blocked by the light filtering device 23. However, the reflected light of the reflected pattern 13 can pass through the light filtering device 23. Therefore, in the picture formed by the second image acquisition unit 222, the image signal of the marker point pattern 12 is greatly weakened to be invisible, thereby obtaining a pure texture image determined by the morphology of the reflected pattern 13. See Figure 3 For example, the light source 21 is a narrow-band light source, and the first material is a narrow-band light color-developing material. The length range of each waveband should meet the requirements shown in the following table. Figure 3 This way ensures the losslessness of the texture information on the basis of eliminating the influence of the marker point pattern.

[0042] In some embodiments, the wavelength difference between the color-developing waveband of the first material and the radiated waveband of the light source 21 is not less than a preset threshold, for example, not less than 200 nanometers, which is not specifically limited in the utility model.

[0043] In specific implementation, the wavelength difference between the color developing band of the first material and the radiation band of the light source 21 is not less than 200 nanometers, which can make the emission peak of the light source 21 and the color developing peak of the first material be clearly separated on a spectral diagram, thereby allowing a filter with a steep transition band and high cutoff depth (such as a band-stop filter or a band-pass filter) to be selected, which can extremely accurately transmit one of the bands and firmly block the other band. If the two bands are too close, it is difficult to find or manufacture a filter that can efficiently transmit useful light while almost perfectly blocking interfering light, and cross talk is likely to occur, resulting in residual marker point information in the imaging picture of the second image acquisition unit 222, causing interference.

[0044] In some preferred embodiments, the first material is a photochromic material, and the photochromic material includes a stealth ink or an anti-counterfeiting fluorescent powder, which is not specifically limited in the embodiments of the present application.

[0045] Alternatively, in some embodiments, the material of the reflection pattern 13 is a second material, and the material of the marker point pattern 12 is a third material. The second material and the third material present a first color difference under the irradiation of the light source 21. The second material and the third material present a second color difference after being modulated by the filtering device 23, and the second color difference is smaller than the first color difference.

[0046] In the embodiments, the color difference is not dependent on the excited light of the material, but is inherent to the two materials (the second material is used for the reflection pattern 13, and the third material is used for the marker point pattern 12) under the irradiation of the light source 21. In the imaging picture of the first image acquisition unit 221, the color difference makes the marker point pattern 12 clearly visible, thereby being used for force information sensing. After being modulated by the filtering device 23, in the second picture, the second material and the third material present the same or extremely similar colors, so that the marker point pattern 12 is effectively integrated into the reflection pattern 13, without causing interference to the reflection pattern 13, thereby facilitating the identification of the texture information.

[0047] Referring to Figure 4 , the second material and the third material present a color difference under natural light, and the color developing light bands of the two materials under the same light source are different. A narrow-band filter is selected according to the common band range of the second material and the third material, so that only the narrow-band light can pass through. The light bands passing through the filter are the same, and the colors presented in the second picture are the same or extremely close. For example, in an embodiment, the filtering device is a red filter, which only allows red light, i.e., light with a wavelength of 620 nm-660 nm, to pass through. The second material and the third material are materials whose color developing light bands include the band, such as a red metal powder for the second material and an orange metal powder for the third material. The color developing bands of the two materials under natural light both include red light, and the colors of the two materials are the same after passing through the filter.

[0048] The advantage of this method is that the requirements for the light source 21 are more relaxed, and a common wide-spectrum white light source 21 can be used, reducing the system complexity and cost. It achieves the purpose of suppressing the marker point pattern 12 and highlighting the reflection pattern 13 in the imaging picture of the second image acquisition unit 222 through pure passive optical filtering, providing another reliable and possibly more cost-effective solution for realizing non-destructive texture detection.

[0049] In some preferred embodiments, the second material and the third material are metal powders of different colors; or, the second material and the third material are silica gels of different colors; or, the second material and the third material are mineral powders of different colors. First, metal powders, mineral powders, etc. usually have high reflectivity and chemical stability, which can provide strong and stable optical signals, ensuring that the marker points have sufficient contrast in the imaging picture of the first image acquisition unit 221, which is beneficial to improve the accuracy and robustness of force information measurement. Second, these materials are usually micron or nanometer particles, which can be easily incorporated or mixed into the matrix (such as silica gel) to form a fine and durable marker point pattern 12. Silica gel itself as an elastic material can not only serve as a carrier for the marker points, but also can well transmit the stress deformation due to its flexibility. More importantly, these common industrial materials have rich optical properties (reflection spectrum), providing a wide selection space for those skilled in the art to find a combination of two materials with high contrast under wide-spectrum light and sharp contrast reduction under specific filters.

[0050] In some embodiments, the light filtering device 23 is a band-pass filter, a band-stop filter, an optical film, a colored glass filter, a liquid crystal tunable filter, a prism, a grating, an interference filter, or a polarization filter, which is not specifically limited by the present application.

[0051] In some embodiments, the mechanical component further comprises a protective layer 11 disposed on the outer side of the transparent elastomer 14.

[0052] In specific implementations, by adding a protective layer 11 (usually made of transparent, wear-resistant, and scratch-resistant flexible materials such as polyurethane or silica gel) as the outermost barrier, mechanical impact and wear caused by external contact can be effectively absorbed and dispersed, protecting the integrity of the reflection pattern 13 and the marker point pattern 12 below. This significantly prolongs the service life of the sensor, maintains the stability of its long-term measurement accuracy (whether it is force information or texture information), and enables the sensor to adapt to high-frequency and high-intensity interactive application scenarios, improving the practical value and reliability of the product.

[0053] In some embodiments, the visual-tactile sensor comprises a housing 16 for fixing the mechanical components and the optical components. The transparent support 15 is arranged on one side of the transparent elastomer 14 and is fixed to the housing 16 of the visual-tactile sensor.

[0054] In a specific implementation, the transparent elastomer 14 will undergo complex deformation when subjected to force. Without a rigid or relatively stable support base, the entire flexible body can undergo uncontrolled overall displacement or distortion, which will introduce additional displacement of the marker points caused by forces other than contact, seriously interfering with the accuracy of the multi-dimensional force information calculation. The transparent support 15 (such as a transparent acrylic or glass plate) is fixed to the sensor housing 16, which provides a firm and flat attachment surface for the flexible elastomer, ensuring a clear zero reference surface for the sensor in the non-contact state. When external force acts on the protective layer 11, deformation mainly occurs in the transparent elastomer 14, while the connection surface with the support layer remains relatively fixed, which is crucial for improving the accuracy, repeatability and signal-to-noise ratio of force sensing, and is the basis for achieving high-precision tactile perception. Understandably, the housing 16 is provided with a window for mounting the transparent support 15, and the first image acquisition unit 221 and the second image acquisition unit 222 capture images of the mechanical components through the window.

[0055] Further, the visual-tactile sensor comprises a reflecting device 24 configured to reflect the image of the mechanical component to the image acquisition device 22.

[0056] In a specific implementation, the reflecting device 24 can be a mirror. The addition of the reflecting device 24 brings important technical effects of mechanical layout optimization and space utilization efficiency improvement. In the traditional direct optical path design, the image acquisition device 22 must be arranged directly opposite the transparent elastomer 14, which often makes the visual-tactile sensor have a large volume in the direction perpendicular to the contact plane (Z axis), which is not conducive to integration in space-limited application scenarios (such as robot fingertips). By introducing the reflecting device 24, the propagation path of light is changed, so that the image acquisition device 22 can perform image acquisition from the side or even in a direction parallel to the mechanical component. This folded optical path design allows the image acquisition device 22 to be arranged on the side of the visual-tactile sensor body rather than on the top, thereby significantly reducing the overall profile height of the visual-tactile sensor and achieving the flattening and compactness of the visual-tactile sensor structure.

[0057] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0058] In the description of the utility model, it is understood that the directions or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are the directions or positional relationships shown based on the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0059] In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0060] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be connected, or it can be detachably connected, or it can be integrated; 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 or interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0061] In the utility model, unless otherwise specifically defined and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "upper" and "upper" of the first feature to the second feature include that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "below" and "below" of the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0062] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a 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 illustrative description of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present specification.

[0063] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, these modifications and variations of the present application are intended to be included within the scope of the claims of the present application and equivalents thereof. Therefore, the present application is also intended to include these modifications and variations.

[0064] The above is a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any skilled person in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A visual-tactile sensor characterized by, The application relates to a mechanical component and an optical component. The mechanical component comprises a transparent elastic body and a transparent support body supporting the transparent elastic body; the transparent elastic body is provided with a mark point pattern and a reflection pattern; The optical component comprises a light source, an image acquisition device and a light filtering device; the image acquisition device comprises a first image acquisition unit and a second image acquisition unit; the light source is configured to provide illumination for the transparent elastic body; the light filtering device is arranged on a light path between the transparent elastic body and the second image acquisition unit; The light filtering device is configured to filter the reflected light of the transparent elastic body to inhibit image information of the mark point pattern; The first image acquisition unit is configured to directly acquire a picture of the transparent elastic body; The second image acquisition unit is configured to acquire a picture of the transparent elastic body passing through the light filtering device.

2. The visuo-tactile sensor of claim 1, wherein, The mark point pattern is made of a first material; a radiation wave band of the light source comprises an excitation wave band of the first material; a passing wave band of the light filtering device comprises the radiation wave band of the light source, and a color developing wave band of the first material is at least partially located outside the passing wave band of the light filtering device, and the reflected light of the reflection pattern can pass through the light filtering device.

3. The visuo-tactile sensor of claim 2, wherein, The color developing wave band of the first material has no intersection with the passing wave band of the light filtering device.

4. The visuo-tactile sensor of claim 3, wherein, A wavelength difference between the color developing wave band of the first material and the radiation wave band of the light source is not less than a preset threshold value.

5. The visuo-tactile sensor of claim 2, wherein, The first material is a photochromic material.

6. The visuo-tactile sensor of claim 1, wherein, The reflection pattern is made of a second material, the mark point pattern is made of a third material, the second material and the third material present a first color difference under illumination of the light source; the second material and the third material present a second color difference after modulation of the light filtering device, and the second color difference is smaller than the first color difference.

7. The visuo-tactile sensor of claim 6, wherein, The second material and the third material are metal powder, silica gel or mineral powder with different colors.

8. The visuo-tactile sensor of claim 1, wherein, The light filtering device is a band-pass filter, a band-stop filter, an optical film, a colored glass filter, a liquid crystal adjustable filter, a prism, a grating, an interference filter or a polarization filter.

9. The visuo-tactile sensor of claim 1, wherein, The mechanical component further comprises a protective layer arranged on the outside of the transparent elastic body.

10. The visuo-tactile sensor of claim 1, wherein, The application further relates to a reflection device configured to reflect a picture of the mechanical component to the image acquisition device.

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