Tactile vision sensor, smart hand and robot

Abstract

The present disclosure provides a kind of visual tactile sensor, smart hand and robot.The visual tactile sensor includes: image acquisition component, support and elastomer.Wherein, image acquisition component includes: lens and photosensitive chip.Lens is configured to shape light, photosensitive chip is configured to receive the light shaped by lens, carries out photoelectric conversion, outputs electrical signal;Support has opposite first surface and second surface, first surface is towards image acquisition component;Fixed on second surface;With the optical center of lens as origin O, X axis and Y axis are perpendicular to the optical axis of lens, Z axis passes through the optical axis, there is from the first ray of origin O pointing to the support, the included angle of first ray and Z axis is θ0, at the intersection of first ray and second surface, the included angle of the tangent plane of second surface and XOY plane is θ1, wherein, θ0 And θ1 satisfy: θ1 > θ0.

Description

Technical Field

[0001] This disclosure relates to the field of tactile sensing technology, and in particular to a visual-tactile sensor, a smart hand, and a robot. Background Technology

[0002] Tactile perception is a crucial element in enabling dexterous manipulation of objects by the human hand. Touch allows us to perceive the surface characteristics of objects (such as shape, hardness, contact force, and texture), serving as an important supplement to vision. Even in situations where sight is impossible, the human hand can perform corresponding operations relying solely on touch. The combination of vision and touch allows for more coordinated, dexterous, and diverse manipulation.

[0003] To enable robots to perceive and manipulate objects similarly to human hands, visual-tactile sensors have been applied to robotics. Visual-tactile sensors are key to achieving dexterous manipulation in robotic hands and are also an important means for robots to acquire external information.

[0004] The field of view of a visual-tactile sensor is crucial in determining its effective tactile sensing area. Increasing the field of view of visual-tactile sensors has become a key research focus for manufacturers. Utility Model Content

[0005] In view of this, the present disclosure provides a visual-tactile sensor, a smart hand, and a robot that are beneficial for improving the field of view of the visual-tactile sensor.

[0006] In a first aspect, this disclosure provides a visual-tactile sensor, comprising: an image acquisition component, a support member, and an elastomer.

[0007] The image acquisition component includes a lens and a photosensitive chip. The lens is configured to shape light, and the photosensitive chip is configured to receive the light shaped by the lens, perform photoelectric conversion, and output an electrical signal. The support has a first surface and a second surface facing away from each other, with the first surface facing the image acquisition component. The support is fixed to the second surface. With the optical center of the lens as the origin O, the X-axis and Y-axis are perpendicular to the optical axis of the lens, and the Z-axis passes through the optical axis. There exists a first ray pointing from the origin O to the support, with the first ray making an angle θ0 with the Z-axis. At the intersection of the first ray and the second surface, the angle between the tangent of the second surface and the XOY plane is θ1, wherein θ0 and θ1 satisfy: θ1 > θ0.

[0008] In the embodiments of this disclosure, the surface shape of the second surface of the support can be optimized so that a point P on the second surface of the support satisfies: θ1 > θ0. θ0 is the angle between the first ray pointing from the origin to point P and the Z-axis. Point P is the intersection of the first ray and the second surface. θ1 is the angle between the tangent plane M1 of the second surface and the XOY plane. The field of view of the visual-tactile sensor at point P exceeds the field of view of the image acquisition component at point P, which is beneficial to increasing the effective area of ​​tactile perception of the visual-tactile sensor. The embodiments of this disclosure do not require lens modification, avoiding the problems of increased design complexity and cost caused by increasing the field of view of the lens.

[0009] In one possible implementation of this disclosure, θ0 is not greater than the maximum field of view of the image acquisition component.

[0010] In one possible implementation of this disclosure, θ0 is equal to the maximum field of view of the image acquisition component.

[0011] In one possible implementation of this disclosure, the first ray is any ray within the maximum field of view of the image acquisition component.

[0012] In one possible implementation of this disclosure, the support is a curved surface.

[0013] In one possible implementation of this disclosure, the maximum field of view of the image acquisition component is greater than or equal to 30° and less than or equal to 90°.

[0014] In one possible implementation of this disclosure, the minimum distance between the lens and the support along the Z-axis is greater than or equal to 0.5 mm and less than or equal to 10 mm.

[0015] In one possible implementation of this disclosure, the visual-tactile sensor further includes a marking layer disposed on the side surface of the elastomer facing away from the support. The marking layer includes a plurality of marking points, the light transmittance of which is less than that of the elastomer.

[0016] In one possible implementation of this disclosure, the visual-tactile sensor further includes a light source configured to provide the light.

[0017] In one possible implementation of this disclosure, the visual-tactile sensor further includes a mounting base, which forms a receiving space with the support body, and the image acquisition component is mounted within the receiving space.

[0018] Secondly, this disclosure provides a smart hand, including the visual-tactile sensor described in any of the above technical solutions.

[0019] Thirdly, this disclosure provides a robot, including the intelligent hand described in the above technical solution.

[0020] The second and third aspects of this disclosure include the visual-tactile sensor of the first aspect described above, and the technical effects are similar to those of the first aspect described above. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the visual-tactile sensor provided in this disclosure.

[0022] Figure 2 According to Figure 1 The image shows a cross-sectional view of the visual-tactile sensor at line AA.

[0023] Figure 3 According to Figure 2 The enlarged view of the circled part at point B of the visual-tactile sensor shown.

[0024] Figure 4 According to Figure 2 The diagram shows a three-dimensional representation of the support and lens in the visual-touch sensor.

[0025] Figure 5 This is a schematic diagram showing the structure of the support and the relative position of the lens under a hypothetical condition.

[0026] Figure 6 According to Figure 2 The diagram shows a POZ cross-section of the visual-tactile sensor.

[0027] Figure 7 This is a partial enlarged view of another visual-tactile sensor provided in this disclosure.

[0028] Figure 8 This is a cross-sectional view of another visual-tactile sensor provided in this disclosure.

[0029] Figure 9 According to Figure 2 and Figure 8 A perspective view of the mounting base in the visual-tactile sensor.

[0030] Figure 10 This is a schematic diagram of a robot provided in this disclosure.

[0031] Figure label:

[0032] Robot 1000;

[0033] Smart hand 100; visual and tactile sensor 10; support body 11; first surface 111; second surface 112; elastomer 12; marking layer 13; marking point 131; protective layer 14; image acquisition component 3; lens 31; photosensitive chip 32; circuit board 4; mounting base 5; nail plate 51; connector 52; light source 6; finger 20; palm 30;

[0034] Ontology 200. Detailed Implementation

[0035] In this disclosure, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0036] In the embodiments of this disclosure, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0037] In the description of embodiments of this disclosure, the term "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0038] In the description of embodiments of this disclosure, the term "and / or" refers to and covers any and all possible combinations of one or more of the associated listed items. The term "and / or" describes an association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " in this disclosure generally indicates that the preceding and following related objects have an "or" relationship.

[0039] In the description of the embodiments disclosed herein, unless otherwise expressly specified and limited, the terms "installation", "connection" and "linking" should be interpreted broadly. For example, "linking" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0040] As used herein, "perpendicular" and "equal" include the described situation and situations that are similar to the described situation, within an acceptable deviation range, which is determined by those skilled in the art taking into account the measurement under discussion and the error associated with the measurement of a particular quantity (i.e., the limitations of the measurement system). For example, "perpendicular" includes absolute perpendicularity and approximate perpendicularity, where the acceptable deviation range for approximate perpendicularity could be, for example, a deviation within 10°. "Equal" includes absolute equality and approximate equality, where the acceptable deviation range for approximate equality could be, for example, a difference between the two equalities less than or equal to 10% of either one.

[0041] Before introducing the solutions of this disclosure, the terms related to this disclosure will be explained first.

[0042] Maximum field of view: In optical instruments, the angle between the two edges of the maximum range through which the image of the target object can pass through the instrument, with the optical center of the instrument as the vertex. The portion of the target image located at or within the maximum field of view can be received by the optical device. The portion of the target image outside the maximum field of view will not be received by the optical device. The size of the maximum field of view determines the field of view of the optical instrument. A larger maximum field of view results in a larger field of view, and a smaller maximum field of view results in a smaller field of view.

[0043] Half field of view: Within the maximum field of view, the angle between the line connecting any position of the target object to the optical center and the optical axis of the optical device, with the optical center of the optical instrument as the vertex.

[0044] The field of view is twice the half field of view. The maximum field of view is a special type of field of view.

[0045] The specific structure of the embodiments provided in this disclosure will be described in detail below.

[0046] Please see Figure 2 and Figure 3 The visual-tactile sensor 10 may include a support 11, an elastomer 12, and an image acquisition component 3.

[0047] The support 11 has a first surface 111 and a second surface 112 that are opposite to each other.

[0048] The first surface 111 is the surface facing the image acquisition component 3. The second surface 112 is the surface facing away from the image acquisition component 3.

[0049] The first surface 111 includes, but is not limited to, curved surfaces, combinations of planes with different inclination directions, combinations of curved surfaces with different radii of curvature, and combinations of planes and curved surfaces.

[0050] The second surface 112 includes, but is not limited to, curved surfaces, combinations of planes with different inclination directions, combinations of curved surfaces with different radii of curvature, and combinations of planes and curved surfaces. The thickness of the support 11 can be uniform. Exemplarily, the second surface 112 can be arranged parallel to the first surface 111. The support 11 is made of a light-transmitting material. The support 11 is light-transmitting. Light can pass through the support 11.

[0051] In some embodiments, the light transmittance of the support 11 may be greater than or equal to 80%. For example, the light transmittance of the support 11 may be 82%, 83%, 85%, 84%, 86%, 89%, or 95%.

[0052] In some embodiments, the support 11 can be made of a polymer. For example, the support 11 may be made of materials including, but not limited to, polycarbonate, polypropylene, polystyrene, polyvinyl chloride, and polyethylene terephthalate. In other embodiments, the support 11 may also be made of other materials, such as quartz or acrylic, as long as the support 11 is transparent to light.

[0053] The elastomer 12 can undergo elastic deformation under the action of external force.

[0054] The elastomer 12 can be fixed to the second surface 112 of the support 11. By providing the support 11 to support the elastomer 12, the deformation of the elastomer 12 by external forces can be prevented from affecting the image acquisition component 3. The support 11 can protect the image acquisition component 3 and improve the reliability of the visual tactile sensor 10.

[0055] In some embodiments, the Shore hardness of the support 11 can be greater than or equal to 60HD. This results in a relatively high hardness of the support 11, providing good support for the elastomer 12 and preventing deformation of the elastomer 12 by external forces from affecting the image acquisition component 3. The support 11 can protect the image acquisition component 3 and improve the reliability of the visual-tactile sensor 10.

[0056] For example, the Shore hardness of the support 11 can be 62HD, 65HD, 68HD, 70HD, 72HD, or 75HD.

[0057] The connection between the elastomer 12 and the support 11 includes, but is not limited to, adhesive bonding or integral connection.

[0058] The elastomer 12 is made of a light-transmitting material. Light can pass through the elastomer 12.

[0059] In some embodiments, the light transmittance of the elastomer 12 may be greater than or equal to 80%. The elastomer 12 exhibits good light transmittance. For example, the light transmittance of the elastomer 12 may be 82%, 83%, 85%, 84%, 86%, 89%, or 95%.

[0060] In some embodiments, the material of the elastomer 12 includes, but is not limited to, thermoplastic polymers, rubber, silicone, silicone rubber, or silicone gel.

[0061] In some embodiments, please refer to Figure 2 and Figure 8 The visual-tactile sensor 10 may also include a light source 6. The light source 6 can provide light. The light source 6 can reduce the impact of changes in ambient brightness on the perception results of the visual-tactile sensor 10, thereby improving the perception accuracy and versatility of the visual-tactile sensor 10 in various application scenarios.

[0062] It should be noted that the light source 6 only needs to provide light for the detection of the image acquisition component 3. The light source 6 can be placed anywhere between the support 11 and the image acquisition component 3.

[0063] In some embodiments of this disclosure, please refer to Figure 3 and Figure 7 The visual-tactile sensor 10 also includes a marking layer 13. The marking layer 13 may be disposed on the surface of the elastomer 12 opposite to the support 11. The marking layer 13 includes a plurality of marking points 131. The light transmittance of the marking points 131 is less than that of the elastomer 12. For example, the marking points 131 are opaque.

[0064] For example, light source 6 emits light. The light is reflected by opaque markers 131. The reflected light is received by image acquisition component 3. Visual-tactile sensor 10 can determine the positions of multiple markers 131 based on images of the multiple markers 131. When an object comes into contact with visual-tactile sensor 10, the object applies a force F to elastic body 12. Elastic body 12 undergoes elastic deformation due to the pressure. The markers 131 on the marker layer 13 also displace accordingly. Visual-tactile sensor 10 can acquire image data of the elastic body 12 when it is not deformed and image data after deformation. The displacement of markers 131 can be determined based on the image data when it is not deformed and the image data after deformation. Information about the force F, such as the direction and magnitude of F, can be determined based on the displacement of markers 131.

[0065] In some embodiments of this disclosure, multiple marker points 131 on the marker layer 13 can form a certain arrangement pattern. For example, the multiple marker points 131 can be arranged in at least one shape, such as a checkerboard pattern, a honeycomb pattern, a strip pattern, or a dot array. This disclosure does not limit the arrangement shape of the multiple marker points 131 on the marker layer 13. In specific applications, the arrangement density of the multiple marker points 131 can be set according to the required sensing accuracy.

[0066] In some embodiments of this disclosure, pigments or dyes may be coated or printed onto the elastomer 12 to form a marking layer 13.

[0067] In some embodiments of this disclosure, dimples can be formed on the surface of the elastomer 12 opposite to the support 11, and pigment or dye can be filled into the dimples to form marking points 131. This can improve the wear resistance of the marking layer 13.

[0068] Please see Figure 2 The image acquisition component 3 may include a lens 31 and a photosensitive chip 32.

[0069] The photosensitive chip 32 has a photosensitive surface. (See also...) Figure 2 The first surface 111 can face the photosensitive surface of the photosensitive chip 32. The photosensitive surface of the photosensitive chip 32 faces the first surface 111. In this way, the image acquisition component 3 can be used to acquire image information of the marker layer 13.

[0070] The lens 31 is located between the first surface 111 and the photosensitive chip 32.

[0071] Lens 31 is configured to receive light passing through support 11 and to shape the light.

[0072] The photosensitive chip 32 can receive the light shaped by the lens 31 and convert the received light signal into an electrical signal. The photosensitive chip 32 can also output the converted electrical signal.

[0073] Please continue reading. Figure 2 When an object comes into contact with the visual-tactile sensor 10 and applies a force F toward the interior of the elastic body 12, the elastic body 12 undergoes elastic deformation due to the pressure. The marker point 131 on the marker layer 13 also displaces accordingly. The photosensitive chip 32 can acquire image data of the elastic body 12 when it is not deformed and image data after deformation. Based on the image data when it is not deformed and the image data after deformation, the displacement of the marker point 131 can be determined. Information about the force F, such as its direction and magnitude, can be determined based on the displacement of the marker point 131, thus realizing the tactile sensing function of the visual-tactile sensor 10.

[0074] In related technologies, the effective tactile sensing area of ​​the visual-tactile sensor 10 depends on the field of view of the image acquisition component 3. The field of view of the image acquisition component 3 is related to the field of view of the lens 31. To increase the field of view of the visual-tactile sensor 10, the field of view of the lens 31 is usually increased. However, increasing the field of view of the lens 31 will greatly increase the complexity and cost of the lens 31 design.

[0075] Based on this, please refer to Figure 4 With the optical center of lens 31 as the origin O.

[0076] The X and Y axes are perpendicular to the optical axis of lens 31, and the Z axis passes through the optical axis. There exists a first ray L1 pointing from the origin O to the support 11. The first ray L1 intersects the second surface 112 at the intersection point P.

[0077] Please see Figure 5 and Figure 6 , Figure 5 and Figure 6 The diagram illustrates the light path of light passing through two second surfaces 112 with different curvatures. The first ray L1 makes an angle θ0 with the Z-axis. At the intersection point P, the tangent plane of the second surface 112 is M1. The angle between M1 and the XOY plane is θ1. The propagation path of the light ray passing through the first ray L1 on the outside of the support 11 is the second ray L2. At the intersection point P, the direction perpendicular to the tangent plane M1 is the normal L3. The angle between the second ray L2 and the normal L3 is θ3. The angle between the first ray L1 and the normal L3 is θ4. It can be understood that when the first surface 111 and the second surface 112 of the support 11 are parallel, the refractive index or thickness of the support 11 does not change the angles between L1 and L2 and the normal L3. The light transmission inside the support 11 will not be discussed further below.

[0078] Light refracts at the surfaces of media with different refractive indices. In the visual-tactile sensor 10 of this disclosure, light is refracted after entering the support 11 from the outside in, and the refracted light enters the lens 31. According to the principle of reversibility of light path, when light rays in the opposite direction to L2 are incident on point P, they will be refracted into light rays in the opposite direction to L1 and enter the lens 31. Figures 4-6 In this description, the first ray L1 is taken as the direction from the origin O to the surface of the support 11. It can be understood that the incident light that can reach the lens 31 and be received by the photosensitive chip 32 is directed from the elastic body 12 to the support 11, or is refracted and directed towards the origin O. It can be understood that the elastic body 12 is arranged on the second surface 112 of the support 11. The medium between the first surface 111 and the lens 31 is air. The refractive index of the elastic body 12 is greater than the refractive index of air. θ3 is less than θ4.

[0079] Please compare. Figure 5 and Figure 6 Under the same value of θ0, Figure 5 and Figure 6 The curvature at point P on the support 11 varies. The angle between the normal L3 and the Z-axis varies. The angle θ1 between the tangent M1 and the X-axis varies. The smaller the curvature of the support 11 at point P, the smaller the angle between the normal L3 and the Z-axis, and the smaller θ1. The larger the curvature of the second surface 112 at point P, the larger the angle between the normal L3 and the Z-axis, and the larger θ1. The relationship between the angle between the normal L3 and the Z-axis and θ0, and the relationship between θ1 and θ0, are related to the curvature at point P.

[0080] Please see Figure 5 When the angle between the normal L3 and the Z-axis is less than θ0, θ1 is less than θ0. θ3 is less than θ4. The angle between the second ray L2 and the Z-axis is less than θ0. The field of view of the visual-tactile sensor 10 is defined as the range of light angles that can be received by the image acquisition component 3 from the outside of the support 11 (the side of the support 11 facing away from the origin O). The hardware field of view of the image acquisition component 3 is defined as the range of light angles that can be received by the image acquisition component 3 from the inside of the support 11 (the side of the support 11 facing the origin O). Figure 5 As shown, the field of view of the visual-tactile sensor 10 is smaller than the hardware field of view of the image acquisition component 3. In this case, the range of light that the image acquisition component 3 can acquire is limited by the refraction at the support 11. The field of view of the visual-tactile sensor 10 is relatively small.

[0081] Please see Figure 6 When the angle between the normal L3 and the Z-axis is greater than θ0, θ1 is greater than θ0, and θ3 is less than θ4. The angle between the second ray L2 and the Z-axis is greater than θ0. At this time, the field of view of the visual-tactile sensor 10 is greater than the hardware field of view of the image acquisition component 3. The field of view of the visual-tactile sensor 10 breaks through the limitation of light refraction, which can effectively improve the field of view range of the visual-tactile sensor 10.

[0082] As described above, in the embodiments of this disclosure, the surface shape of the support 11 can be optimized so that a point P exists on the support 11, satisfying θ1 > θ0. The support 11 in this embodiment allows the field of view of the visual-touch sensor 10 at point P to exceed the hardware field of view of the image acquisition component 3 at point P. This is beneficial for increasing the effective area of ​​tactile perception of the visual-touch sensor 10. This embodiment of the disclosure does not require improvements to the lens 31, avoiding the problems of high design complexity and increased cost caused by increasing the field of view of the lens 31.

[0083] In some embodiments of this disclosure, θ0 is not greater than the maximum hardware field of view of the image acquisition component 3. θ0 is less than or equal to the maximum hardware field of view of the image acquisition component 3. By ensuring that θ0 is not greater than the maximum hardware field of view of the image acquisition component 3, it can be ensured that the light passing through the first ray L1 is received by the photosensitive chip 32, thereby increasing the effective area of ​​tactile perception of the visual-tactile sensor 10.

[0084] In some embodiments of this disclosure, θ0 is equal to the maximum hardware field of view of the image acquisition component 3. This increases the maximum field of view of the visual-touch sensor 10. The maximum field of view of the visual-touch sensor 10 exceeds the maximum hardware field of view of the image acquisition component 3. Embodiments of this disclosure can increase the field of view of the visual-touch sensor 10 and the effective area of ​​tactile perception.

[0085] In some embodiments of this disclosure, the first ray L1 is any ray within the maximum hardware field of view of the image acquisition component 3. Within the maximum hardware field of view of the image acquisition component 3, any ray pointing from the origin O to the support 11 is the first ray L1. In this way, the field of view of the visual-touch sensor 10 in any direction can be increased within the maximum hardware field of view of the image acquisition component 3. Any field of view within the field of view of the visual-touch sensor 10 exceeds any hardware field of view of the image acquisition component 3. Embodiments of this disclosure can significantly increase the effective area of ​​tactile perception of the visual-touch sensor 10.

[0086] Please refer to some embodiments of this disclosure. Figure 6 The support 11 can be a curved surface. This allows for the existence of a point P on the support 11, satisfying θ1 > θ0. In this embodiment, the support 11 allows the field of view of the visual-touch sensor 10 at point P to exceed the hardware field of view of the image acquisition component 3 at point P. This increases the effective area of ​​tactile perception for the visual-touch sensor 10. This embodiment avoids the design complexity and cost increases associated with increasing the field of view of the lens 31 by eliminating the need for modifications to the lens 31, thus increasing the effective area of ​​tactile perception for the visual-touch sensor 10.

[0087] In some embodiments of this disclosure, the support 11 is a convex curved surface. This facilitates the configuration of the support 11 into a convex shape, thereby creating a space for accommodating the lens 31. The support 11 in the embodiments of this disclosure can improve the structural compactness of the visual-tactile sensor 10.

[0088] Please refer to some embodiments of this disclosure. Figure 6 Along the Z-axis, the minimum distance D1 between the lens 31 and the support 11 is greater than or equal to 0.5 mm and less than or equal to 10 mm. This allows for a more compact structure for the visual-touch sensor 10. Furthermore, by ensuring the minimum distance D1 is less than or equal to 10 mm, the dimensions of the optical center of the image acquisition component 3 and the support 11 along the Z-axis can be reduced. On the other hand, a minimum distance D1 of 0.5 mm provides sufficient clearance for the lens 31 when the support 11 is subjected to external pressure. This prevents the support 11 from moving and making hard contact with the lens 31 when subjected to external pressure due to an excessively small distance, thus avoiding damage to the lens 31.

[0089] For example, along the Z-axis, the minimum distance D1 between the lens 31 and the support 11 is 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.5mm, 5mm, 5.5mm, 6mm, 6.5mm, 7mm, 7.5mm, 8mm, 8.5mm, 9mm or 9.5mm.

[0090] In some embodiments of this disclosure, the maximum field of view of the image acquisition component 3 is greater than or equal to 30° and less than or equal to 90°. This ensures that the maximum field of view of the image acquisition component 3 is greater than or equal to 30°, thus guaranteeing that the visual-touch sensor 10 has a relatively large maximum field of view. By ensuring that the maximum field of view of the image acquisition component 3 is less than or equal to 90°, the sensing requirements of the visual-touch sensor 10 can be met. This avoids the problems of high design complexity and increased cost caused by an excessively large field of view of the image acquisition component 3.

[0091] For example, the maximum field of view of the image acquisition component 3 is 34°, 35°, 36°, 38°, 40°, 42°, 45°, 48°, 50°, 52°, 55°, 57°, 60°, 62°, 65°, 68°, 70°, 75°, 78°, 79°, 80°, 82°, 85°, or 88°.

[0092] Please refer to some embodiments of this disclosure. Figure 7 The visual-tactile sensor 10 may also include a protective layer 14. The protective layer 14 is disposed on the side of the marking layer 13 facing away from the support 11. For example, a transparent coating can be applied over the marking layer 13 as the protective layer 14. Alternatively, a transparent protective film can be attached to the marking layer 13 to form a protective layer. By providing the protective layer 14 on the side of the marking layer 13 facing away from the support 11, the protective layer 14 can protect the marking layer 13 and reduce the probability of wear on the marking layer 13.

[0093] For example, the abrasion resistance of the protective layer 14 can be greater than that of the marking layer 13. In this way, the protective effect of the protective layer 14 on the marking layer 13 can be improved.

[0094] In some embodiments, please refer to Figure 8 and combined Figure 2 The visual-tactile sensor 10 also includes a circuit board 4. This circuit board 4 may be, but is not limited to, a printed circuit board or a flexible circuit board. A photosensitive chip 32 may be electrically connected to the circuit board 4. The circuit board 4 may receive electrical signals output by the photosensitive chip 32.

[0095] Circuit board 4 can obtain the deformation information of elastic body 12 based on the electrical signal generated by the image information detected by photosensitive chip 32. Alternatively, circuit board 4 can transmit the electrical signal generated by the image information detected by photosensitive chip 32. In addition, circuit board 4 can be used to power visual tactile sensor 10, by way of example.

[0096] Please refer to some embodiments of this disclosure. Figure 2 The image acquisition component 3 includes a photosensitive chip 32 and a lens 31. Therefore, it has a simple structure and low cost.

[0097] Please refer to some embodiments of this disclosure. Figure 8 The image acquisition component 3 includes two photosensitive chips 32 and two lenses 31. The two photosensitive chips 32 and the two lenses 31 can be paired one-to-one. In this one-to-one correspondence between the lenses 31 and photosensitive chips 32, light passing through a lens 31 can be imaged on the photosensitive chip 32 corresponding to that lens 31. This facilitates the realization of the binocular perception function of the visual-touch sensor 10.

[0098] The visual-tactile sensor 10, which includes two photosensitive chips 32 and two lenses 31, can be called a binocular visual-tactile sensor. Binocular visual-tactile sensors are advantageous for providing richer information, such as three-dimensional information of the marker layer 13.

[0099] In some embodiments, the light-emitting surface of the light source 6 may face the marking layer 13. Exemplarily, the light emitted by the light source 6 may cover the marking layer 13. For example, the light source 6 may include a floodlight. As another example, the light source 6 may include a light-emitting device and optical components. The optical components may shape the light emitted by the light-emitting device to achieve a predetermined coverage area. The optical components may include lenses or dimmers, etc.

[0100] In some embodiments, the light-emitting surface of the light source 6 may be parallel to or located on the same plane as the photosensitive surface of the photosensitive chip 32. For example, the light source 6 and the photosensitive chip 32 may be disposed on the same surface of the circuit board 4.

[0101] In some embodiments, the light source 6 can be a monochromatic light source or a white light source. For example, the light source 6 can be at least one of a blue light source, a red light source, or a green light source.

[0102] In some embodiments of this disclosure, the light source 6 may be a laser light source. The light source 6 may include one or more lasers 61. For example, the light source 6 may include one or more LEDs.

[0103] In some embodiments, the light source 6 includes a plurality of lasers 61. The plurality of lasers 61 may be disposed within a predetermined distance from the photosensitive chip 32. For example, the plurality of lasers 61 may be distributed around the photosensitive chip 32.

[0104] For example, please see Figure 2 Multiple lasers 61 can be distributed on both sides of the photosensitive chip 32.

[0105] For example, please see Figure 8 Multiple lasers 61 can be distributed on both sides of the two photosensitive chips 32 or around the two photosensitive chips 32.

[0106] In some embodiments, the photosensitive chip 32 may include an image sensor. The image sensor can utilize the photoelectric conversion function of an optoelectronic device to convert the light signal on the photosensitive surface into an electrical signal that is proportional to the light signal. As an optional example, the image sensor may specifically be a charge-coupled device (CCD) image sensor or a complementary metal-oxide-semiconductor (CMOS) image sensor.

[0107] Please refer to some embodiments disclosed herein. Figure 1 and Figure 8 The visual-tactile sensor 10 may also include a mounting base 5. The mounting base 5 cooperates with the support body 11 to form a receiving space. The image acquisition component 3 is installed in the receiving space. In this way, the mounting base 5 and the support body 11 can serve to waterproof and dustproof the image acquisition component 3.

[0108] For example, the material of the mounting base 5 includes, but is not limited to, metal, plastic, and a combination of both.

[0109] For example, the mounting base 5 and the support body 11 are detachably configured. This facilitates the disassembly and separation of the mounting base 5 and the support body 11, and makes it easier to replace the support body 11 after it wears out. The visual-tactile sensor 10 can maintain its sensing accuracy for a longer period of time, thus extending its service life.

[0110] In some embodiments of this disclosure, please refer to Figure 9 The mounting base 5 may have a cavity 53. One side of the cavity 53 is open. The cavity 53 can be used to house the aforementioned photosensitive chip 32 and lens 31, etc. The support 11 may be disposed on the open side of the cavity 53.

[0111] In some embodiments, the mounting base 5 may adopt a biomimetic structure. For example, the visual-tactile sensor 10 is applied to the smart hand. The mounting base 5 may be shaped like a human finger. The size of the mounting base 5 may also be the same as or similar to the size of the knuckles near the fingertips of a human hand. Depending on the application requirements, the size of the mounting base 5 may also be larger or smaller than a human fingertip.

[0112] In some embodiments, please continue reading Figure 9The mounting base 5 is provided with a fingernail plate 51. The fingernail plate 51 can be set at one end of the mounting base 5. The fingernail plate 51 can correspond to the position of the fingertip.

[0113] For a detailed description of the specific implementation, please refer to the following documentation. Figure 9 The mounting base 5 has a connector 52 at the end opposite to the fingernail 51. The connector 52 is used to connect to the upper-level finger joint. For example, it can be hinged to the upper-level finger joint via the connector 52.

[0114] In some embodiments of this disclosure, the circuit board 4 can transmit the electrical signals detected by the photosensitive chip 32 via electrical connections. For example, the circuit board 4 can be connected to the next higher knuckle via an FPC cable.

[0115] By setting the shape of the mounting base 5 to the shape of a human finger joint, the visual-tactile sensor 10 can be incorporated as part of the smart finger joint, minimizing the overall size of the smart hand.

[0116] The visual-tactile sensor 10 in this embodiment can be applied to various fields such as robots, prosthetics, and wearable electronic products. In the following description, the visual-tactile sensor 10 is used as an example in the application of a robot's intelligent hand.

[0117] Please see Figure 10 The smart hand 100 may include a palm 30 and at least one finger 20.

[0118] The palm 30 and fingers 20 are rotatably connected. As an optional example, the palm 30 area is provided with the visual-tactile sensor 10 of any of the foregoing embodiments.

[0119] The finger 20 includes at least one knuckle 201. The at least one knuckle 201 can be a visual-tactile sensor 10 as described in any of the foregoing embodiments.

[0120] As an optional example, finger 20 may include at least two knuckles 201. Adjacent knuckles 201 are hinged together. At least the distal knuckle may be the visual-tactile sensor 10 of any of the foregoing embodiments. In some embodiments of this disclosure, the fingertip of the distal knuckle may include a nail plate 51.

[0121] In a specific implementation, the smart hand 100 may also include a data processor. The data processor may be located in the palm 30 area or on at least one finger 20. The data processor may be electrically connected to the visual-tactile sensor 10, and may acquire the perception information output by the visual-tactile sensor 10, and perform operation control on the corresponding components of the smart hand 100 based on the perception information.

[0122] This disclosure also provides a robot 1000. The robot 1000 may include the intelligent hand 100 of any of the foregoing embodiments. Specifically, the robot 1000 may include a body 200 and at least one intelligent hand 100 mounted on the body 200. The at least one intelligent hand 100 may be equipped with a visual-tactile sensor 10 as described in any of the foregoing embodiments. When the robot 1000 is equipped with multiple visual-tactile sensors 10, a controller may also be provided on the robot 1000. The controller may be electrically connected to each visual-tactile sensor 10 and perform corresponding control operations on the intelligent hand 100 based on the perceptual information obtained from the visual-tactile sensors 10.

[0123] The specific implementation and sensing principle of the visual-tactile sensor 10 can be found in the aforementioned embodiments.

[0124] The data processor or controller in this embodiment can be a general-purpose processor. For example, the data processor or controller can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or a programmable logic device (PLD). The PLD can include a large number of logic gates, and the logical relationships between the logic gates are configured through a configuration file. In specific implementations, the data processor or controller can be implemented entirely through processor-invoked programs, entirely through hardware circuits, or partially through processor-invoked programs with the remainder implemented through hardware circuits.

[0125] In this embodiment, the processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a CPU, microcontroller unit (MCU), graphics processing unit (GPU), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable; for example, the processor is a hardware circuit implemented as an ASIC or PLD, such as a field-programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), or deep learning processing unit (DPU).

[0126] In one implementation, these devices can be integrated together as a system-on-chip (SoC). The SoC may include at least one processor for implementing the control functions of the smart hand 100 or the robot 1000.

[0127] In the description of this specification, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples without contradicting each other.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A visual-tactile sensor, comprising: Image acquisition components, including: The lens is configured for light shaping; The photosensitive chip is configured to receive the light shaped by the lens, perform photoelectric conversion, and output an electrical signal; A support having a first surface and a second surface facing away from each other, the first surface facing the image acquisition component; An elastomer is fixed to the second surface; With the optical center of the lens as the origin O, the X and Y axes are perpendicular to the optical axis of the lens, and the Z axis passes through the optical axis. A first ray extends from the origin O towards the support, with an angle θ0 between the first ray and the Z-axis. At the intersection of the first ray and the second surface, the angle between the tangent of the second surface and the XOY plane is θ1. Wherein, θ0 and θ1 satisfy: θ1 > θ0.

2. The visual-tactile sensor according to claim 1, characterized in that, The θ0 is not greater than the maximum field of view of the image acquisition component.

3. The visual-tactile sensor according to claim 2, characterized in that, θ0 is equal to the maximum field of view of the image acquisition component.

4. The visual-tactile sensor according to claim 1, characterized in that, The first ray is any ray within the maximum field of view of the image acquisition component.

5. The visual-tactile sensor according to claim 1, characterized in that, The support is curved; and / or, the maximum field of view of the image acquisition component is greater than or equal to 30° and less than or equal to 90°.

6. The visual-tactile sensor according to claim 1, characterized in that, Along the Z-axis, the minimum distance between the lens and the support is greater than or equal to 0.5 mm and less than or equal to 10 mm.

7. The visual-tactile sensor according to claim 1, characterized in that, It also includes a marking layer disposed on the side surface of the elastomer facing away from the support, the marking layer including a plurality of marking points, the light transmittance of the marking points being less than the light transmittance of the elastomer.

8. The visual-tactile sensor according to claim 7, characterized in that, It also includes a light source, configured to provide the light.

9. The visual-tactile sensor according to any one of claims 1-8, characterized in that, It also includes a mounting base, which forms a receiving space with the support body, and the image acquisition component is installed in the receiving space.

10. A smart hand comprising a visual-tactile sensor according to any one of claims 1-9.

11. A robot comprising the intelligent hand according to claim 10.

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