Visual tactile sensor

Abstract

An embodiment of the utility model discloses a visual tactile sensor, which relates to the technical field of sensors and comprises a base, a flexible plate, an image acquisition device and a plane mirror. The flexible plate is arranged on the base, the image acquisition device is arranged on the base, the image acquisition device is located on one side of the flexible plate, and the plane mirror is obliquely arranged on the upper side of the flexible plate. The layout between the flexible plate and the image acquisition device can be changed through the plane mirror, the size of the visual tactile sensor in the height direction is greatly reduced, and the size of the visual tactile sensor is reduced. According to the scheme, through the innovative structural design of reflection imaging of the plane mirror, on the premise that the tactile perception precision is ensured, the problem that the size of a traditional visual tactile sensor is too large due to vertical imaging layout is solved, meanwhile, multiple technical requirements of environmental adaptability, cost controllability and the like are taken into consideration, and the visual tactile sensor is suitable for popularization and application. And better hardware support is provided for scenes such as refined operation and man-machine interaction of the robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to sensor technical field especially relates to a visual tactile sensor. BACKGROUND

[0002] Visual tactile sensor is an important technical branch in the field of robot perception, which fuses the perception mechanism of vision and touch, captures the surface deformation information in the contact process of objects by optical imaging means, and realizes the high-precision digital representation of multi-dimensional tactile characteristics such as contact force, shape and texture. Such sensors have wide application prospects in robot dexterous operation, industrial detection and human-computer interaction scenes.

[0003] In the implementation scheme of traditional visual tactile sensor, it is usually necessary to rely on image acquisition device (such as miniature camera) to perform optical imaging on the contact surface. Specifically, when the target object contacts the elastic body surface of the sensor, the elastic body deforms due to force, and the image acquisition device captures the displacement of the mark point or reflection pattern on the elastic body surface, and analyzes the tactile information by combining algorithm. However, the existing technology generally adopts the following design architecture: the image acquisition device is fixed above the measured object or the elastic body and directly vertically photographs the contact area. In order to ensure that the image acquisition device can clearly capture the overall appearance and deformation characteristics of the object, sufficient imaging distance needs to be reserved between the device and the target object. Although this design can ensure the imaging quality, it will cause the longitudinal size of the overall structure of the sensor to increase significantly, which is difficult to meet the urgent needs of miniaturization and compactness of the sensor in the fields of modern robot end effector, wearable device and the like. In addition, the larger volume may also limit the deployment flexibility of the sensor in narrow space or complex working conditions, thereby restricting its actual application range.

[0004] Therefore, how to optimize the structural layout of the visual tactile sensor to reduce its volume while ensuring the tactile perception accuracy, and at the same time solve the optical adaptation problem of close-range imaging, has become a technical difficulty to be broken through in this field. UTILITY MODEL CONTENTS

[0005] The technical problem to be solved by the utility model embodiment is how to reduce the structural volume of the visual tactile sensor.

[0006] In order to solve the above problems, the utility model embodiment proposes a visual tactile sensor, which comprises a base, a flexible plate, an image acquisition device and a plane mirror; the flexible plate is arranged on the base, the image acquisition device is arranged on the base, the image acquisition device is located on one side of the flexible plate, and the plane mirror is arranged on the upper side of the flexible plate.

[0007] Among them, the image acquisition device faces the plane mirror, and the image of the flexible plate is collected through the plane mirror.

[0008] Further, the visual-tactile sensor further comprises a top cover, which is detachably covered on the base, and the flexible plate, the image acquisition device and the plane mirror are arranged in an installation space surrounded by the top cover and the base.

[0009] Further, the top cover comprises a top plate, which comprises a flat portion and an inclined portion arranged on one side of the flat portion; an inlaid groove is arranged on the inner side of the inclined portion, and the plane mirror is inlaid in the inlaid groove.

[0010] Further, the plane mirror is fixed in the inlaid groove through a fastener and / or a buckle and / or adhesive.

[0011] Further, the base is provided with an inlaid opening, and the flexible plate is fixed on the inlaid opening.

[0012] Further, the visual-tactile sensor further comprises a pressing block, which is arranged on the bottom side of the flexible plate and protrudes from the lower side of the base.

[0013] Further, the visual-tactile sensor further comprises a light source, which is arranged on the base.

[0014] Further, the light source comprises a lamp plate arranged on the base, and the lamp plate is provided with lamp beads for irradiating light to the top surface of the flexible plate.

[0015] Further, the base is provided with a mounting table, and the mounting table is provided with a containing groove, and the image acquisition device is arranged in the containing groove.

[0016] Further, the top surface of the flexible plate is provided with a deformation display pattern, and the deformation display pattern is provided with arrayed blocks, and the color between each block and its adjacent block is different.

[0017] Compared with the prior art, the technical effects that can be achieved by the embodiments of the present application include:

[0018] The utility model discloses an embodiment proposes a kind of visual tactile sensor, including base, flexible plate, image acquisition device and plane mirror;The flexible plate is located on the base, the image acquisition device is located on the base, the image acquisition device is located in the side of the flexible plate, the plane mirror is obliquely arranged on the upper side of the flexible plate;Wherein, the image acquisition device is towards the plane mirror, and the image of the flexible plate is collected by the plane mirror.This visual tactile sensor can change the layout between flexible plate and image acquisition device by plane mirror, so that image acquisition device can be located on the side of flexible plate setting, greatly reduce the size of visual tactile sensor along the height direction, reduce the volume of visual tactile sensor.

[0019] The innovative structural design of the present application through plane mirror reflection imaging solves the problem of excessive volume of traditional visual tactile sensor caused by vertical imaging layout under the premise of ensuring tactile perception accuracy, while considering environmental adaptability, cost controllability and other multiple technical requirements, and provides better hardware support for robot fine operation, human-computer interaction and other scenes. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0022] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings, which do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified. The drawings in the drawings do not constitute a proportional limitation.

[0023] Fig. 1 An exploded view of a visual tactile sensor according to an embodiment of the present application is provided.

[0024] Fig. 2 A structural schematic view of a visual tactile sensor disassembling upper cover according to an embodiment of the present application is provided.

[0025] Fig. 3 A schematic view of the upper cover and plane mirror separation of a visual tactile sensor according to an embodiment of the present application is provided.

[0026] Fig. 4 A structural schematic view of a visual tactile sensor according to an embodiment of the present application is provided.

[0027] Fig. 5 A top surface of a visual tactile sensor according to an embodiment of the present application.

[0028] Reference Signs

[0029] Flexible plate 10, deformation display pattern 20, block 21, base 30, image acquisition device 40, plane mirror 50, upper cover 60, top plate 61, flat part 611, inclined part 612, inlaid groove 613, inlaid opening 31, mounting table 32, containing groove 33, pressing block 70, lamp plate 80, lamp bead 81. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application, and similar component signs 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.

[0031] It should be understood that the terms "comprising" and "including" as used in the specification and the appended 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.

[0032] It should also be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and the appended claims of the present application, the singular forms "a", "an" and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0033] Referring to Figs. 1-5 The present application provides a visual tactile sensor, which can change the layout between the flexible plate 10 and the image acquisition device 40 through the plane mirror 50, so that the image acquisition device 40 can be arranged on one side of the flexible plate 10, greatly reducing the size of the visual tactile sensor along the height direction and reducing the volume of the visual tactile sensor. In order to achieve the above technical purpose, the visual tactile sensor comprises a base 30, a flexible plate 10, an image acquisition device 40 and a plane mirror 50, and the specific structure is introduced as follows:

[0034] The flexible plate 10 is arranged on the base 30; the image acquisition device 40 is arranged on the base 30, and the image acquisition device 40 is located on one side of the flexible plate 10, for example, on the right side of the flexible plate 10, which is not limited in the utility model. In the scheme, the image acquisition device 40 and the flexible plate 10 do not need to be arranged in sequence along the height direction, and the space occupation in the height direction can be reduced. Specifically, the image acquisition device 40 can be a camera. The material of the flexible plate 10 is an elastic material. The flexible plate 10 will deform after being stressed, and the deformation will recover after the stress is removed.

[0035] The plane mirror 50 is arranged on the upper side of the flexible plate 10, and the plane mirror 50 is used for reflecting the image on the upper side of the flexible plate 10 to the camera.

[0036] In the embodiment of the utility model, the image acquisition device 40 faces the plane mirror 50, and the image of the flexible plate 10 is acquired through the plane mirror 50.

[0037] The visual tactile sensor of the utility model acquires the image of the flexible plate 10 through the innovative structural design of the reflection imaging of the plane mirror 50, realizes the core function of tactile perception, and significantly optimizes the spatial layout and volume characteristics of the sensor. The technical effects are embodied in the following aspects:

[0038] The image acquisition device 40 of the traditional visual tactile sensor needs to be arranged vertically above the flexible contact surface, which leads to a large space occupation in the height direction of the sensor. In the scheme, the plane mirror 50 is arranged on the upper side of the flexible plate 10, and the image acquisition device 40 is arranged horizontally on one side of the flexible plate 10. The complete deformation image of the flexible plate 10 is acquired by the image acquisition device 40 without directly facing the flexible plate 10, by using the light path reflection characteristics of the plane mirror 50. This design converts the original vertical imaging path into a horizontal or inclined light path, effectively reduces the size of the sensor in the height direction, and significantly reduces the overall volume. Therefore, the sensor is more easily integrated into the robot end effector, wearable device and other application scenarios with strict space limitations.

[0039] The plane mirror 50 is a standardized optical element, and its cost and processing difficulty are low. The reflection imaging scheme does not need to customize special optical components. At the same time, the horizontal layout simplifies the internal wiring and packaging complexity of the sensor, which is beneficial to large-scale production and later maintenance, and further promotes the application of technology.

[0040] The innovative structural design of the reflection imaging of the plane mirror 50 solves the problem of too large volume of the traditional visual tactile sensor caused by the vertical imaging layout under the premise of ensuring the tactile perception accuracy, and also considers the environmental adaptability, cost controllability and other technical requirements, which provides better hardware support for robot fine operation, human-computer interaction and other scenes.

[0041] The utility model discloses an embodiment proposes a kind of visual tactile sensor, including base 30, flexible plate 10, image acquisition device 40 and plane mirror 50;The flexible plate 10 is located on the base 30, the image acquisition device 40 is located on the base 30, the image acquisition device 40 is located in the side of the flexible plate 10, the plane mirror 50 is obliquely arranged on the upper side of the flexible plate 10;Wherein, the image acquisition device 40 is towards the plane mirror 50, and the image of the flexible plate 10 is collected by the plane mirror 50.The visual tactile sensor can change the layout between flexible plate 10 and image acquisition device 40 by plane mirror 50, so that image acquisition device 40 can be located in the side of flexible plate 10 setting, greatly reduce the size of visual tactile sensor along the height direction, reduce the volume of visual tactile sensor.

[0042] Further, in some preferred embodiments, for example in the present embodiment, the visual tactile sensor further includes upper cover 60, the upper cover 60 is detachably covered on the base 30, the flexible plate 10, the image acquisition device 40 and the plane mirror 50 are all arranged in the mounting space surrounded by the upper cover 60 and the base 30.

[0043] Specifically, the mounting space of the flexible plate 10, the image acquisition device 40 and the plane mirror 50 is surrounded by the upper cover 60 and the base 30, which can reliably protect the flexible plate 10, the image acquisition device 40 and the plane mirror 50, and ensure the structural stability of the visual tactile sensor. The base 30 and the upper cover 60 can be detachably connected by fasteners and / or buckles, and the utility model is not limited to this.

[0044] Further, in some preferred embodiments, for example in the present embodiment, the upper cover 60 includes top plate 61, the top plate 61 includes flat portion 611 and inclined portion 612 obliquely arranged on one side of the flat portion 611;The inner side of the inclined portion 612 is provided with inlay groove 613, and the plane mirror 50 is embedded in the inlay groove 613.

[0045] Specifically, the flat portion 611 is parallel or substantially parallel to the base 30. The inclined portion 612 is connected to the flat portion 611 on one side and arranged on the base 30 on the other side. The flat portion 611 and the inclined portion 612 can be integrally formed.

[0046] The inner side of the inclined portion 612 is provided with inlay groove 613, and the plane mirror 50 is embedded in the inlay groove 613. The plane mirror 50 is fixed in the inlay groove 613 by fasteners and / or buckles and / or adhesive. For example, in the present embodiment, the plane mirror 50 is bonded in the inlay groove 613.

[0047] Further, in some preferred embodiments, such as the present embodiment, the base 30 is provided with an inlaid opening 31, and the flexible plate 10 is fixed on the inlaid opening 31.

[0048] Specifically, the flexible plate 10 can be bonded on the side wall of the inlaid opening 31, or the flexible plate 10 can be fixed on the side wall of the inlaid opening 31 by fasteners and / or buckles, which are not specifically limited by the present utility model.

[0049] Further, the visual-tactile sensor further comprises a pressing block 70, which is arranged on the bottom side of the flexible plate 10 and protrudes from the lower side of the base 30.

[0050] Specifically, the pressing block 70 can be made of hard material, and the pressing block 70 can be bonded on the bottom side of the flexible plate 10. The pressing block 70 can disperse the pressing force, so that the flexible plate 10 deforms uniformly, thereby improving the detection accuracy.

[0051] Further, in some preferred embodiments, such as the present embodiment, the visual-tactile sensor further comprises a light source, which is arranged on the base 30.

[0052] Specifically, the light source comprises a lamp panel 80, which is arranged on the base 30, and the lamp panel 80 is provided with lamp beads 81 for irradiating light to the top surface of the flexible plate 10. The lamp beads 81 can specifically be LED lamp beads. Specifically, the number of lamp panels 80 can be two, and they are respectively located on both sides of the flexible plate 10. Of course, the number of lamp panels 80 is not limited to two, and can also be other numbers, and the lamp panels 80 can also adopt other arrangement manners. Through the lamp panel 80, uniform irradiation of light to the top surface of the flexible plate 10 can be achieved, avoiding the occurrence of shadows, thereby improving the detection accuracy.

[0053] Further, in some preferred embodiments, such as the present embodiment, the base 30 is provided with a mounting table 32, and the mounting table 32 is provided with a receiving groove 33, and the image acquisition device 40 is arranged in the receiving groove 33.

[0054] By arranging the mounting table 32, the image acquisition device 40 can be stably arranged. At the same time, by arranging the mounting groove on the mounting table 32, the inclination angle of the mounting groove is determined based on the demand, so that the inclination angle of the image acquisition device 40 can be fixed, thereby enabling the image acquisition device 40 to accurately face the plane mirror 50 and clearly capture the image of the top surface of the flexible plate 10.

[0055] Further, in some preferred embodiments, such as the present embodiment, the top surface of the flexible plate 10 is provided with a deformation display pattern 20, and the deformation display pattern 20 is provided with an array of blocks 21, and the color between each block 21 and its adjacent block 21 is different. By setting different colors between adjacent patterns, each block 21 can be better distinguished, thereby better identifying the blocks 21, thereby better capturing the deformation of the blocks 21, and thereby more accurately determining the deformation of the flexible contact plate.

[0056] It should be noted that the structure of the deformation display pattern 20 described above is only an example proposed in the present embodiment, and those skilled in the art can use other forms of deformation display pattern 20, which will not exceed the protection scope of the present application.

[0057] In the above embodiments, the description of each embodiment has its own emphasis, 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 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.

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

[0060] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be connected, or it can be detachably connected, or it can be integrated; it can be mechanical connection, or it can be electrical connection; 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 those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0061] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can include the first and second features directly contacting, or the first and second features not directly contacting but contacting through another feature between them. Moreover, the first feature "on", "above" and "on top of" 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 "under", "below" and "underneath" 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.

[0062] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" 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 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.

[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 their equivalents. The present application is 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 visual-tactile sensor comprises a base, a flexible plate, an image acquisition device and a plane mirror; the flexible plate is arranged on the base, the image acquisition device is arranged on the base, the image acquisition device is located on one side of the flexible plate, and the plane mirror is arranged on the upper side of the flexible plate in an inclined manner. The image acquisition device faces the plane mirror and acquires the image of the flexible plate through the plane mirror.

2. The visuo-tactile sensor of claim 1, wherein, The visual-tactile sensor further comprises an upper cover which is detachably covered on the base, and the flexible plate, the image acquisition device and the plane mirror are arranged in an installation space formed by the upper cover and the base.

3. The visuo-tactile sensor of claim 2, wherein, The upper cover comprises a top plate, the top plate comprises a flat portion and an inclined portion arranged on one side of the flat portion in an inclined manner; an inlaid groove is arranged on the inner side of the inclined portion, and the plane mirror is inlaid in the inlaid groove.

4. The visuo-tactile sensor of claim 3, wherein, The plane mirror is fixed in the inlaid groove through fasteners and / or buckles and / or adhesive.

5. The visuo-tactile sensor of claim 1, wherein, The base is provided with an inlaid opening, and the flexible plate is fixed on the inlaid opening.

6. The visuo-tactile sensor of claim 5, wherein, The visual-tactile sensor further comprises a pressing block, the pressing block is arranged on the bottom side of the flexible plate and protrudes from the lower side of the base.

7. The visuo-tactile sensor of claim 2, wherein, The visual-tactile sensor further comprises a light source, and the light source is arranged on the base.

8. The visuo-tactile sensor of claim 7, wherein, The light source comprises a lamp plate, the lamp plate is arranged on the base, lamp beads are arranged on the lamp plate, and the lamp beads are used for irradiating light to the top surface of the flexible plate.

9. The visuo-tactile sensor of claim 1, wherein, The base is provided with a mounting table, the mounting table is provided with a receiving groove, and the image acquisition device is arranged in the receiving groove.

10. The visuo-tactile sensor of claim 1, wherein, The top surface of the flexible plate is provided with a deformation display pattern, the deformation display pattern is provided with arrayed blocks, and the colors between each block and its adjacent block are different.

Images