A tactile sensor, a robotic arm, and a robot

Abstract

This application provides a tactile sensor, a robotic hand, and a robot, relating to the field of robotics. When the tactile sensor touches a target object, the target object acts on the flexible layer of the tactile sensor. Therefore, the contact state between the tactile sensor and the target object can be reflected by the pressure state of the flexible layer, which is closely related to its deformation degree. An image acquisition device captures the deformation of the inner surface of the flexible layer to form image information, facilitating subsequent analysis of the image information to determine the pressure state of the flexible layer and thus the contact state between the tactile sensor and the target object. This vision-based detection mechanism has high sensitivity and can provide the host device (such as a robotic hand) with higher perception accuracy and richer information dimensions, enabling it to perform more precise operations.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a tactile sensor, a robotic arm, and a robot. Background Technology

[0002] Humanoid robot technology is booming and has become a cutting-edge area of ​​global technological competition. As the core end effector for humanoid robots to achieve fine manipulation and environmental interaction, the performance of dexterous hands is crucial, with the goal of simulating or even surpassing the functions of human hands. However, current mainstream dexterous hand technology still faces significant challenges: low sensor sensitivity makes it difficult to accurately and in real-time perceive the dexterous hand's grasping of objects, resulting in low operational precision and poor performance in tasks such as precision assembly, grasping and manipulating delicate objects. Utility Model Content

[0003] The purpose of this application is to provide a tactile sensor, a robotic arm, and a robot, addressing the shortcomings of the prior art described above.

[0004] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0005] One aspect of this application provides a tactile sensor, including:

[0006] The flexible layer has an inner surface opposite to the external target object, and the inner surface deforms when the flexible layer is squeezed by the target object.

[0007] An image acquisition device is located on the inner side of the flexible layer away from the target object. The field of view of the image acquisition device covers at least part of the inner surface to acquire image information used to characterize the compressive state of the flexible layer.

[0008] Optionally, the image acquisition device is used to acquire image information of the inner surface to characterize the compressive state of the flexible layer.

[0009] Optionally, the tactile sensor also includes:

[0010] The identification pattern is located on the inner surface of the flexible layer;

[0011] The image acquisition device is used to acquire image information of changes in the inner surface and pattern when the flexible layer is under pressure.

[0012] Optionally, the identification pattern is a first pattern layer disposed on the inner surface.

[0013] Optionally, the tactile sensor also includes:

[0014] The projection light source is located on the inner side of the flexible layer away from the target object. The projection light source is used to project an optical pattern as a recognition pattern toward the inner surface.

[0015] Optionally, the projection light source includes:

[0016] The light-emitting element has a light-emitting surface;

[0017] The second pattern layer is disposed on the light-emitting surface. The light emitted by the light-emitting element is patterned by the second pattern layer and then projected onto the inner surface to form an optical pattern.

[0018] Optionally, the tactile sensor also includes:

[0019] The image acquisition device includes a lens and an image sensor located on the side of the flexible layer away from the target object. The lens includes multiple lenses arranged sequentially on the receiving side of the image sensor.

[0020] Optionally, the tactile sensor further includes: a support, a flexible layer disposed on the support to form an inner cavity between the flexible layer and the support, and an image acquisition device located within the inner cavity.

[0021] Optionally, the tactile sensor also includes:

[0022] The supplementary light is located inside the cavity, and its light emission direction is set towards the flexible layer.

[0023] Optionally, the image acquisition device includes:

[0024] A microlens array is located on the side of the first patterned layer away from the flexible layer;

[0025] The photosensitive unit array is located on the side of the microlens array opposite to the first pattern layer.

[0026] Optionally, the image acquisition device includes:

[0027] The microlens array is stacked on the side of the first patterned layer away from the flexible layer.

[0028] Optionally, a gap layer or a light-transmitting layer may be provided between the microlens array and the recognition pattern.

[0029] Optionally, the tactile sensor also includes:

[0030] The fill light is located at the edge of the first pattern layer, and the light emission direction of the fill light is set towards the first pattern layer.

[0031] Optionally, the tactile sensor also includes:

[0032] When a gap layer or light-transmitting layer is set between the microlens array and the recognition pattern, the supplementary light is located at the edge of the gap layer or light-transmitting layer, and the light emission direction of the supplementary light is set towards the first pattern layer.

[0033] Optionally, the image acquisition device includes:

[0034] A microlens array is stacked onto the inner surface of the flexible layer;

[0035] The photosensitive unit array is stacked on the side of the microlens array away from the flexible layer.

[0036] Optionally, the flexible layer is a light-transmitting film layer or an opaque film layer.

[0037] Optionally, the tactile sensor also includes:

[0038] The protective layer is located on the outer surface of the flexible layer, opposite to the inner surface.

[0039] Optionally, the protective layer is a light-transmitting film layer or an opaque film layer.

[0040] In another aspect of the embodiments of this application, a robotic hand is provided, including a finger and any of the above-mentioned tactile sensors; the tactile sensor is attached to the surface of the finger, and the tactile sensor is at least a part of the finger, or, a mounting groove is provided on the surface of the finger, and the tactile sensor is embedded in the mounting groove.

[0041] Optionally, the tactile sensor is positioned close to the fingertip and also located on the fingertip.

[0042] In another aspect of the embodiments of this application, a robot is provided, including a body and a robotic arm of any of the above-described types, the robotic arm being mounted on the body.

[0043] The beneficial effects of this application include:

[0044] This application provides a tactile sensor, a robotic arm, and a robot. When the tactile sensor touches a target object, the target object acts on the flexible layer of the tactile sensor. Therefore, the contact state between the tactile sensor and the target object can be reflected by the pressure state of the flexible layer, which is closely related to its deformation degree. An image acquisition device captures the deformation of the inner surface of the flexible layer to form image information, facilitating subsequent analysis of the image information to determine the pressure state of the flexible layer and thus the contact state between the tactile sensor and the target object. This vision-based detection mechanism has high sensitivity and can provide the host device (such as a robotic arm) with higher perception accuracy and richer information dimensions, enabling it to perform more precise operations. Attached Figure Description

[0045] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the structure of a tactile sensor provided in an embodiment of this application;

[0047] Figure 2 One of the structural schematic diagrams of a tactile sensor with a pattern recognition capability provided in this application embodiment;

[0048] Figure 3 A second schematic diagram of the structure of a tactile sensor with a pattern recognition feature provided in an embodiment of this application;

[0049] Figure 4 A third schematic diagram of the structure of a tactile sensor with a pattern recognition feature provided in this application embodiment;

[0050] Figure 5 Fourth schematic diagram of a tactile sensor with a pattern recognition capability provided in this application embodiment;

[0051] Figure 6 Fifth schematic diagram of a tactile sensor with a pattern recognition capability provided in this application embodiment;

[0052] Figure 7 A schematic diagram of the shape of an identification pattern provided in an embodiment of this application;

[0053] Figure 8 This application provides a schematic diagram of the three-dimensional shape of a recognition pattern.

[0054] Figure 9 One of the structural schematic diagrams of a tactile sensor without a recognition pattern is provided in an embodiment of this application;

[0055] Figure 10 A second schematic diagram of the structure of a tactile sensor without a recognition pattern, provided for an embodiment of this application;

[0056] Figure 11 A sixth schematic diagram of the structure of a tactile sensor with a pattern recognition feature provided for an embodiment of this application;

[0057] Figure 12 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of this application.

[0058] Icons: 10-Target object; 100-Tactile sensor; 110-Flexible layer; 111-Inner surface of flexible layer; 112-Outer surface of flexible layer; 120-Image acquisition device; 121-Visual range; 122-Image sensor; 123-Lens; 124-Photosensitive unit array; 125-Microlens array; 130-Protective layer; 140-Identification pattern; 141-First pattern layer; 142-Optical pattern; 150-Housing; 151-Base; 152-Cylinder; 153-Inner cavity; 154-Substrate; 160-Supplemental light; 161-Fixed base; 170-Projection light source; 171-Light-emitting element; 172-Second pattern layer; 180-Gap layer; 200-Robotic hand; 210-Finger; 211-Finger pad; 220-Palm. Detailed Implementation

[0059] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the description is only a part of the embodiments of this application and is not intended to limit this application. For those skilled in the art, this application can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0060] In one aspect of this application, a tactile sensor is provided, comprising: a flexible layer having an inner surface opposite to an external target object, the inner surface being deformed when the flexible layer is compressed by the target object; and an image acquisition device located on the inner side of the flexible layer away from the target object, the field of view of the image acquisition device covering at least a portion of the inner surface, to output image information characterizing the compressed state of the flexible layer.

[0061] When a tactile sensor touches a target object, the object acts on the sensor's flexible layer. Therefore, the contact state between the sensor and the target object can be reflected by the pressure state of the flexible layer, which is closely related to its deformation. An image acquisition device captures the deformation of the inner surface of the flexible layer, forming an image. This image information is then analyzed to determine the pressure state of the flexible layer and thus the contact state between the tactile sensor and the target object. This vision-based detection mechanism has high sensitivity and provides the host device (such as a robotic arm) with higher perception accuracy and richer information dimensions, enabling more precise operations.

[0062] Figure 1 A tactile sensor 100 is shown, which includes a flexible layer 110 and an image acquisition unit 120. For ease of understanding and description, Figure 1 The image also shows the object contacted by the tactile sensor 100 – the target object 10.

[0063] The flexible layer 110 has opposing inner and outer surfaces. Here, the inner surface refers to the surface of the flexible layer 110 that faces away from the external environment, and the outer surface refers to the surface of the flexible layer 110 that faces the external environment. For example, refer to… Figure 1 Understanding, the inner surface 111 of the flexible layer is... Figure 1 Its lower surface and outer surface are Figure 1 The outer surface 112 of the flexible layer is closer to the target object 10 than the inner surface when the tactile sensor 100 comes into contact with the target object 10 in the external environment.

[0064] The image acquisition device 120 is located inside the flexible layer 110, that is, the image acquisition device 120 faces the inner surface 111 of the flexible layer. This allows the field of view of the image acquisition device 120 to be oriented towards the flexible layer 110, and also allows the flexible layer 110 to isolate the image acquisition device 120 from the target object 10, thus protecting the image acquisition device 120. Conversely, the target object 10, because it is in the external environment, is located outside the flexible layer 110, for example, as shown in the reference image layer 110. Figure 1 It is understood that the image acquisition device 120 is located inside the flexible layer 110, that is... Figure 1 Below the center, the target object 10 is located on the outer side of the flexible layer 110, that is... Figure 1 Above the inner surface. The field of view of the image acquisition device 120 covers at least a portion of the inner surface, for example, the field of view of the image acquisition device 120 covers a portion of the inner surface, or the field of view of the image acquisition device 120 can cover the entire inner surface (e.g., Figure 1 When the field of view of the image acquisition unit 120 covers part of the inner surface, it can cover the central area of ​​the inner surface, making it easier to acquire areas in the flexible layer 110 with a large degree of deformation.

[0065] After understanding the basic structure of the tactile sensor 100, the principle of the tactile sensor 100 will be explained below:

[0066] The flexible layer 110 refers to a layer with elastic deformation capability. Under the action of external force (such as that applied by the target object 10), the flexible layer 110 can produce corresponding deformation, which can be displayed through the inner surface 111 of the flexible layer. Therefore, different magnitudes of external force can cause the flexible layer 110 to deform to different degrees. Based on this, the deformation of the flexible layer 110 can also reflect the position, area, duration, and / or surface texture of the target object 10 when it interacts with the tactile sensor 100.

[0067] Image acquisition device 120 visually acquires images of the inner surface 111 of the flexible layer, forming image information. This image information includes information about the deformation of the inner surface of the flexible layer 110 during the capture. Subsequent image analysis yields this information, facilitating the determination of the pressure state of the flexible layer 110 and the contact state between the tactile sensor 100 and the target object 10. It should be understood that the pressure state of the flexible layer 110 can include one or more of the following: pressure intensity, pressure location, pressure area, and pressure duration. Specifically, the pressure intensity can be used to determine whether the flexible layer 110 is under pressure, thereby determining whether the tactile sensor 100 is in effective contact with the target object 100.

[0068] For example, refer to Figure 1 After the tactile sensor 100 is installed on the robotic arm, when the robotic arm needs to grasp a target object 10 in the external environment, based on corresponding control, the robotic arm will move to the location of the target object 10 and grasp it. During this process, the tactile sensor 100 and the target object 10 will initially make contact and then generate an interaction force. The target object 10 will then compress the flexible layer 110 of the tactile sensor 100, causing the flexible layer 110 to deform inwards. Therefore... Figure 1 The inner surface 111 of the flexible layer is compressed, resulting in a corresponding indentation. This change in the inner surface of the flexible layer 110 is recorded in the image information by the image acquisition device 120 and then output. Subsequent image analysis can determine the compression state of the flexible layer 110 and the contact state between the tactile sensor 100 and the target object 10.

[0069] When facing different sensing accuracy requirements, the recognition pattern 140 can be set or not set on the inner surface 111 of the flexible layer. For ease of understanding, the following will explain each of them separately:

[0070] Example 1

[0071] like Figures 2 to 6As shown, the inner surface 111 of the flexible layer is provided with an identification pattern 140, and the visual range 121 of the image acquisition device 120 includes the identification pattern 140 (in other embodiments, the visual range 121 of the image acquisition device 120 may also include a portion of the identification pattern 140). The identification pattern 140 should have characteristics that make it easier to extract or display in image information. For example, the identification pattern 140 can be distinguished from the surrounding environment (such as the inner surface of the flexible layer 110) by a specific color, a specific structure, etc. Therefore, when the inner surface 111 of the flexible layer is deformed by pressure, the identification pattern 140 will change adaptively. It should be understood that when at least one of the pressure intensity, pressure location, and pressure area of ​​the flexible layer 110 is different, the identification pattern 140 will also change differently. In this example, the image acquisition device 120 can directly capture image information containing the inner surface 111 of the flexible layer and the identification pattern 140. By analyzing the image information, the changes that have occurred to the inner surface 111 of the flexible layer and the identification pattern 140 can be determined. The addition of the identification pattern 140 makes it easier for the image acquisition device 120 to capture changes on the inner surface of the flexible layer 110, thus making them more clearly reflected in the image information. This helps to more accurately determine the pressure state of the flexible layer 110 and the contact state between the tactile sensor 100 and the target object 10.

[0072] Based on Example 1, the identification pattern 140 can be either the first pattern layer 141 or the optical pattern 142, specifically:

[0073] In some embodiments, the identification pattern 140 is a first pattern layer 141 attached to the inner surface of the flexible layer 110, that is, the identification pattern 140 is a pigment layer or a film layer with a solid structure. For example Figure 2 or Figure 5 As shown, the first pattern layer 141 may protrude from the inner surface 111 of the flexible layer; or, the first pattern layer 141 may be embedded in the flexible layer or be a pattern printed on the inner surface (not shown in the figure). This allows the first pattern layer 141 to be set using the original thickness of the flexible layer 110, which helps to reduce the thickness of the sensor.

[0074] In some embodiments, the identification pattern 140 is an optical pattern 142 attached to the inner surface of the flexible layer 110, that is, a pattern formed by light on the inner surface 111 of the flexible layer, such as a light pattern. For example... Figure 3 or Figure 4 In the process, the optical pattern 142 is projected onto the inner surface 111 of the flexible layer using the projection light source 170: the projection light source 170 is located on the inner side of the flexible layer 110 away from the target object 10, and the projection light source 170 projects the optical pattern 142 as the identification pattern 140 toward the inner surface.

[0075] Specifically, the projection light source 170 includes a light-emitting element 171 and a second pattern layer 172. The light-emitting element 171 has a light-emitting surface, and the second pattern layer 172 is attached to the light-emitting surface of the light-emitting element 171. The second pattern layer 172 itself has the effect of patterning light. Therefore, the light emitted by the light-emitting element 171 is patterned by the second pattern layer 172 and forms an optical pattern 142 when it is projected onto the inner surface.

[0076] For example, the second pattern layer 172 itself can have a light-transmitting area and an opaque area (or a weakly light-transmitting area). In this way, when the light emitted by the light-emitting element 171 passes through the second pattern layer 172, it can utilize the difference in light transmittance between the light-transmitting area and the opaque area to form a light pattern with alternating bright and dark light patterns that finally emerges onto the inner surface 111 of the flexible layer.

[0077] It should be understood that the number of projection light sources 170 can be one or more. When the number is one, it can mitigate the interference that may be formed between them compared to multiple sources. When the number of projection light sources 170 is multiple, the patterns projected by each of them can be formed in different areas of the inner surface, thereby forming an optical pattern 142 by combining them.

[0078] Building upon Example 1, to broaden the applicable environments for the tactile sensor 100, the following descriptions, in conjunction with the accompanying drawings, will explain both conventionally thick and thinner tactile sensors 100:

[0079] A standard thickness tactile sensor 100: The tactile sensor includes a support body, with a flexible layer disposed within the support body. The two components work together to form an inner cavity, facilitating the placement of an image acquisition device within this cavity. Two schematic diagrams of the support body are given below:

[0080] For example: Please refer to Figures 2 to 4The support includes a housing 150 with an opening. An image acquisition device 120 is disposed in the inner cavity 153 of the housing 150. A flexible layer 110 is located at the opening and can close the opening, thereby isolating the inner cavity 153 of the housing 150 from the external environment and protecting the electronic devices (such as the image acquisition device 120) in the inner cavity 153 from external environmental interference or corrosion. The image acquisition device 120 is spaced apart from the flexible layer 110. The image acquisition device 120 includes an image sensor 122 (including a photosensitive unit array 124) and a lens 123 disposed in the inner cavity 153 of the housing 150. The lens 123 is located on the photosensitive side of the image sensor 122, so that the light incident on the image acquisition device 120 is first optically modulated by the lens 123 (such as focusing, aberration correction, achromatic aberration, etc.) and then received and imaged by the image sensor 122. Lens 123 includes multiple lenses arranged in sequence. The type of lens can be reasonably selected according to actual needs, such as convex lens, concave lens, irregular lens, etc. The combination of multiple lenses can effectively modulate light.

[0081] Optionally, in a tactile sensor 100 of conventional thickness, such as Figures 2 to 4 The housing 150 may include a base 151 and a cylindrical body 152 fixed to one end of the base 151. The internal space of the cylindrical body 152 serves as the aforementioned inner cavity 153. An opening is formed at the end of the cylindrical body 152 facing away from the base 151, and a flexible layer 110 closes the opening. The image acquisition unit 120 is fixed to the surface of the base 151, and it can form a circuit connected to the outside via the base 151. In some possible embodiments, the cylindrical body 152 may be cylindrical, prismatic, conical, or the like. In some possible embodiments, the base 151 may include a circuit board electrically connected to the electronic devices in the tactile sensor (such as the image acquisition unit 120, the subsequent projection light source 170, and the supplementary light, etc.).

[0082] For example: Please refer to Figure 11 The support includes a substrate 154, and a flexible layer 110 is disposed on one side surface of the substrate 154, thus forming a partial enclosure between the flexible layer 110 and the substrate 154 (e.g., Figure 11The image acquisition device 120 is disposed within an inner cavity (shown in the figure) or a fully enclosed cavity (not shown in the figure), providing a certain degree of protection for electronic devices (such as the image acquisition device 120) within the inner cavity. The image acquisition device 120 is spaced a certain distance from the flexible layer 110. The image acquisition device 120 includes an image sensor 122 (including a photosensitive unit array 124) and a lens 123 disposed within the inner cavity. The lens 123 is located on the photosensitive side of the image sensor 122, allowing light to be collected by the lens 123. This ensures that the light incident on the image acquisition device 120 is first optically modulated (e.g., focused, aberration corrected, achromatic, etc.) by the lens 123 before being received and imaged by the image sensor 122. The lens 123 includes multiple lenses arranged sequentially. The type of lens can be reasonably selected according to actual needs, such as convex lenses, concave lenses, irregularly shaped lenses, etc. The combination of multiple lenses allows for effective modulation of light. In some possible implementations, substrate 154 may include a circuit board electrically connected to electronics in the tactile sensor, such as image acquisition unit 120, subsequent projection light source 170, and supplementary lighting. In some possible implementations, when flexible layer 110 is disposed over substrate 154, the outer surface of flexible layer 110 may be used as an arcuate surface to simulate the shape of a finger, facilitating its use as part of a finger.

[0083] Optionally, in a tactile sensor 100 of conventional thickness, a first pattern layer 141 or a projection light source 170 can be disposed in the inner cavity, for example: Figure 2 As shown, a first pattern layer 141 is provided within the housing 150; or, as... Figure 3 or Figure 4 A projection light source 170 can be provided inside the housing 150, which projects the optical pattern 142 onto the inner surface 111 of the flexible layer, wherein, for example... Figure 3 As shown, the projection light source 170 can be disposed on the surface of the base 151, such as... Figure 4 As shown, the projection light source 170 can also be disposed on the inclined side wall of the cylinder 152; as Figure 11 As shown, a first patterned layer 141 is disposed between the flexible layer 110 and the substrate 154, or, as... Figure 11 As shown, a projection light source 170 is provided between the flexible layer 110 and the substrate 154. The projection light source 170 projects the optical pattern 142 onto the inner surface 111 of the flexible layer. The projection light source 170 can be provided on the surface of the substrate 154.

[0084] Optionally, in the tactile sensor 100 of conventional thickness, a supplementary light can also be provided in the inner cavity, for example: Figure 2As shown, a supplementary light 160 is also provided in the inner cavity 153 of the housing 150, which can emit light towards the inner surface 111 of the flexible layer. This increases the light reflected from the identified pattern 140, ultimately increasing the light entering the image acquisition unit 120, making the image information captured by the image acquisition unit 120 clearer; as Figure 11 As shown, a supplementary light 160 is also provided between the flexible layer 110 and the substrate 154, which can emit light toward the inner surface 111 of the flexible layer, and can also play the role of supplementary lighting.

[0085] It should be understood that in examples where pattern 140 is identified as either the first pattern layer 141 or the optical pattern 142, an appropriate number of supplementary lights 160 can be added. Furthermore, there are no limitations on the position and number of supplementary lights 160; for example, there can be one or more. In terms of position, the supplementary lights 160 can be located around the image acquisition unit 120, such as... Figure 9 The base 151 surface, or the supplementary light 160 can also be located on the inner wall of the cylinder 152, for example, the supplementary light 160 is set on the inclined inner wall, so that the supplementary light 160 can emit light towards the recognition pattern 140, or the supplementary light 160 can also be located on the substrate 154.

[0086] Alternatively, in a tactile sensor 100 of conventional thickness, the housing 150 may be made of an opaque material to avoid adverse effects from external ambient light.

[0087] Having understood the tactile sensor 100 of standard thickness, the following explanation will cover the tactile sensor 100 of thinner thickness:

[0088] The thinner tactile sensor 100: The image acquisition unit includes a microlens array and a photosensitive unit array. The microlens array is located on the side of the first patterned layer opposite to the flexible layer, and the photosensitive unit array is located on the side of the microlens array opposite to the first patterned layer. Using a microlens array, compared to a lens, allows for miniaturization of the image acquisition unit, contributing to the realization of a thinner tactile sensor 100. The arrangement of the microlens array and the photosensitive unit array will be illustrated below:

[0089] like Figure 5 or Figure 6As shown, the image acquisition unit 120 includes a photosensitive unit array 124 and a microlens array 125, where the microlens array 125 is a structure formed by arranging multiple tiny lens arrays. The microlens array 125 is stacked on the light-emitting side of the photosensitive unit array 124. Compared to the aforementioned lens 123, the microlens array 125 is thinner and has a shorter focal length and optical path, thus enabling the image acquisition unit 120 to have a thinner profile. This, in turn, allows for a smaller overall thickness of the tactile sensor 100 when used in conjunction with the flexible layer 110. Of course, in some possible embodiments, other functional layers, such as aperture layers or filter layers, can be provided between the stacked microlens array 125 and the photosensitive unit array 124.

[0090] For example Figure 5 The diagram illustrates a relatively thin tactile sensor 100. A microlens array 125 is stacked on a photosensitive unit array 124, a first pattern layer 141 is stacked on the microlens array 125, and a flexible layer 110 is stacked on the first pattern layer 141, forming a stacked structure. This allows for a thinner tactile sensor 100. In this thinner tactile sensor 100, due to limited internal space, if a supplementary lighting lamp 160 is required, such as... Figure 5 As shown, the supplementary light 160 can be placed on the side of the stacked structure, such as at the outer edge of the patterned film layer. The light emission direction of the supplementary light 160 is set towards the first patterned layer 141 to form lateral supplementary light.

[0091] For example Figure 6 The diagram shows a relatively thin tactile sensor 100, in which a microlens array 125 is stacked on a photosensitive unit array 124, an identification pattern 140 is disposed above the microlens array 125, a flexible layer 110 is stacked on the identification pattern 140, and a gap layer 180 or a light-transmitting layer (such as an adhesive layer) is disposed between the identification pattern 140 and the microlens array 125. This can appropriately increase the spacing between the flexible layer 110 and the microlens array 125, reduce the impact of the flexible layer 110 on the microlens array 125 and the photosensitive unit array 124 when the flexible layer 110 deforms, and improve the service life.

[0092] In this relatively thin tactile sensor 100, the recognition pattern 140 can be set as the first pattern layer 141 due to the presence of the gap layer 180 or the light-transmitting layer. Furthermore, due to limited internal space, if a supplementary light 160 is required, such as... Figure 6 As shown, the supplementary light 160 can be placed at the outer edge of the gap layer 180 or the light-transmitting layer, and the light emission direction of the supplementary light 160 is set towards the first pattern layer 141 to form lateral supplementary light.

[0093] In this relatively thin tactile sensor 100, due to the presence of the gap layer 180 or the light-transmitting layer, the recognition pattern 140 can be configured as an optical pattern 142. Specifically, due to limited internal space, if a projection light source 170 is required, it can be positioned at the outer edge of the gap layer 180 or the light-transmitting layer, with the light emission direction of the projection light source 170 facing the inner surface of the flexible layer 110. Furthermore, a supplementary light 160 can be added, as described in [reference needed]. Figure 6 The fill light 160 is set to form side fill light.

[0094] The identification pattern can be regularly distributed on the inner surface 111 of the flexible layer. In Example 1, the pattern in the identification pattern 140 can be a grid pattern, such as... Figure 7 The grid lines shown (where the size of each grid cell can be the same when not compressed) allow for the subdivision of the entire area. This enables even the slightest changes at each location to be detected through one or more small cells, resulting in precise data acquisition. This improves the sensitivity of the tactile sensor 100, facilitating precise control of the robotic arm. For example... Figure 8 As shown, the grid pattern changes as the flexible layer 110 deforms. Furthermore, the pattern in pattern 140 can also be a pattern capable of differentiating the entire region, such as multiple parallel lines, multiple concentric circles, or a dot array.

[0095] In Example 1, the flexible layer 110 is a light-transmitting film layer, meaning that external ambient light can enter the interior of the tactile sensor 100 through the flexible layer 110. This allows the external ambient light to supplement the recognition pattern 140 (first pattern layer 141 or optical pattern 142) on the inner surface 111 of the flexible layer, thereby increasing the amount of light that can enter the image acquisition unit 120 and helping to improve the brightness of the image information.

[0096] In Example 1, the flexible layer 110 is an opaque film layer, meaning that the flexible layer 110 can block external ambient light from entering the interior of the tactile sensor 100. This effectively isolates the sensor from external ambient light and reduces its adverse effects. When pattern 140 is identified as the first pattern layer 141, image information acquisition of the first pattern layer 141 can be achieved by adding the aforementioned supplementary light 160. When pattern 140 is identified as an optical pattern 142, the projection light source 170 itself can provide the corresponding brightness to achieve image information acquisition of the optical pattern 142.

[0097] In Example 1, such as Figures 2 to 6As shown, the tactile sensor 100 also includes a protective layer 130, which is located on the outer surface 112 of the flexible layer. The protective layer 130 can be made of a wear-resistant material and provides corresponding protection for the flexible layer 110. In different embodiments, when external ambient light needs to enter the interior of the tactile sensor 100, the protective layer 130 can be set as a light-transmitting film layer; or, when it is necessary to block external ambient light from entering the interior of the tactile sensor 100, the protective layer 130 can be set as an opaque film layer. Of course, in other embodiments, the function of the protective layer can also be integrated into the flexible layer, that is, the flexible layer also functions as a protective layer.

[0098] Example 2

[0099] like Figure 9 and Figure 10 As shown, the inner surface 111 of the flexible layer does not have a recognition pattern 140. In this example, the image acquisition device 120 can directly capture image information of the inner surface 111 of the flexible layer. Therefore, the image information contains changes in the inner surface as the flexible layer 110 is subjected to pressure, pressure location, pressure area, etc. By analyzing the image information, these changes in the inner surface can be determined, thereby determining the pressure state of the flexible layer 110 and thus clarifying the contact state between the tactile sensor 100 and the target object 10.

[0100] Building upon Example 1, to broaden the applicable environments for the tactile sensor 100, the following descriptions, in conjunction with the accompanying drawings, will explain both conventionally thick and thinner tactile sensors 100:

[0101] A standard thickness tactile sensor 100: The tactile sensor includes a support body, with a flexible layer disposed within the support body. The two components work together to form an inner cavity, facilitating the placement of an image acquisition device within this cavity. Two schematic diagrams of the support body are given below:

[0102] For example: Please refer to Figure 9The support includes a housing 150 with an opening. An image acquisition device 120 is disposed in the inner cavity 153 of the housing 150. A flexible layer 110 is located at the opening and can close the opening, thereby isolating the inner cavity 153 of the housing 150 from the external environment and protecting the electronic devices (such as the image acquisition device 120) in the inner cavity 153 from external environmental interference or corrosion. The image acquisition device 120 is spaced apart from the flexible layer 110. The image acquisition device 120 includes an image sensor 122 (including a photosensitive unit array 124) and a lens 123 disposed in the inner cavity 153 of the housing 150. The lens 123 is located on the photosensitive side of the image sensor 122, so that the light incident on the image acquisition device 120 is first optically modulated by the lens 123 (such as focusing, aberration correction, achromatic aberration, etc.) and then received and imaged by the image sensor 122. Lens 123 includes multiple lenses arranged in sequence. The type of lens can be reasonably selected according to actual needs, such as convex lens, concave lens, irregular lens, etc. The combination of multiple lenses can effectively modulate light.

[0103] Optionally, in a tactile sensor 100 of conventional thickness, such as Figure 9 As shown, the housing 150 may include a base 151 and a cylindrical body 152 fixed to one end of the base 151. The internal space of the cylindrical body 152 serves as the aforementioned inner cavity 153. An opening is formed at the end of the cylindrical body 152 facing away from the base 151, and a flexible layer 110 closes the opening. The image acquisition device 120 is fixed to the surface of the base 151, and it can form a circuit connected to the outside via the base 151. In some possible embodiments, the cylindrical body 152 may be cylindrical, prismatic, conical, or the like. In some possible embodiments, the base 151 may include a circuit board electrically connected to the electronic devices (such as the image acquisition device 120 and a supplementary light) in the tactile sensor.

[0104] For example: Please refer to Figure 11 The support includes a substrate 154, and a flexible layer 110 is disposed on one side surface of the substrate 154, thus forming a partial enclosure between the flexible layer 110 and the substrate 154 (e.g., Figure 11The image acquisition device 120 is disposed within an inner cavity (shown in the figure) or a fully enclosed cavity (not shown in the figure), providing a certain degree of protection for electronic devices (such as the image acquisition device 120) within the inner cavity. The image acquisition device 120 is spaced a certain distance from the flexible layer 110. The image acquisition device 120 includes an image sensor 122 (including a photosensitive unit array 124) and a lens 123 disposed within the inner cavity. The lens 123 is located on the photosensitive side of the image sensor 122, allowing light to be collected by the lens 123. This ensures that the light incident on the image acquisition device 120 is first optically modulated (e.g., focused, aberration corrected, achromatic, etc.) by the lens 123 before being received and imaged by the image sensor 122. The lens 123 includes multiple lenses arranged sequentially. The type of lens can be reasonably selected according to actual needs, such as convex lenses, concave lenses, irregularly shaped lenses, etc. The combination of multiple lenses allows for effective modulation of light. In some possible implementations, substrate 154 may include a circuit board electrically connected to electronics in the tactile sensor, such as image acquisition unit 120 and fill light. In some possible implementations, when flexible layer 110 is disposed over substrate 154, the outer surface of flexible layer 110 may be curved to simulate the shape of a finger, facilitating its use as part of a finger.

[0105] Optionally, in the tactile sensor 100 of conventional thickness, a supplementary light can also be provided in the inner cavity, for example: Figure 9 As shown, a supplementary light 160 is also provided in the inner cavity 153 of the housing 150, which can emit light towards the inner surface 111 of the flexible layer. This increases the amount of light reflected by the inner surface of the flexible layer 110, ultimately increasing the amount of light entering the image acquisition device 120, making the image information captured by the image acquisition device 120 clearer; as Figure 11 As shown, a supplementary light 160 is also provided between the flexible layer 110 and the substrate 154, which can emit light toward the inner surface 111 of the flexible layer, and can also play the role of supplementary lighting.

[0106] It should be understood that in Example 2, an appropriate number of supplementary lights 160 can be added. Furthermore, there are no restrictions on the location and number of the supplementary lights 160; for example, there can be one or more. In terms of location, the supplementary lights 160 can be located around the image acquisition unit 120, for example... Figure 9 The base 151 surface, or the supplementary light 160 can also be located on the inner wall of the cylinder 152, for example, the supplementary light 160 is set on the inclined inner wall, so that the supplementary light 160 can emit light toward the inner surface 111 of the flexible layer, or the supplementary light 160 can also be located on the substrate 154.

[0107] Alternatively, in a tactile sensor 100 of conventional thickness, the housing 150 may be made of an opaque material to avoid adverse effects from external ambient light.

[0108] Optionally, in a conventional thickness tactile sensor 100, in one embodiment, the flexible layer 110 is a light-transmitting film layer, meaning that ambient light can enter the interior of the tactile sensor 100 through the flexible layer 110. This allows ambient light to supplement the inner surface 111 of the flexible layer, thereby increasing the amount of light entering the image acquisition unit 120 and improving the brightness of the image information. In another embodiment, the flexible layer 110 is an opaque film layer, meaning that the flexible layer 110 can block ambient light from entering the interior of the tactile sensor 100. This allows the flexible layer 110 to isolate ambient light and reduce its adverse effects. In this embodiment, image information acquisition can be achieved by adding a supplementary light 160.

[0109] Having understood the tactile sensor 100 of standard thickness, the following explanation will cover the tactile sensor 100 of thinner thickness:

[0110] The thinner tactile sensor 100: The image acquisition unit includes a microlens array and a photosensitive unit array. The microlens array is located on the side of the first patterned layer opposite to the flexible layer, and the photosensitive unit array is located on the side of the microlens array opposite to the first patterned layer. Using a microlens array, compared to a lens, allows for miniaturization of the image acquisition unit, contributing to the realization of a thinner tactile sensor 100. The arrangement of the microlens array and the photosensitive unit array will be illustrated below:

[0111] like Figure 10 As shown, the image acquisition unit 120 includes a photosensitive unit array 124 and a microlens array 125, where the microlens array 125 is a structure formed by arranging multiple tiny lens arrays. The microlens array 125 is stacked on the light-emitting side of the photosensitive unit array 124. Compared to the aforementioned lens 123, the microlens array 125 is thinner and has a shorter focal length and optical path, thus enabling the image acquisition unit 120 to have a thinner profile. This, in turn, allows for a smaller overall thickness of the tactile sensor 100 when used in conjunction with the flexible layer 110. Of course, in some possible embodiments, other functional layers, such as aperture layers or filter layers, can be provided between the stacked microlens array 125 and the photosensitive unit array 124.

[0112] For example Figure 10The diagram illustrates a relatively thin tactile sensor 100. A microlens array 125 is stacked on a photosensitive unit array 124, and a flexible layer 110 is stacked on the microlens array 125, forming a stacked structure. This allows for a thinner tactile sensor 100. In this thin tactile sensor 100, due to limited internal space, it is difficult to install a supplementary light 160. Therefore, the flexible layer 110 can be configured as a light-transmitting film layer, allowing ambient light to enter the tactile sensor 100 through the flexible layer 110. This allows ambient light to illuminate the inner surface 111 of the flexible layer, increasing the amount of light entering the image acquisition unit 120 and improving the brightness of the image information.

[0113] In another, thinner tactile sensor 100, a microlens array 125 is stacked on top of a photosensitive unit array 124. A flexible layer 110 is disposed above the microlens array 125, and a gap layer 180 or a light-transmitting layer is disposed between the flexible layer 110 and the microlens array 125. This appropriately increases the spacing between the flexible layer 110 and the microlens array 125, reducing the impact of the flexible layer 110 on the microlens array 125 and the photosensitive unit array 124 when it deforms, thus improving its service life. In this thinner tactile sensor 100, the flexible layer 110 can be a light-transmitting or opaque film layer. Furthermore, due to limited internal space, if a supplementary light 160 is required, it can be positioned at the outer edge of the gap layer 180 or the light-transmitting layer, with the light emission direction of the supplementary light 160 facing the inner surface 111 of the flexible layer, forming lateral supplementary lighting.

[0114] In Example 2, such as Figures 9 to 10 As shown, the tactile sensor 100 also includes a protective layer 130, which is located on the outer surface 112 of the flexible layer. The protective layer 130 can be made of a wear-resistant material and provides corresponding protection for the flexible layer 110. In different embodiments, when external ambient light needs to enter the interior of the tactile sensor 100, the protective layer 130 can be set as a light-transmitting film layer; or, when it is necessary to block external ambient light from entering the interior of the tactile sensor 100, the protective layer 130 can be set as an opaque film layer. Of course, in other embodiments, the function of the protective layer can also be integrated into the flexible layer, that is, the flexible layer also functions as a protective layer.

[0115] In this application, when a supplementary light 160 is provided in a relatively thin tactile sensor 100, a fixing base 161 can be added to fix the supplementary light 160.

[0116] It should be understood that the protective layer 130 in this application has a certain degree of deformation capability.

[0117] In addition, it should be noted that the flexible layer 110 and / or protective layer 130 on one side of the external environment can be flat or curved when not under pressure. For example, when the tactile sensor 100 is applied to the fingertip 211 of the robotic hand, it can be curved to simulate the surface of the finger 210 in a human hand.

[0118] In this application, when the flexible layer 110 is an opaque film layer, the inner surface 111 of the flexible layer or the first pattern layer 141 reflects light in a specular manner, which can increase the amount of light entering the image acquisition unit 120.

[0119] In another aspect of the embodiments of this application, a robotic arm 200 is provided, such as... Figure 12 As shown, it includes a finger 210 and a tactile sensor 100 of any of the above types. The tactile sensor 100 is disposed on the finger 210 and / or the palm 220, or the tactile sensor 100 is part of the finger 210 and / or the palm 220.

[0120] The robotic arm 200 in this application can be a dexterous hand with a high degree of freedom. The tactile sensor 100 attached to it can provide the dexterous hand with higher perception accuracy and richer information dimensions, making it possible to perform more precise operations.

[0121] When the tactile sensor 100 is of conventional thickness, a mounting groove can be formed on the surface of the finger 210 and / or palm 220, and the tactile sensor 100 is embedded in the mounting groove. The outer surface of the flexible layer 110 of the tactile sensor 100 (which is the protective layer 130 when a protective layer 130 is provided) smoothly transitions with the periphery of the mounting groove opening. Alternatively, as... Figure 11 As shown, when the shape of the flexible layer of the tactile sensor 100 can simulate the shape of a finger, the tactile sensor 100 can be used as part of a finger.

[0122] When the tactile sensor 100 is a thinner tactile sensor 100, the tactile sensor 100 can be directly attached to the surface of the finger 210 and / or the palm 220, which can improve the installation efficiency and the applicability of the tactile sensor 100.

[0123] Optionally, such as Figure 12 As shown, the tactile sensor 100 is positioned close to the fingertip of the finger 210 and located on the fingertip 211 of the finger. This allows the tactile sensor 100 to accurately sense the grasping state when the robotic arm 200 grasps the target object 10, thereby controlling the robotic arm 200.

[0124] In another aspect of the embodiments of this application, a robot is provided, including a body and a robotic arm 200 of any of the above-described types, the robotic arm 200 being mounted on the body.

[0125] Another aspect of the embodiments of this application provides an information processing method, the method comprising:

[0126] S10: Acquire image information, wherein the image information is acquired by the image acquisition unit 120 of any of the above-mentioned tactile sensors 100.

[0127] S20: Compare the image information with the base image to determine the pressure state of the flexible layer 110 of the tactile sensor 100.

[0128] Image information can be captured by the image acquisition unit 120 in the tactile sensor 100. The pressure state of the flexible layer 110 is determined by comparing the image information with the underlying image.

[0129] It should be understood that the database image can also be formed by the image acquisition device 120. The compressed state of the flexible layer 110 recorded in the database image can be uncompressed, that is, the image information acquired by the image acquisition device when the flexible layer is not compressed. In this way, by comparing the differences between the image information and the database image, the compressed state of the flexible layer 110 can be determined. For example, when there is no difference between the image information and the database image (or within the allowable difference range), it can be concluded that the flexible layer 110 is not compressed. Or, when there is a difference between the image information and the database image (or exceeds the allowable difference range), it can be concluded that the flexible layer 110 is compressed. Based on the magnitude of the difference, information such as the pressure intensity, the pressure location, and the pressure area can be obtained.

[0130] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0131] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0132] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0133] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0134] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A tactile sensor, characterized in that, include: A flexible layer having an inner surface opposite to an external target object, and the inner surface deforming when the flexible layer is compressed by the target object; An image acquisition device is located on the inner side of the flexible layer away from the target object. The field of view of the image acquisition device covers at least part of the inner surface to acquire image information characterizing the pressure state of the flexible layer.

2. The tactile sensor as described in claim 1, characterized in that, The image acquisition device is used to acquire image information of the inner surface to characterize the pressure state of the flexible layer.

3. The tactile sensor as described in claim 2, characterized in that, The tactile sensor also includes: The identification pattern is located on the inner surface of the flexible layer; The image acquisition device is used to acquire image information of changes in the inner surface and the recognition pattern when the flexible layer is compressed.

4. The tactile sensor as described in claim 3, characterized in that, The identification pattern is a first pattern layer disposed on the inner surface.

5. The tactile sensor as described in claim 3, characterized in that, The tactile sensor also includes: A projection light source is located on the inner side of the flexible layer away from the target object. The projection light source is used to project an optical pattern as the identification pattern toward the inner surface.

6. The tactile sensor as described in claim 5, characterized in that, The projection light source includes: The light-emitting element has a light-emitting surface; A second pattern layer is disposed on the light-emitting surface. The light emitted by the light-emitting element is patterned by the second pattern layer and then projected onto the inner surface to form the optical pattern.

7. The tactile sensor according to any one of claims 1 to 6, characterized in that, The image acquisition device includes a lens and an image sensor located on the side of the flexible layer opposite to the target object. The lens includes a plurality of lenses arranged sequentially on the receiving side of the image sensor.

8. The tactile sensor as described in claim 7, characterized in that, The tactile sensor also includes: A support body, wherein the flexible layer is disposed on the support body to form an inner cavity, and the image acquisition device is located inside the inner cavity; A supplementary light is located inside the inner cavity, and the light emission direction of the supplementary light is directed toward the flexible layer.

9. The tactile sensor as described in claim 4, characterized in that, The image acquisition device includes: A microlens array is located on the side of the first patterned layer opposite to the flexible layer; The photosensitive unit array is located on the side of the microlens array opposite to the first pattern layer.

10. The tactile sensor as claimed in claim 9, characterized in that, The microlens array is stacked on the side of the first patterned layer that is away from the flexible layer; Alternatively, a gap layer or a light-transmitting layer may be provided between the microlens array and the recognition pattern.

11. The tactile sensor as claimed in claim 10, characterized in that, The tactile sensor also includes: A fill light, wherein the light emission direction of the fill light is directed toward the first pattern layer; The supplementary light is located at the edge of the first pattern layer, or, when a gap layer or light-transmitting layer is provided between the microlens array and the identification pattern, the supplementary light is located at the edge of the gap layer or light-transmitting layer.

12. The tactile sensor as claimed in claim 2, characterized in that, The image acquisition device includes: A microlens array is stacked onto the inner surface of the flexible layer; A photosensitive unit array is stacked on the side of the microlens array opposite to the flexible layer.

13. The tactile sensor according to any one of claims 7 to 12, characterized in that, The flexible layer is either a light-transmitting film layer or an opaque film layer.

14. A robotic arm, characterized in that, Includes a finger and a tactile sensor as described in any one of claims 1 to 13; the tactile sensor is attached to the surface of the finger, the tactile sensor is at least a part of the finger, or, a mounting groove is formed on the surface of the finger, and the tactile sensor is embedded in the mounting groove.

15. A robot, characterized in that, It includes a body and a robotic arm as described in claim 14, the robotic arm being mounted on the body.

Images