Visual tactile sensor

Abstract

The utility model discloses a visual tactile sensor, and relates to the technical field of visual tactile sensors, the visual tactile sensor comprises a mechanical part and an optical part, the mechanical part comprises a transparent elastic body and a transparent support body 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, a camera and a light filtering device; the light filtering device is configured to filter reflected light of the transparent elastomer so as to inhibit image information of the mark point pattern; the camera is configured to be capable of simultaneously receiving a first picture and a second picture, the first picture is a direct imaging picture for the transparent elastomer, and the second picture is a picture for imaging the transparent elastomer 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 a monocular vision tactile sensor based on spectrum design. 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 industrial detection, robot operation, and human-computer interaction fields. Such sensors usually arrange a reflective pattern on the contact interface to extract object surface texture information, and set a marker point pattern to capture deformation after force, 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, which cannot 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, which comprises:

[0007] A mechanical component, comprising 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, comprising a light source, a camera, and a filter device; the light source is configured to provide illumination to the transparent elastomer; the filter device is configured to filter the reflected light of the transparent elastomer to suppress image information of the marker point pattern; the camera is configured to be able to receive a first picture and a second picture simultaneously; the first picture is a picture formed by the reflected light of the transparent elastomer being directly received by the camera; the second picture is a picture formed by the reflected light of the transparent elastomer being filtered by the filter device and then received by the camera.

[0009] Optionally, the material of the mark point pattern is a first material; the radiation wavelength band of the light source includes an excitation wavelength band of the first material; the pass-through wavelength band of the filter device includes the radiation wavelength band of the light source, and a coloration wavelength band of the first material is at least partially outside the pass-through wavelength band of the filter device; the reflected light of the reflection pattern can pass through the filter device.

[0010] Optionally, the coloration wavelength band of the first material has no intersection with the pass-through wavelength band of the filter device.

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

[0012] Optionally, the material of the reflection 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 less than the first color difference.

[0013] Optionally, the second material and the third material are metal powder, silica gel or mineral powder with different colors.

[0014] Optionally, the filter device is a band-pass filter, a band-stop filter, an optical film, a color glass filter, a liquid crystal adjustable filter, a prism, a grating, an interference filter or a polarization filter.

[0015] Optionally, the mechanical component further includes a protective layer, and the protective layer is arranged on the outer side of the transparent elastomer.

[0016] Optionally, the mechanical component further includes a reflective device, and the filter device is arranged on the optical path between the mechanical component and the reflective device; the reflective device is configured to reflect the light passing through the filter device to the camera.

[0017] Optionally, the mechanical component further includes a reflective device, and the reflective device is configured to reflect the reflected light of the transparent elastomer to the camera.

[0018] The filter device is arranged on the optical path between the mechanical component and the camera.

[0019] Compared with the prior art, the technical effects that can be achieved by the embodiments of the present application include:

[0020] The core of the utility model lies in constructing double optical path imaging system by filter device and reflection device, makes camera can synchronous capture two pictures: the first picture of direct imaging retains mark point pattern for resolving multi-dimensional force information, the second picture suppresses mark point pattern image information, thereby obtains intact reflection pattern, is used for resolving intact texture information. This design has solved information interference problem from physical layer, has realized intact texture information and accurate multi-dimensional force information in the same time high accuracy, real time, synchronous acquisition. BRIEF DESCRIPTION OF DRAWINGS

[0021] The drawings incorporated into the specification and forming a part thereof, illustrate embodiments that are in accordance with the present utility model, and together with the description, serve to explain the principle of the present utility model.

[0022] In order to more clearly illustrate the technical scheme in the embodiments of the present utility model or prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced below, obviously, for those skilled in the art, without creative labor, other drawings can also be obtained according to these drawings.

[0023] One or more embodiments are exemplified by the pictures in the drawings corresponding thereto, these exemplary illustrations do not constitute the limitation to the embodiments, the elements with the same reference numeral in the drawings are represented as similar elements, unless there is a special declaration, the drawing does not constitute the proportional limit in the drawing.

[0024] Figure 1 The structural schematic diagram of a visual tactile sensor is provided for the embodiment of the present utility model;

[0025] Figure 2 The structural schematic diagram of a visual tactile sensor is provided for another embodiment of the present utility model;

[0026] Figure 3 The explosion view of a visual tactile sensor is provided for the embodiment of the present utility model;

[0027] Figure 4 The light wave band relationship schematic diagram of narrowband light color developing material, narrowband light source and filter device in the embodiment of the present utility model;

[0028] Figure 5 The light wave band relationship schematic diagram of second material, third material and filter device in the embodiment of the present utility model.

[0029] Reference Signs

[0030] Protective layer 11, mark point pattern 12, reflection pattern 13, transparent elastomer 14, transparent support 15, shell 16, light source 21, camera 22, reflection device 23, filter device 24. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments will be described clearly and completely below with reference to the drawings of the embodiments of the present application, and similar component numbers in the drawings represent similar components. Obviously, the following described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0032] It should be understood that, when used in the specification and the appended claims, the terms "comprise" and "include" indicate the presence of described features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0033] It should also be understood that the terms used in the specification of the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present application. As used in the specification of the embodiments of the present application and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms, unless the context clearly indicates otherwise.

[0034] Referring to Figures 1-3 The embodiments of the present application propose a visual-tactile sensor, which comprises a mechanical component and an optical component, and the specific structure is introduced as follows:

[0035] 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 12 and the reflection pattern 13 can be directly arranged on the surface of the transparent elastomer 14, or the marker point pattern 12 and the reflection pattern 13 can be arranged on a flexible substrate, and the flexible substrate is arranged on the surface of the transparent elastomer 14. The flexible substrate can be selected as one, and the marker point pattern 12 and the reflection pattern 13 are arranged alternately thereon; the flexible substrate can also be selected as two, and the marker point pattern 12 and the reflection pattern 13 are arranged thereon respectively, and then the two layers are stacked on the surface of the transparent elastomer 14.

[0036] 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 obtain 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.

[0037] Further, the optical component comprises a light source 21, a camera 22 and a filter device 24. The light source 21 is configured to provide illumination to the transparent elastomer 14; the filter device 24 is configured to filter the reflected light of the transparent elastomer 14 to suppress the image information of the marker dot pattern 12; the camera 22 is configured to be able to receive a first picture and a second picture simultaneously, the first picture being a picture formed by the reflected light of the transparent elastomer 14 being received directly by the camera 22, and the second picture being a picture formed by the reflected light of the transparent elastomer 14 being filtered by the filter device 24 and then received by the camera 22.

[0038] Specifically, the light source 21 is configured to provide illumination to the transparent elastomer 14, ensuring that the marker dot pattern 12 and the reflected pattern 13 can be clearly imaged. The camera 22, as a single image sensor, can receive two independent first and second pictures by position adjustment, which greatly simplifies the system structure and reduces the cost. The first picture is a direct image of the transparent elastomer 14, which fully captures the texture details of the reflected pattern 13 and the clear image of the marker dot pattern 12. The marker dot pattern 12 and the reflected pattern 13 are significantly different, and the reflected pattern 13 will not affect the identification of the marker dot pattern 12, thereby providing support for the mechanical calculation based on the marker dot pattern 12.

[0039] The light path design of the second picture embodies the core design point. The reflected light of the transparent elastomer 14 first passes through the modulation of the filter device 24 before reaching the camera. The first and second pictures each occupy a part of the camera 22 frame, and do not interfere with each other. The filter device 24 plays a key role in this light path, and its spectral characteristics are carefully designed. By filtering the reflected light of the transparent elastomer, the image information of the marker dot pattern 12 can be selectively suppressed. This means that in the second picture, the influence of the marker dot pattern 12 on the reflected pattern 13 is effectively weakened or eliminated, thereby obtaining an image determined by the reflected pattern 13 of the reflected pattern 13 only, which is not disturbed by the marker dot pattern 12.

[0040] By analyzing the marker dot pattern 12 in the first picture, through the optical flow method and the marker dot tracking algorithm, the multi-dimensional force information applied to the sensor can be accurately calculated, including the size, direction and even the torque of the force. At the same time, by analyzing the reflected pattern 13 of the second picture and performing image gray value analysis, a depth map is obtained, and then the non-destructive and high-resolution texture information of the surface of the contacted object can be directly obtained.

[0041] Referring to Figure 1In some embodiments, the optical component further comprises a reflecting device 23, and the light filtering device 24 is arranged on the light path between the mechanical component and the reflecting device 23; the reflecting device 23 is configured to reflect the light passing through the light filtering device 24 to the camera 22. The imaging path of the first image is that the reflected light of the transparent elastomer 14 directly enters the camera 22; and the imaging path of the second image is that the reflected light of the transparent elastomer 14 is filtered by the light filtering device 24 and then reflected by the reflecting device 23 to the camera 22.

[0042] Alternatively, referring to Figure 2 In other embodiments, the reflecting device 23 is configured to reflect the reflected light of the transparent elastomer 14 to the camera 22; and the light filtering device 24 is arranged on the light path between the mechanical component and the camera 22. The imaging path of the first image is that the reflected light of the transparent elastomer 14 is reflected by the reflecting device 23 to the camera 22; and the imaging path of the second image is that the reflected light of the transparent elastomer 14 is filtered by the light filtering device 24 and then enters the camera 22.

[0043] In some embodiments, the material of the marker point pattern 12 is 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 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 utility model is not specifically limited. The radiation wave band of the light source 21 should include the excitation wave band of the first material, the passing wave band of the light filtering device 24 should include the radiation wave band of the light source 21, and the color developing wave band of the first material is at least partially located outside the passing wave band of the light filtering device 24, and the reflected light of the reflecting pattern 13 can pass through the light filtering device 24. The color developing wave band of the first material is the wave band corresponding to the specific color of the light emitted by the first material under the excitation of the light source 21. The excitation wave band is determined by the material itself, but the color developing wave band is also related to the color of the material. For example, different colors of the same kind of material emit different colors under the illumination of the same light source, and the corresponding color developing wave bands are also different.

[0044] In the specific implementation, the light source 21 radiates light outward, and the radiation light has a certain wave band, that is, the radiation wave band of the light source. The type of the light source 21 is different, and the corresponding radiation wave band is different. Its primary function is illumination, and secondarily it serves as an excitation source that can efficiently excite the first material to emit light. The first material is a color developing material, and the excitation wave band of the light excited by the first material after receiving the radiation light of the light source 21 is located within the radiation wave band range of the light source 21. This makes the excited marker point pattern 12 in the first image (direct imaging) be able to form a high contrast with the reflecting pattern 13, thereby producing a clear and easy-to-track marker point image for force signal calculation.

[0045] Further, the color developing waveband of the first material is at least partially outside the pass waveband of the light filtering device 24, that is, the light excited by the mark point pattern 12 after receiving the light source 21 cannot all pass through the light filtering device 24, and at least part of the light is blocked by the light filtering device 24. At the same time, the light reflected by the reflection pattern 13 is retained because the wavelength is in the pass waveband of the light filtering device 24, that is, the reflected light of the reflection pattern 13 can pass through the light filtering device 24. Therefore, in the second picture, the image signal of the mark point pattern 12 is weakened, thereby obtaining a texture image determined by the appearance of the reflection pattern 13. This active optical separation method based on spectral characteristics is more direct and reliable than relying on post-processing algorithm, and ensures the losslessness of the texture information on the basis of weakening the influence of the mark point pattern 12.

[0046] In some embodiments, the color developing waveband of the first material has no intersection with the pass waveband of the light filtering device 24. That is, the light excited by the mark point pattern 12 after receiving the light source 21 cannot all pass through the light filtering device 24, and is completely blocked by the light filtering device 24. While the reflected light of the reflection pattern 13 can pass through the light filtering device 24. Therefore, in the second picture, the image signal of the mark point pattern 12 is greatly weakened to be invisible, thereby obtaining a pure texture image determined by the appearance of the reflection pattern 13. Referring to Figure 4 Taking the light source 21 as a narrow-band light source and the first material as a narrow-band light color developing material as an example, the length range of each waveband should meet the requirements shown in the table. Figure 4 This way ensures the losslessness of the texture information on the basis of eliminating the influence of the mark point pattern 12.

[0047] In some embodiments, the wavelength difference between the color developing waveband of the first material and the radiation 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.

[0048] In specific implementation, the wavelength difference between the color developing waveband of the first material and the radiation waveband 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 waveband and firmly block the other waveband. If the two wavebands 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 information of the mark point pattern 12 in the second picture, causing interference.

[0049] In some embodiments, the first material is a photochromic material, and the photochromic material includes invisible ink or anti-counterfeiting fluorescent powder, which is not specifically limited in the embodiments of the utility model.

[0050] In some embodiments, the material of the reflection pattern 13 is a second material, the material of the mark point pattern 12 is a third material, the second material and the third material present a first color difference under the illumination of the light source 21; the second material and the third material present a second color difference after being modulated by the light filtering device 24, the second color difference is smaller than the first color difference.

[0051] In the embodiment, the two materials (the second material is used for the reflection pattern 13, and the third material is used for the mark point pattern 12) present an inherent color difference under the illumination of the light source 21. In the first picture, the color difference makes the mark point pattern 12 clearly visible, which can be used for force information sensing. After being modulated by the light filtering device 24, in the second picture, the second material and the third material present the same or extremely similar color, so that the mark point pattern 12 is effectively integrated into the reflection pattern 13 and cannot be distinguished, thereby facilitating the identification of texture information.

[0052] Referring to Figure 5 , the second material and the third material present a color difference under natural light, and the two materials have different color rendering light wave bands under the same light source. A narrow wave band filter is selected according to the common wave band range of the second material and the third material, so that only the narrow wave band light can pass through. The light wave 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 light filtering device is a red filter that only allows red light, i.e. light with a wavelength of 620nm-660nm, to pass through. The second material and the third material are materials that include the wave band of the color rendering light, such as the second material being red metal powder and the third material being orange metal powder. The color rendering wave 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.

[0053] 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, which reduces the system complexity and cost. It also achieves the purpose of suppressing the mark point pattern 12 and highlighting the pure texture information in the second picture through pure passive optical filtering, providing another reliable and possibly more cost-effective solution for achieving non-destructive texture detection.

[0054] In some 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. Firstly, metal powders, mineral powders and the like generally have high reflectivity and chemical stability, and can provide strong and stable optical signals, ensuring that the marker points have sufficient contrast in the first image and facilitating the improvement of the accuracy and robustness of the force information measurement. Secondly, these materials are mostly micron or nanometer particles, which can be easily incorporated or mixed in the matrix (such as silica gel) to form a fine and durable marker point pattern 12. The silica gel itself serves as an elastic material, and its flexibility can also be well transmitted to the force deformation. 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 a wide spectrum of light and a sharp decrease in contrast under a specific filter.

[0055] In some preferred embodiments, the filter device 24 is a bandpass filter, a band-stop filter, an optical film, a color glass filter, a liquid crystal tunable filter, a prism, a grating, an interference filter or a polarization filter, which is not specifically limited in the present application.

[0056] In some preferred embodiments, the reflection device 23 is an independent mirror element or a mirror structure formed on the housing 16 of the visual-tactile sensor.

[0057] In specific implementations, the use of an independent mirror element (such as a separate mirror) facilitates installation, adjustment and replacement, and allows more freedom in arranging the optical path angle and path in the optical design.

[0058] In some other embodiments, the reflection device 23 is directly formed on the sensor housing 16, which can significantly reduce the number of parts, simplify the overall assembly process and reduce manufacturing costs. At the same time, the highly integrated design helps to reduce the overall size of the sensor, making the structure more compact and robust, and the internal optical path is less likely to be offset by vibration or impact, improving the mechanical stability and environmental adaptability of the sensor.

[0059] In some preferred embodiments, the mechanical component further comprises a protective layer 11 disposed on the outer side of the transparent elastomer 14.

[0060] In a specific implementation, by adding a protective layer 11 (usually made of transparent, wear-resistant, scratch-resistant flexible material such as polyurethane or silicone) as the outermost barrier, it can effectively absorb and disperse the mechanical impact and wear caused by external contact, protect the integrity of the reflective pattern 13 and the marker point pattern 12 below. This significantly extends the service life of the sensor, maintains the stability of its long-term measurement accuracy (whether it is force information or texture information), enabling the sensor to adapt to high-frequency, high-intensity interaction application scenarios, and improving the practical value and reliability of the product.

[0061] In some embodiments, the visual-tactile sensor includes a housing 16 for fixing mechanical components and 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.

[0062] 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 may undergo uncontrolled overall displacement or distortion, which will introduce additional marker point displacement not caused by contact force, seriously interfering with the accuracy of 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 a 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 a fundamental guarantee for achieving high-precision tactile perception. Understandably, the housing 16 is provided with a window for mounting the transparent support 15, and the camera 22 captures images of the mechanical components through the window.

[0063] 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.

[0064] 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" and the like indicate 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 limiting the present application.

[0065] In addition, the terms "first", "second", "third", etc. are used herein only to describe various circumstances, and should not be construed as indicating or implying relative importance or an indicated number of the technical features. Thus, the features defined with "first", "second", "third", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0066] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be connected, or it can be detachable, or it can be integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or it can be the internal communication of two elements or the interaction relationship 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.

[0067] In the present application, unless otherwise specifically defined and limited, the first feature "on" or "under" the second feature can include the direct contact of the first and second features, or the indirect contact of the first and second features through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes the first feature 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 first feature "below", "below" and "below" the second feature includes the first feature 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.

[0068] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, 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 application.

[0069] 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 within the scope of the claims of the present application and its equivalent technologies, and the present application also intends to include these modifications and variations.

[0070] The above describes the specific implementation manner 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 covered 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, comprising 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, a camera and a filter device; the light source is configured to provide illumination to the transparent elastic body. The filter device is configured to filter the reflected light of the transparent elastic body to inhibit image information of the mark point pattern; the camera is configured to simultaneously receive a first picture and a second picture; the first picture is a picture formed by the reflected light of the transparent elastic body directly received by the camera; and the second picture is a picture formed by the reflected light of the transparent elastic body filtered by the filter device and then received by the camera. The mark point pattern is made of a first material; the radiation wave band of the light source comprises an excitation wave band of the first material; the pass wave band of the filter 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 pass wave band of the filter device; and the reflected light of the reflection pattern can pass through the filter device. The color developing wave band of the first material has no intersection with the pass wave band of the filter device.

2. The visuo-tactile sensor of claim 1, wherein, 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 value.

3. The visuo-tactile sensor of claim 2, 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 the illumination 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.

4. The visuo-tactile sensor of claim 3, wherein, The second material and the third material are color different metal powder, silica gel or mineral powder.

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

6. The visuo-tactile sensor of claim 5, wherein, The mechanical component further comprises a protective layer arranged outside the transparent elastic body.

7. The visuo-tactile sensor of claim 1, wherein, The application further relates to a reflection device, and the filter device is arranged on an optical path between the mechanical component and the reflection device; the reflection device is configured to reflect the light passing through the filter device to the camera.

8. The visuo-tactile sensor of claim 1, wherein, The application further relates to a reflection device, and the reflection device is configured to reflect the reflected light of the transparent elastic body to the camera.

9. The visuo-tactile sensor of claim 1, wherein, The filter device is arranged on an optical path between the mechanical component and the camera.

10. The visuo-tactile sensor of claim 1, wherein, ​ ​

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