Dimming assembly and visual haptic sensor

Abstract

The utility model discloses a light adjusting assembly and visual tactile sensor, visual tactile sensor includes tactile element and imaging element, tactile element is configured as fingertip profiling, including finger palm and the finger edge of ring setting in the finger palm periphery. Light adjusting assembly includes light source and optical structure. Light source includes main light source and ring setting in the periphery of main light source secondary light source. Main light source is opposite finger palm, and secondary light source sets up corresponding finger edge. Optical structure is located between light source and tactile element, and optical structure has light transmission part and light guide part. Light transmission part is opposite main light source, and light guide part ring sets in the periphery of light transmission part and extends to secondary light source. The junction of light guide part and light transmission part forms the reflection inclined plane, and the reflection inclined plane is used to reflect the light in light guide part to make the light converge in light transmission part. Through main light source and secondary light source, improve the light intensity at finger palm position, can effectively improve visual image shooting effect.

Description

Technical Field

[0001] This utility model relates to the field of sensor technology, and in particular to a dimming component and a visual-tactile sensor. Background Technology

[0002] When robots perceive external objects, they rely on visual-tactile sensors. A visual-tactile sensor is a sensor that can convert visual images into tactile information. It can sense information such as the shape and texture of an object's surface, and at the same time measure the contact force during interaction.

[0003] The housing of the visual-tactile sensor includes a silicone block and a transparent plate to support it. Inside the housing are a light source and a camera. The light source provides illumination for the camera to ensure effective image capture. While some products incorporate optical elements on the side of the silicone block facing the light source to enhance brightness, this design still suffers from insufficient light intensity and cannot significantly improve the image capture quality. Utility Model Content

[0004] The main purpose of this invention is to propose a dimming component and a visual-tactile sensor, which aims to solve the problem that the existing visual-tactile sensors affect the shooting effect of visual images due to insufficient light intensity.

[0005] To achieve the above objectives, this utility model proposes a dimming component for a visual-tactile sensor. The visual-tactile sensor includes a tactile element and an imaging element. The tactile element is configured to mimic a fingertip shape, including a fingertip and a finger edge surrounding the fingertip. The imaging element is used to acquire images of the tactile element. The dimming component includes:

[0006] The light source includes a main light source and secondary light sources arranged around the main light source, the main light source facing the fingertip, and the secondary light sources positioned corresponding to the edge of the finger; and...

[0007] An optical structure is disposed between the light source and the tactile element. The optical structure has a light-transmitting part and a light-guiding part. The light-transmitting part faces the main light source. The light-guiding part is arranged around the periphery of the light-transmitting part and extends toward the secondary light source. A reflective slope is formed at the connection between the light-guiding part and the light-transmitting part. The reflective slope is used to reflect the light in the light-guiding part so that the light converges on the light-transmitting part.

[0008] Optionally, the outer contour of the light-transmitting portion is adapted to the outer contour shape of the fingertip; and / or,

[0009] The angle θ1 between the light guide and the reflective slope is set to 105° to 120°, and the angle θ2 between the light transmittance and the reflective slope is set to 105° to 120°.

[0010] Optionally, the light source includes a back plate and a light-emitting part, the light-emitting part being disposed on the side surface of the back plate facing the tactile element;

[0011] The optical structure is located on the side of the back plate facing the tactile element, and the orthographic projection of the optical structure on the back plate is within the range of the back plate and covers the light-emitting part;

[0012] The light-emitting part includes the main light source and the secondary light source.

[0013] Optionally, the optical structure includes a base plate and a surrounding plate. The base plate is disposed opposite to the main light source. The base plate is light-transmitting and forms the light-transmitting portion. The surrounding plate is arranged around the outer periphery of the base plate and extends toward the secondary light source. The surrounding plate forms the light guide portion. A transition slope is provided at the connection between the outer wall of the base plate and the outer wall of the surrounding plate. A reflective layer is provided on the transition slope to form the reflective slope.

[0014] Optionally, the light guide portion is disposed near the outer periphery of the back plate, the orthographic projection of the light guide portion on the back plate partially overlaps with the light-emitting portion, and the light guide portion is provided with an avoidance notch at the position where it overlaps with the light-emitting portion.

[0015] Optionally, the light source includes a back plate and a plurality of LEDs, the plurality of LEDs being disposed on the side surface of the back plate facing the tactile element, the plurality of LEDs including a plurality of first LEDs facing the light-transmitting portion and a plurality of second LEDs surrounding the plurality of first LEDs;

[0016] The main light source includes the plurality of first LED beads, and the secondary light source includes the plurality of first LED beads.

[0017] Optionally, the plurality of first LED beads are configured as monochrome LED beads, dual-color LED beads, or multi-color LED beads; and / or,

[0018] The plurality of second LEDs are configured as one of monochrome LEDs, dual-color LEDs, or multi-color LEDs.

[0019] Optionally, among the plurality of LEDs, every three LEDs form a group, and the three LEDs in a group are respectively configured as red LEDs, green LEDs and blue LEDs.

[0020] Optionally, the tactile element has two opposing finger sides in a first direction and a finger tip in a second direction;

[0021] The secondary light source ring is disposed on three sides of the main light source, and is respectively positioned corresponding to the two finger sides and opposite to the fingertip;

[0022] The light guide portion includes four light guide plates arranged around the light-transmitting portion, and three of the light guide plates form the reflective slope between themselves and the light-transmitting portion, with the reflective slope corresponding to the secondary light source.

[0023] Optionally, the light source has a mounting hole at its center position;

[0024] The imaging element has a acquisition section, which is located on the side of the light source away from the tactile element, and the acquisition section is exposed from the mounting hole to acquire an image of the tactile element.

[0025] This invention also proposes a visual-tactile sensor, including the aforementioned dimming component.

[0026] The technical solution provided by this utility model has at least the following advantages:

[0027] The dimming component provided by this utility model includes a light source and an optical structure disposed between the light source and a tactile element. The light source includes a main light source and a secondary light source, with the main light source facing the fingertip and the secondary light source positioned at the edge of the finger. The optical structure has a light-transmitting part and a light-guiding part, with a reflective slope formed at the connection between the light-guiding part and the light-transmitting part. The light-transmitting part faces the main light source, and the light-guiding part is arranged around the periphery of the light-transmitting part and extends towards the secondary light source. The light from the secondary light source is transmitted through the light-guiding part to the reflective slope and reflected back to the light-transmitting part, thereby achieving a supplementary lighting effect. By using the main light source and the secondary light source to increase the light intensity at the fingertip position, the visual image capture effect can be effectively improved. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0029] Figure 1 This is an exploded view of an embodiment of a visual-tactile sensor provided by the present invention;

[0030] Figure 2 for Figure 1 A schematic diagram of the structure of the visual-tactile sensor with respect to the dimming component;

[0031] Figure 3 for Figure 2 An exploded view of the structure of the dimming component;

[0032] Figure 4 for Figure 2A cross-sectional view of the dimming component along AA;

[0033] Figure 5 for Figure 2 A schematic diagram of the optical structure of the dimming component;

[0034] Figure 6 for Figure 5 A schematic diagram of the optical structure (from another perspective);

[0035] Figure 7 for Figure 5 Side view of the optical structure.

[0036] Explanation of icon numbers:

[0037] 1000 Visual-Haptic Sensor; 100 Dimming Component; 1 Light Source; 1a Main Light Source; 1b Secondary Light Source; 11 Backplate; 12 Light Emitting Part; 13 Lamp Bead; 14 Mounting Hole; 2 Optical Structure; 21 Light Transmitting Part; 22 Light Guide Part; 221 Light Guide Plate; 23 Reflective Bevel; 24 Base Plate; 25 Enclosure; 26 Transition Bevel; 27 Avoidance Notch; 200 Tactile Element; 201 Finger Pad; 202 Finger Edge; 203 Finger Side; 204 Finger Tip; 300 Imaging Element; 301 Acquisition Unit; F1 First Direction; F2 Second Direction.

[0038] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0039] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0040] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0041] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0042] When robots perceive external objects, they rely on visual-tactile sensors. A visual-tactile sensor is a sensor that can convert visual images into tactile information. It can sense information such as the shape and texture of an object's surface, and at the same time measure the contact force during interaction.

[0043] The housing of the visual tactile sensor has a silicone block and a transparent plate for supporting the silicone block. Inside the housing, there is also a light source and a camera. The light source is used to provide lighting conditions for the camera to ensure the shooting effect of the visual image.

[0044] To improve the light intensity at the fingertip area, this invention improves the dimming component 100 of the visual-tactile sensor 1000. The structure of the dimming component 100 will be described in detail below with reference to the accompanying drawings.

[0045] Please see Figure 1 The visual-tactile sensor 1000 includes a tactile element 200. Understandably, the tactile element 200 is used to contact an object. When the tactile element 200 acts on an object through operations such as grasping, applying pressure to the object, the object also exerts a reaction force on the tactile element 200. Under the action of this reaction force, the tactile element 200 undergoes elastic deformation, resulting in a change in the intensity of the reflected light from the light source 1.

[0046] To more accurately mimic human actions such as grasping with fingertips and to acquire tactile information obtained during these actions, the tactile element 200 is configured to mimic fingertip shapes, including a fingertip 201 and a finger edge 202 surrounding the fingertip 201. Furthermore, based on human grasping actions, it is known that grasping tasks are typically performed using the fingertip 201; therefore, the fingertip 201 is designed to be elastically deformable.

[0047] The visual-tactile sensor 1000 also includes an imaging element 300, which acquires images of the tactile element 200 that undergoes elastic deformation. Different reflected light intensities result in different images of the tactile element 200, so the acquired images can serve as carriers of tactile information, and tactile information can be obtained based on a preset image-to-tactile information mapping relationship.

[0048] Meanwhile, the visual tactile sensor 1000 also includes a dimming component 100, which provides illumination to the tactile element 200, thereby increasing the brightness at the fingertip 201 position. When the imaging element 300 acquires an image at the fingertip 201 position, it can obtain a clear image, thereby improving the geometric reconstruction accuracy of the visual tactile sensor 1000 on the object surface.

[0049] It is understandable that the imaging element 300 is used to acquire images at the fingertip 201 position, so the acquisition part 301 of the imaging element 300 is set towards the fingertip 201 position.

[0050] Please see Figure 2 and Figure 3 In this invention, the dimming assembly 100 includes a light source 1 and an optical structure 2. The light source 1 includes a main light source 1a and a secondary light source 1b arranged around the main light source 1a. The main light source 1a faces the fingertip 201, and the secondary light source 1b is positioned corresponding to the finger edge 202. By adding a secondary light source 1b at the finger edge 202, not only can the coverage area of ​​the light source 1 be increased, but the arrangement of the light source 1 within a given space can also be made more reasonable.

[0051] Meanwhile, the optical structure 2 is disposed between the light source 1 and the tactile element 200. The optical structure 2 has a light-transmitting part 21 and a light-guiding part 22. The light-transmitting part 21 faces the main light source 1a. The light-guiding part 22 is arranged around the periphery of the light-transmitting part 21 and extends toward the secondary light source 1b. A reflective slope 23 is formed at the connection between the light-guiding part 22 and the light-transmitting part 21. The reflective slope 23 is used to reflect the light in the light-guiding part 22 so that the light converges on the light-transmitting part 21.

[0052] The light-transmitting part 21 is positioned so that the main light source 1a is directly opposite the fingertip 201, thereby allowing the light from the main light source 1a to pass through the light-transmitting part 21 and increasing the light intensity at the fingertip 201. When the fingertip 201 undergoes elastic deformation, the intensity of the reflected light from the main light source 1a changes, and this change can be captured by the imaging element 300 through the light-transmitting part 21.

[0053] Meanwhile, the light guide 22 is arranged around the periphery of the light-transmitting part 21 and extends toward the secondary light source 1b. The light from the secondary light source 1b is transmitted through the light guide 22 to the reflective inclined surface 23, and then reflected by the reflective inclined surface 23 back to the light-transmitting part 21, thereby achieving the effect of supplementary lighting and further increasing the light intensity at the fingertip 201 position, thus effectively improving the visual image shooting effect.

[0054] Continuing on the above, the tactile element 200 is configured to mimic a fingertip, including a fingertip 201 and a finger edge 202 surrounding the fingertip 201. In order to ensure that elastic deformation at the fingertip 201 can be clearly seen from the light-transmitting portion 21, in one embodiment, the outer contour of the light-transmitting portion 21 is adapted to the outer contour shape of the fingertip 201.

[0055] In order to ensure that the light from the secondary light source 1b reaches the light-transmitting part 21 after being reflected by the reflective inclined surface 23, in one embodiment, please refer to... Figure 6 The angle θ1 between the light guide part 22 and the reflective inclined surface 23 is set to 105°~120°, and the angle θ2 between the light transmittance part 21 and the reflective inclined surface 23 is set to 105°~120°.

[0056] The light from the secondary light source 1b enters the light guide section 22 perpendicularly. The function of the light guide section 22 is to transmit the light from the secondary light source 1b to the reflective inclined surface 23. The angle θ1 between the light guide section 22 and the reflective inclined surface 23 determines the incident angle of the light as it travels from the light guide section 22 to the reflective inclined surface 23. The incident angle α1 when the light travels to the reflective inclined surface 23 is 180° - θ1. When θ1 is set to 105°~120°, α1 corresponds to 60°~75°. When the incident angle α1 is between 60° and 75°, the specular reflection ratio of the reflective inclined surface 23 reaches over 90% (diffuse reflection ratio <10%), which can minimize the energy loss of light during reflection, thereby improving the light transmission efficiency from the light guide section 22 to the reflective inclined surface 23.

[0057] Meanwhile, when the incident angle α1 is between 60° and 75°, when the light is reflected by the reflective inclined surface 23 and shines on the light-transmitting part 21, the reflection angle α2 is equal to the incident angle α1. At this time, the angle θ2 between the light-transmitting part 21 and the reflective inclined surface 23 determines the tilt relationship between them. When θ2 is set to between 105° and 120°, when the reflected light reaches the light-transmitting part 21, the angle between it and the light-transmitting part 21 is between 30° and 45°. At this time, when the light reaches the light-transmitting part 21, it concentrates and covers the fingertip 201 area, thereby increasing the light brightness at the fingertip 201 position.

[0058] If the angle θ1 between the light guide 22 and the reflective slope 23, and the angle θ2 between the light transmittance 21 and the reflective slope 23 are too small (e.g., less than 105°), the convergence angle of the reflected light will be too steep, causing the light to be excessively concentrated at the center of the fingertip 201, thus forming a spot effect. This results in a large difference in brightness between the center and the edge of the fingertip 201, which is not conducive to the imaging element 300 acquiring a clear visual image.

[0059] If the angle θ1 between the light guide 22 and the reflective slope 23, and the angle θ2 between the light transmittance 21 and the reflective slope 23 are too small (e.g., greater than 120°), the divergence angle of the reflected light will be too large, and some light will exceed the range of the fingertip 201 (illuminating the finger edge 202), resulting in insufficient brightness at the fingertip 201 and poor supplementary lighting effect.

[0060] The angle θ1 between the light guide 22 and the reflective inclined surface 23, and the angle θ2 between the light transmittance 21 and the reflective inclined surface 23 are set to a range of 105° to 120°, so that the reflected light falls at a suitable point and matches the curved surface of the fingertip 201, thereby uniformly increasing the brightness at the position of the fingertip 201 and achieving uniform illumination of the entire area.

[0061] It should be noted that the above two technical features can be set individually or simultaneously. Specifically, in one embodiment, the above two technical features are set simultaneously. That is, the outer contour of the light-transmitting part 21 is adapted to the outer contour shape of the fingertip 201. At the same time, the included angle θ1 between the light guide part 22 and the reflective inclined surface 23 is set to 105°~120°, and the included angle θ2 between the light-transmitting part 21 and the reflective inclined surface 23 is set to 105°~120°.

[0062] In one embodiment, please refer to Figure 3 and Figure 4 The light source 1 includes a back plate 11 and a light-emitting part 12. The light-emitting part 12 is disposed on the side surface of the back plate 11 facing the tactile element 200. The light-emitting part 12 includes a main light source 1a and a secondary light source 1b.

[0063] The optical structure 2 is located on the side of the back plate 11 facing the tactile element 200. The orthographic projection of the optical structure 2 on the back plate 11 is within the range of the back plate 11 and covers the light-emitting part 12.

[0064] Continuing from the above, the haptic element 200 is configured to mimic the fingertip shape, including the fingertip 201 and the finger edge 202 surrounding the fingertip 201, thus the overall space of the haptic element 200 is small. The orthographic projection of the optical structure 2 on the back plate 11 is within the range of the back plate 11, meaning that the lateral dimensions of the optical structure 2 match those of the back plate 11, without any redundant design exceeding the back plate 11, avoiding the occupation of the limited space of the fingertip due to a bulky structure. The light-emitting part 12 and the optical structure 2 are both integrated on the side of the back plate 11 facing the haptic element 200, thereby compactly stacking them in the vertical direction, reducing the vertical thickness of the components, and enabling the entire dimming assembly 100 to adapt to the miniaturization requirements of the fingertip mimicry, ensuring that the overall structure of the sensor is thin and light, without affecting the flexible operation of the fingertip.

[0065] Furthermore, the optical structure 2 covers the light-emitting part 12, meaning that the light emitted from the light-emitting part 12 can be completely enveloped or covered by the optical structure 2, preventing light leakage and improving light utilization. After the light is emitted from the light-emitting part 12, it can directly enter the optical structure 2, reducing the propagation path in the air and confining more light within the optical structure 2 for conduction, further improving light utilization and thus indirectly enhancing the illumination at the fingertip 201 position.

[0066] The optical structure 2 covers the light-emitting part 12, ensuring that all the light from the secondary light source 1b enters the light guide part 22 and is transmitted to the reflective slope 23 along a preset path. This makes the light-gathering function of the reflective slope 23 more reliable and further enhances the light concentration of the light-transmitting part 21.

[0067] Specifically, please refer to Figure 5 and Figure 6 The optical structure 2 includes a base plate 24 and a surrounding plate 25. The base plate 24 is disposed opposite to the main light source 1a, and the base plate 24 is light-transmitting, forming a light-transmitting part 21. The surrounding plate 25 is disposed around the outer periphery of the base plate 24 and extends toward the secondary light source 1b, forming a light guide part 22. A transition slope 26 is provided at the connection between the outer wall of the base plate 24 and the outer wall of the surrounding plate 25, and a reflective layer is provided on the transition slope 26 to form a reflective slope 23.

[0068] In this embodiment, the base plate 24, serving as the light-transmitting part 21, is made of a high-transmittance material, such as PMMA (Polymethyl Methacrylate), with a transmittance of up to 92%, ensuring that the light from the main light source 1a can penetrate unobstructed to the fingertip 201. The surrounding plate 25, serving as the light-guiding part 22, can be made of a high-refractive-index light-guiding material, such as PC (Polycarbonate), with a refractive index of 1.58, thereby enhancing the confinement and transmission of light from the secondary light source 1b. By functionally partitioning the optical structure 2, the material properties of different areas are precisely matched with functional requirements, reducing light loss. Furthermore, the surrounding plate 25 extends towards the secondary light source 1b, forming a wrap-around enclosure of the secondary light source 1b, maximizing the direct entry of light from the secondary light source 1b into the interior of the surrounding plate 25, minimizing light leakage loss.

[0069] Meanwhile, a transition slope 26 is provided at the connection between the outer wall of the base plate 24 and the outer wall of the surrounding plate 25. A reflective layer is formed on the transition slope 26 by vacuum deposition, for example, an aluminum film is formed on the transition slope 26, so that the light reflectivity of the reflective slope 23 reaches 95%. Thus, the light in the light guide section 22 is reflected by the reflective slope 23. The reflected light converges in the light transmission section 21, thereby increasing the light intensity at the fingertip 201 position. The reflective layer also plays a physical isolation role, avoiding diffuse reflection of light caused by the abrupt change in the refractive index of the material at the transition slope 26, so that the light can enter the light transmission section 21 along a preset path after reflection, reducing stray light interference.

[0070] Furthermore, the frame structure formed by the base plate 24 and the surrounding plate 25 can improve the bending strength of the optical structure 2, thereby reducing the deformation of the optical structure 2 when the tactile element 200 is under pressure, and avoiding optical path deviation caused by the deformation of the optical structure 2. The integrated structure of the base plate 24 and the surrounding plate 25 can further reduce the spatial volume of the optical structure 2, thereby reducing the volume ratio of the dimming component 100 within the visual tactile sensor 1000.

[0071] In one embodiment, please refer to Figure 4 The light guide portion 22 is disposed near the outer periphery of the back plate 11. The orthographic projection of the light guide portion 22 on the back plate 11 partially overlaps with the light-emitting portion 12. An avoidance notch 27 is provided at the position where the light guide portion 22 overlaps with the light-emitting portion 12.

[0072] In this embodiment, the light guide portion 22 and the light-emitting portion 12 partially overlap, so that the light emitted by the light-emitting portion 12 is closer to the incident area of ​​the light guide portion 22, thereby allowing more light to directly enter the interior of the light guide portion 22 instead of scattering to the surrounding space, thereby improving the coupling efficiency of light from the light-emitting portion 12 to the light guide portion 22.

[0073] The light guide section 22 has an avoidance notch 27 at the position where it overlaps with the light-emitting section 12. This prevents the light guide section 22 from directly covering the light-emitting surface of the light-emitting section 12, avoiding the absorption or reflection of light by the material of the light guide section 22 itself due to obstruction. This ensures that the light from the light-emitting section 12 can reach the effective incident area of ​​the light guide section 22 without obstruction, or directly participate in illumination. On the other hand, it achieves close cooperation between the light guide section 22 and the light-emitting section 12 within a limited space, eliminating the need to reserve an excessively large gap between them, and further reducing the overall structural thickness.

[0074] In one embodiment, please refer to Figure 3 The light source 1 includes a back plate 11 and a plurality of LED beads 13, which are disposed on the side surface of the back plate 11 facing the tactile element 200. The plurality of LED beads 13 include a plurality of first LED beads facing the light-transmitting portion 21 and a plurality of second LED beads surrounding the plurality of first LED beads. The main light source 1a includes a plurality of first LED beads, and the secondary light source 1b includes a plurality of first LED beads.

[0075] This invention does not specifically limit the color of the first LED. Multiple first LEDs can be configured as monochrome, dual-color, or multi-color LEDs. That is, the first LEDs can be set as monochrome LEDs, for example, multiple first LEDs can be set as white LEDs, or as a single colored LED. Multiple first LEDs can be set as dual-color LEDs, for example, multiple first LEDs can be set as two different colored LEDs. Multiple first LEDs can also be set as multi-color LEDs, for example, multiple first LEDs can be set as tri-color LEDs, with each group of three colored LEDs forming a set.

[0076] This invention does not specifically limit the color of the second LED. Multiple second LEDs can be configured as single-color, dual-color, or multi-color LEDs. That is, the second LEDs can be set as single-color LEDs, for example, multiple second LEDs can be set as white LEDs, or as a single colored LED. Multiple second LEDs can be set as dual-color LEDs, for example, multiple second LEDs can be set as two different colored LEDs. Multiple second LEDs can also be set as multi-color LEDs, for example, multiple second LEDs can be set as tri-color LEDs, with each group of three colored LEDs forming a set.

[0077] It should be noted that the above two technical features can be set individually or simultaneously. Specifically, in one embodiment, both technical features are set simultaneously.

[0078] This invention does not impose specific limitations on the colors of the first and second LED chips. The first and second LED chips can be the same or different colors. In one embodiment, the first and second LED chips are the same color. This simplifies the structure of the light source 1.

[0079] In one embodiment, among the plurality of LED beads 13, every three LED beads 13 form a group, and the three LED beads 13 in a group are respectively configured as red LED beads, green LED beads and blue LED beads.

[0080] In one embodiment, please refer to Figure 3 and Figure 5 The tactile element 200 has two opposing finger sides 203 in the first direction F1 and a finger tip 204 in the second direction F2. The secondary light source 1b is arranged around the three sides of the main light source 1a, and is respectively arranged opposite to the two finger sides 203 and the finger tip 204. The light guide section 22 includes four light guide plates 221 arranged around the light-transmitting section 21. Three of the light guide plates 221 form a reflective slope 23 between themselves and the light-transmitting section 21, and the reflective slope 23 corresponds to the secondary light source 1b.

[0081] In the above structure, the tactile element 200 is configured as a fingertip mimic, including a fingertip 201 and a finger edge 202 surrounding the fingertip 201. It can be understood that the fingertip mimicking tactile element 200 has two opposing finger sides 203 in the finger width direction and opposing fingertips 204 and finger roots in the finger length direction, with the finger roots typically connected to the palm. It should be noted that the finger width direction corresponds to the first direction F1, and the finger length direction corresponds to the second direction F2.

[0082] Understandably, during the grasping process using the fingertip 201, in order to improve grasping stability, the grasping position is usually close to the base of the finger, that is, far away from the fingertip 204. Furthermore, the center position of the fingertip 201 and the position near the side of the finger 203 are high-frequency deformation areas when in contact with an object.

[0083] Therefore, in order to effectively improve the visual image capture effect, the position of the secondary light source 1b needs to be adjusted according to the actual application scenario. The secondary light source 1b is arranged in a ring around the three sides of the main light source 1a, corresponding to the two finger sides 203 and opposite to the fingertip 204. In other words, the secondary light source 1b is arranged in a ring around the three sides of the main light source 1a, corresponding to the two finger sides 203 and the finger root, so as to accurately cover the highly sensitive contact area of ​​the tactile element 200 and improve the supplementary lighting effect.

[0084] Continuing from the above, among the multiple LEDs 13, every three LEDs 13 form a group, and the three LEDs 13 in a group are respectively configured as red, green, and blue LEDs. In one embodiment, at the four corners of the corresponding light-transmitting portion 21, adjacent light guide plates 221 are spaced apart. In this way, the light from the secondary light source 1b at different positions is conducted through independent light guide plates 221, and the light does not directly overlap at the corners of the light-transmitting portion 21, avoiding light mixing, thereby improving the purity of light color, and thus ensuring that the image captured by the imaging element 300 is free from color interference.

[0085] The imaging element 300 is used to acquire an image at the fingertip 201; therefore, the acquisition portion 301 of the imaging element 300 is positioned towards the fingertip 201. To facilitate the imaging element 300 in acquiring images at the fingertip 201, in one embodiment, please refer to... Figure 1 The light source 1 has a mounting hole 14 at its center position. The imaging element 300 has a collection part 301. The imaging element 300 is located on the side of the light source 1 away from the tactile element 200, and the collection part 301 is exposed from the mounting hole 14 to collect the image of the tactile element 200.

[0086] This invention also provides a visual-tactile sensor 1000. The visual-tactile sensor 1000 includes a tactile element 200 and an imaging element 300. The tactile element 200 is configured to mimic a fingertip shape, including a fingertip 201 and a finger edge 202 surrounding the fingertip 201. The imaging element 300 is used to acquire images of the tactile element 200. The visual-tactile sensor 1000 also includes a dimming assembly 100. The dimming assembly 100 is used to increase the light brightness at the fingertip 201 location.

[0087] It should be noted that the dimming component 100 is configured as described above, which includes all the technical features of the dimming component 100. Therefore, the visual tactile sensor 1000 also includes all the technical features of the dimming component 100, and thus has the technical effects brought about by all the technical features described above.

[0088] The dimming assembly 100 includes a light source 1 and an optical structure 2 disposed between the light source 1 and the tactile element 200. The light source 1 includes a main light source 1a and a secondary light source 1b. The main light source 1a faces the fingertip 201, and the secondary light source 1b is disposed corresponding to the finger edge 202. The optical structure 2 has a light-transmitting portion 21 and a light-guiding portion 22. A reflective slope 23 is formed at the connection between the light-guiding portion 22 and the light-transmitting portion 21. The light-transmitting portion 21 faces the main light source 1a, and the light-guiding portion 22 is arranged around the periphery of the light-transmitting portion 21 and extends towards the secondary light source 1b. Light from the secondary light source 1b is transmitted through the light-guiding portion 22 to the reflective slope 23 and reflected back to the light-transmitting portion 21, thereby achieving a supplementary lighting effect. By using the main light source 1a and the secondary light source 1b, the light intensity at the position of the light-transmitting portion 21 is increased, effectively improving the visual image capture effect.

[0089] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the concept of the present utility model and using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present utility model.

Claims

1. A dimming assembly for a visual-tactile sensor, the visual-tactile sensor comprising a tactile element and an imaging element, the tactile element being configured to mimic a fingertip, including a fingertip pad and a finger edge surrounding the fingertip, the imaging element being used to acquire an image of the tactile element, characterized in that, The dimming component includes: The light source includes a main light source and secondary light sources arranged around the main light source, the main light source facing the fingertip, and the secondary light sources positioned corresponding to the edge of the finger; and... An optical structure is disposed between the light source and the tactile element. The optical structure has a light-transmitting part and a light-guiding part. The light-transmitting part faces the main light source. The light-guiding part is arranged around the periphery of the light-transmitting part and extends toward the secondary light source. A reflective slope is formed at the connection between the light-guiding part and the light-transmitting part. The reflective slope is used to reflect the light in the light-guiding part so that the light converges on the light-transmitting part.

2. The dimming component according to claim 1, characterized in that, The outer contour of the light-transmitting portion is adapted to the outer contour shape of the fingertip; and / or, The angle θ1 between the light guide and the reflective slope is set to 105° to 120°, and the angle θ2 between the light transmittance and the reflective slope is set to 105° to 120°.

3. The dimming component according to claim 1, characterized in that, The light source includes a back plate and a light-emitting part, the light-emitting part being disposed on the side surface of the back plate facing the tactile element; The optical structure is located on the side of the back plate facing the tactile element, and the orthographic projection of the optical structure on the back plate is within the range of the back plate and covers the light-emitting part; The light-emitting part includes the main light source and the secondary light source.

4. The dimming component according to claim 3, characterized in that, The optical structure includes a base plate and a surrounding plate. The base plate is disposed opposite to the main light source and is light-transmitting, forming the light-transmitting part. The surrounding plate is arranged around the outer periphery of the base plate and extends toward the secondary light source, forming the light guide part. A transition slope is provided at the connection between the outer wall of the base plate and the outer wall of the surrounding plate, and a reflective layer is provided on the transition slope to form the reflective slope.

5. The dimming component according to claim 3, characterized in that, The light guide portion is disposed near the outer periphery of the back plate, and the orthographic projection of the light guide portion on the back plate partially overlaps with the light-emitting portion. The light guide portion is provided with an avoidance notch at the position where it overlaps with the light-emitting portion.

6. The dimming component according to claim 1, characterized in that, The light source includes a back plate and a plurality of LED beads. The plurality of LED beads are disposed on the side surface of the back plate facing the tactile element. The plurality of LED beads include a plurality of first LED beads facing the light-transmitting part and a plurality of second LED beads surrounding the plurality of first LED beads. The main light source includes the plurality of first LED beads, and the secondary light source includes the plurality of first LED beads.

7. The dimming component according to claim 6, characterized in that, The plurality of first LED beads are configured as one of monochrome LED beads, dual-color LED beads, or multi-color LED beads; and / or, The plurality of second LEDs are configured as one of monochrome LEDs, dual-color LEDs, or multi-color LEDs.

8. The dimming component according to claim 7, characterized in that, Among the plurality of LED beads, every three LED beads form a group, and the three LED beads in a group are respectively configured as red LED beads, green LED beads and blue LED beads.

9. The dimming component according to claim 1, characterized in that, The tactile element has two opposing finger sides in a first direction and a finger tip in a second direction; The secondary light source ring is disposed on three sides of the main light source, and is respectively positioned corresponding to the two finger sides and opposite to the fingertip; The light guide portion includes four light guide plates arranged around the light-transmitting portion. Three of the light guide plates form a reflective slope with respect to the light-transmitting portion, and the reflective slope corresponds to the secondary light source.

10. The dimming component according to claim 1, characterized in that, The light source has a mounting hole at its center position; The imaging element has a acquisition section, which is located on the side of the light source away from the tactile element, and the acquisition section is exposed from the mounting hole to acquire an image of the tactile element.

11. A visual-tactile sensor, characterized in that, Includes the dimming component as described in any one of claims 1-10.

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