visual tactile sensor

Abstract

The application discloses a visual-tactile sensor, which comprises a touch module, a visual module and a first sealing element, wherein the touch module is an elastomer, and an internal part of the touch module is provided with a pattern layer so that the touch module produces pattern deformation when contacting with an external object; the visual module comprises a visual component and a shell, the shell is provided with an accommodating space and a first opening communicated with the accommodating space, the touch module is detachably arranged at the first opening, and the visual component is arranged in the accommodating space and used for collecting images of the deformation of the touch module; and the first sealing element is arranged at a connecting position of the touch module and the shell. In this way, the visual-tactile sensor of the application effectively realizes the sealing protection of the key interface part by arranging the first sealing element at the connecting position of the touch module and the shell, so as to protect the visual component and other precise elements arranged in the accommodating space from being polluted or damaged.

Description

Technical Field

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

[0002] Vision-tactile sensors, by combining visual perception with physical contact, can acquire information such as the surface contact force distribution of objects with high precision, playing an important role in fields such as robot grasping, dexterous manipulation, environmental perception, and human-computer interaction. However, in related technologies, vision-tactile sensors have an open cavity structure, making their visual components and other elements susceptible to contamination or damage in humid environments, liquid media, or high-dust conditions. Utility Model Content

[0003] This application provides a visual-tactile sensor that can solve at least one of the above-mentioned technical problems.

[0004] This application provides a visual-tactile sensor, including: The touch module is an elastomer, and its interior has a pattern layer so that the pattern deforms when the touch module comes into contact with an external object. The vision module includes a vision component and a housing. The housing has a receiving space and a first opening communicating with the receiving space. The touch module is detachably disposed in the first opening. The vision component is disposed within the receiving space and is used to acquire images of deformations generated by the touch module. The first seal is located at the connection between the touch module and the housing.

[0005] In some embodiments, one of the touch module and the housing is provided with a first positioning groove, the first positioning groove is arranged around the first opening, and a first seal is embedded in the first positioning groove.

[0006] In some embodiments, the housing has a mounting base protruding on the side facing the touch module, the mounting base being used to fix and engage with the touch module; The first seal has a clearance position, which is used to avoid the fixed seat.

[0007] In some embodiments, the housing includes a main housing and a cover, the main housing having a receiving space, a first opening and a second opening communicating with the receiving space, the cover being detachably disposed at the second opening, and a first seal being disposed at the connection between the touch module and the main housing; The visual-tactile sensor also includes a second seal that is sealed between the main housing and the cover.

[0008] In some embodiments, one of the main shell and the cover is provided with a second positioning groove, the second positioning groove is arranged around the second opening, and the second seal is embedded in the second positioning groove.

[0009] In some embodiments, the housing is provided with a partition, which is disposed within the receiving space to divide the receiving space into a reflective cavity and a receiving cavity. The partition is provided with a connecting through hole that connects the reflective cavity and the receiving cavity. The visual component is disposed within the receiving cavity. The visual-tactile sensor also includes a third seal that surrounds the edge of the connection through-hole and seals the connection between the partition and the vision component.

[0010] In some embodiments, the vision component includes a mounting base, a camera, and a fourth seal, with a third seal sealingly connected between the partition and the mounting base, and the mounting base having a mounting through hole communicating with a connection through hole; The camera is installed in the mounting through hole. The camera includes a lens structure and a camera body connected together. The lens structure is located close to the connecting through hole relative to the camera body. A fourth seal is sealed between the wall of the mounting through hole and the camera body.

[0011] In some embodiments, the receiving cavity includes a connected plug-in sub-cavity and a receiving sub-cavity, the plug-in sub-cavity being connected to the connecting through hole and located between the connecting through hole and the receiving sub-cavity, the partition and the housing cooperating to form the plug-in sub-cavity, and the housing forming the receiving sub-cavity; The third seal and mounting base are embedded in the plug-in sub-cavity. The vision component also includes a circuit board that is electrically connected to the camera and is located in the receiving sub-cavity.

[0012] In some embodiments, the cavity wall of the plug-in cavity is provided with a first positioning part, and the mounting base is provided with a second positioning part, the second positioning part being positioned and engaged with the first positioning part.

[0013] In some embodiments, the touch module includes a transparent bracket and a touch component. The transparent bracket has a mounting groove on the side opposite to the receiving space. A portion of the touch component is located in the mounting groove, and a coupling fluid is filled between the touch component and the groove wall.

[0014] The visual-tactile sensor provided in this application includes a touch module, a vision module, and a first sealing element. The touch module is an elastomer with a patterned layer inside to deform the pattern when it comes into contact with an external object. The vision module includes a vision component and a housing. The housing has a receiving space and a first opening communicating with the receiving space. The touch module is detachably disposed in the first opening, and the vision component is disposed within the receiving space and used to acquire images of the deformation generated by the touch module. The first sealing element is disposed at the connection between the touch module and the housing. Thus, compared to visual-tactile sensors in related technologies, the visual-tactile sensor of this application effectively achieves sealing protection of key interface parts by providing a first sealing element at the connection between the touch module and the housing. This helps prevent moisture, liquid, and dust from entering the receiving space from the first opening, thereby protecting precision components such as the vision component disposed within the receiving space from contamination or damage. This, in turn, helps improve the working stability and service life of the visual-tactile sensor in humid environments, liquid media, or high dust conditions. In addition, the visual tactile sensor mainly includes a touch module and a vision module. The touch module is detachably installed in the first opening. When the touch module fails due to long-term contact with external objects, such as surface scratches, elastomer aging, blurred patterns, or stains that are difficult to remove, the operator can disassemble and replace the touch module separately without replacing the vision module. Conversely, if the vision component fails, the operator can disassemble and replace the vision component separately, avoiding the need to scrap the entire visual tactile sensor and reducing the cost of use. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application 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 application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of the visual-tactile sensor provided in an embodiment of this application.

[0017] Figure 2 for Figure 1 A schematic diagram of the exploded structure of the Zhongshi tactile sensor.

[0018] Figure 3 for Figure 2 A schematic diagram of the middle shell structure.

[0019] Figure 4 for Figure 2 A schematic diagram of the structure of the first sealing element.

[0020] Figure 5 for Figure 1 A cross-sectional schematic diagram of the Zhongshi tactile sensor.

[0021] Figure 6 for Figure 3 A schematic diagram of the middle shell from another perspective.

[0022] Figure 7 for Figure 2 A schematic diagram of the structure of the middle cover.

[0023] Figure 8 for Figure 5 A schematic diagram of the structure of the visual component.

[0024] Figure 9 for Figure 8 A cross-sectional view of the visual component.

[0025] Explanation of icon numbers: 10. Visual-tactile sensor; 100. Touch module; 110. Transparent bracket; 111. Mounting slot; 120. Touch component; 200. Vision module; 201. Accommodating space; 202. First opening; 203. Second opening; 204. Reflective cavity; 205. Accommodating cavity; 206. Insertion sub-cavity; 206a. First positioning part; 207. Accommodating sub-cavity; 210. Vision component; 211. Mounting base; 211a. Mounting through hole; 211b. Second positioning part 212, Camera; 212a, Lens structure; 212b, Camera body; 213, Fourth seal; 214, Circuit board; 220, Housing; 221, First positioning groove; 222, Fixing base; 223, Main shell; 224, Cover; 224a, Second positioning groove; 225, Partition; 225a, Connecting through hole; 300, First seal; 310, Clearance position; 400, Second seal; 500, Third seal; 600, Illumination module.

[0026] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0028] Where the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0029] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0031] Please see Figure 1 , Figure 2 and Figure 5 This application provides a visual-tactile sensor 10, which includes a touch module 100, a vision module 200, and a first sealing member 300. The touch module 100 is an elastomer, and its interior has a patterned layer to cause pattern deformation when it comes into contact with an external object. The vision module 200 includes a vision component 210 and a housing 220. The housing 220 has a receiving space 201 and a first opening 202 communicating with the receiving space 201. The touch module 100 is detachably disposed in the first opening 202. The vision component 210 is disposed within the receiving space 201 and is used to acquire images of the deformation produced by the touch module 100. The first sealing member 300 is disposed at the connection between the touch module 100 and the housing 220.

[0032] Thus, compared with the visual tactile sensors in related technologies, the visual tactile sensor 10 of this application effectively achieves the sealing and protection of key interface parts by setting a first sealing element 300 at the connection between the touch module 100 and the housing 220. This helps to prevent moisture, liquid and dust from entering the receiving space 201 from the first opening 202, thereby protecting the precision components such as the vision component 210 set in the receiving space 201 from contamination or damage. This, in turn, helps to improve the working stability and service life of the visual tactile sensor 10 in humid environments, liquid media or high dust conditions.

[0033] In addition, the visual-touch sensor 10 mainly includes a touch module 100 and a vision module 200. The touch module 100 is detachably disposed in the first opening 202. When the touch module 100 fails due to long-term contact with external objects, such as surface scratches, elastomer aging, blurred patterns, or stains that are difficult to remove, the operator can disassemble and replace the touch module 100 separately without disassembling or replacing the vision module 200. Conversely, if the vision component 210 fails, the operator can disassemble and replace the vision component 210 separately, avoiding the need to scrap the entire visual-touch sensor 10 and reducing the cost of use.

[0034] In some embodiments, the first seal 300 may be made of a polymer material with elastic and resilient properties, such as silicone rubber, fluororubber, or EPDM rubber. When the touch module 100 is fastened to the housing 220 by a detachable connection structure (such as threads, snaps, or pressure rings), the first seal 300 is subjected to axial or radial compression to generate elastic deformation, filling the tiny gap between the touch module 100 and the housing 220, forming a reliable dynamic or static sealing interface.

[0035] Please see Figure 2 and Figure 3 In some embodiments, one of the touch module 100 and the housing 220 is provided with a first positioning groove 221, which surrounds the first opening 202, and the first seal 300 is embedded in the first positioning groove 221. The extension trajectory of the first positioning groove 221 closes around the central axis of the first opening 202, forming a continuous annular groove structure, ensuring that the sealing contact surface of the first seal 300 is completely closed in the circumferential direction, avoiding leakage paths due to partial breaks. The cross-sectional shape of the first positioning groove 221 matches the shape of the first seal 300 and can be designed as a rectangular groove, trapezoidal groove, or semi-circular groove to adapt to the first seal 300.

[0036] The presence of the first positioning groove 221 effectively constrains the displacement of the first seal 300, preventing it from shifting, twisting, or flipping during assembly, thus improving assembly efficiency and consistency. Simultaneously, the first positioning groove 221 provides a supporting boundary for the first seal 300, ensuring that it deforms primarily along a predetermined direction under pressure, avoiding stress concentration or localized tearing, and extending its service life.

[0037] Please see Figure 3 and Figure 4In some embodiments, the housing 220 has a mounting base 222 protruding from one side facing the touch module 100. The mounting base 222 protrudes axially outward from the periphery of the first opening 202 of the housing 220 to reliably fix the touch module 100 to the housing 220. The mounting base 222 is used to fix and cooperate with the touch module 100. For example, the outer peripheral surface of the mounting base 222 has a threaded section or multiple radially distributed snap-fit ​​protrusions, which cooperate with the corresponding connection structure on the touch module 100, and the two are detachably assembled by tightening or snapping. The mounting base 222 also serves as an axial limiter to ensure that the touch module 100 maintains the correct relative position with the housing 220 after installation, ensuring the focusing accuracy and imaging stability of the internal optical system.

[0038] The first sealing element 300 is provided with a clearance position 310, which is used to avoid the fixing seat 222. The clearance position 310 is a pre-reserved local structural notch or groove on the first sealing element 300, and the shape and position of the clearance position 310 match the geometric contour of the fixing seat 222. When the first sealing element 300 is embedded in the first positioning groove 221, the clearance position 310 corresponds to the area where the fixing seat 222 is located, so that the first sealing element 300 can bypass the fixing seat 222 and continuously fit against the sealing mating surface. This avoids the problem of uneven pressure, local stretching or tearing of the first sealing element 300 caused by the protrusion of the fixing seat 222, and ensures that the sealing interface maintains integrity and continuity in the circumferential direction.

[0039] The structure of the clearance 310 is designed to fit the shape of the fixing seat 222. If the fixing seat 222 is a continuous annular boss, the clearance 310 forms an annular groove on the first seal 300; if the fixing seat 222 is a plurality of spaced protrusions or threaded segments, the clearance 310 is correspondingly configured with a plurality of partial cuts or notches. The depth and width of the clearance 310 are sufficient to accommodate the protruding portion of the fixing seat 222, while retaining sufficient sealing material to cover the adjacent sealing contact area and maintain effective sealing pressure.

[0040] Please see Figure 5 and Figure 6 In some embodiments, the housing 220 includes a main housing 223 and a cover 224, forming a complete external encapsulation structure. A first seal 300 is disposed at the connection between the touch module 100 and the main housing 223. The main housing 223 has a receiving space 201, a first opening 202, and a second opening 203 communicating with the receiving space 201. Specifically, the main housing 223 has a receiving space 201 inside for accommodating the vision component 210; one end of the main housing 223 has a first opening 202 communicating with the receiving space 201 for mounting the touch module 100; the other end of the main housing 223 has a second opening 203 communicating with the receiving space 201 for assembling and electrically connecting the vision component 210.

[0041] The cover 224 is detachably mounted on the second opening 203, forming a closed internal environment together with the main shell 223 to protect the visual component 210 within the housing space 201. The visual-tactile sensor 10 also includes a second seal 400, which is sealed between the main shell 223 and the cover 224 to seal the connection interface between them. The second seal 400 is made of an elastic sealing material, such as silicone rubber or fluororubber, and its shape matches the circumferential contour of the second opening 203. It can be an O-ring, a rectangular washer, or a pre-formed sealing ring.

[0042] Please see Figures 5 to 7 In some embodiments, one of the main housing 223 and the cover 224 is provided with a second positioning groove 224a. The second positioning groove 224a is used to fix and position the second sealing element 400, ensuring that the second sealing element 400 is accurately positioned and evenly compressed during assembly. The second positioning groove 224a is arranged around the second opening 203. The second positioning groove 224a is provided on the peripheral end face of the second opening 203 of the main housing 223, or on the mounting surface of the cover 224 for docking with the main housing 223. The extending direction of the second positioning groove 224a forms a closed annular structure around the central axis of the second opening 203.

[0043] The second seal 400 is embedded in the second positioning groove 224a. The cross-sectional shape of the second positioning groove 224a is adapted to the shape of the second seal 400, and can be designed as a rectangular groove, trapezoidal groove, or semi-circular groove depending on the cross-section of the second seal 400. When the second seal 400 is an O-ring, the second positioning groove 224a is usually designed as an annular groove with a rectangular cross-section. The groove width of the second positioning groove 224a is slightly larger than the diameter of the O-ring, and the groove depth of the second positioning groove 224a is set according to the compression ratio requirement to ensure that the second seal 400 can generate an appropriate pre-compression amount after assembly. During installation, the second seal 400 is embedded in the second positioning groove 224a and initially fixed by interference fit or auxiliary bonding to prevent displacement or detachment before the cover 224 is assembled.

[0044] Please see Figure 5 and Figure 6 In some embodiments, the housing 220 is provided with a partition 225 disposed within the receiving space 201 to divide the receiving space 201 into a reflective cavity 204 and a receiving cavity 205. The reflective cavity 204 is located on the side of the partition 225 closer to the first opening 202 and is used to form an optical reflection path. The receiving cavity 205 is located on the side of the partition 225 away from the first opening 202 and is used to mount the vision component 210. The vision component 210 is disposed within the receiving cavity 205.

[0045] The partition 225 is provided with a connecting through hole 225a, which penetrates the partition 225. The connecting through hole 225a connects the reflecting cavity 204 and the receiving cavity 205. The connecting through hole 225a provides a passageway for the lens assembly or optical path of the vision component 210, enabling the image sensor of the vision component 210 to image the deformation pattern within the reflecting cavity 204 through the connecting through hole 225a. The shape of the connecting through hole 225a matches the outer contour of the vision component 210 and can be a circular, polygonal, or stepped hole structure to meet the installation requirements of different vision components 210.

[0046] The visual-tactile sensor 10 also includes a third seal 500, which is made of an elastic sealing material, such as silicone rubber or fluororubber, and has good compression resilience and resistance to environmental aging.

[0047] The third seal 500 is disposed around the edge of the connecting through hole 225a, and the third seal 500 is sealingly connected to the partition 225 and the vision component 210. The third seal 500 can be embedded in a pre-set sealing groove in the partition 225 or the vision component 210. After the vision component 210 is installed in place, it is subjected to radial or axial compression, resulting in elastic deformation and filling the assembly gap between the partition 225 and the vision component 210. The third seal 500 effectively blocks the gas or liquid flow path between the reflection cavity 204 and the receiving cavity 205, preventing external contaminants from entering the receiving cavity 205 through the optical path channel and contaminating the image sensor, circuit board 214 and other precision electronic components of the vision component 210.

[0048] Please see Figure 5 , Figure 6 , Figure 8 and Figure 9 In some embodiments, the vision component 210 includes a mounting base 211, a camera 212, and a fourth seal 213. A third seal 500 is sealingly connected between the partition 225 and the mounting base 211. The mounting base 211 has a mounting through hole 211a communicating with a connecting through hole 225a. The mounting through hole 211a is aligned with and communicates with the connecting through hole 225a on the partition 225, forming a continuous optical channel. The camera 212 is disposed within the mounting through hole 211a. The mounting base 211 is made of metal or high-strength engineering plastic, providing mechanical support and a positioning reference to ensure the installation stability and optical axis alignment accuracy of the camera 212 within the receiving cavity 205.

[0049] Camera 212 includes a lens structure 212a and a camera body 212b connected together. The lens structure 212a is positioned relative to the camera body 212b and close to the connecting through-hole 225a. The lens structure 212a is located at the front end of camera 212, close to the connecting through-hole 225a, and is used to receive reflected images from the reflecting cavity 204 and perform optical focusing. The camera body 212b is located at the rear end of lens structure 212a. The camera body 212b integrates an image sensor and signal processing circuitry to convert light signals into digital image signals. Lens structure 212a is fixedly connected to camera body 212b by threads, pressure rings, or adhesive bonding, and the entire structure is inserted into mounting base 211 along the axial direction of mounting through-hole 211a.

[0050] The fourth seal 213 is sealed between the wall of the mounting through-hole 211a and the camera body 212b to achieve a secondary seal between the camera 212 and the mounting base 211. The fourth seal 213 can be an annular sealing ring or a potting compound layer, which is embedded in the sealing groove of the inner wall of the mounting through-hole 211a or directly coated on the outer surface of the camera body 212b during installation. When the camera 212 is inserted into the mounting through-hole 211a, the fourth seal 213 is radially compressed or cured to form a tightly fitting sealing interface, preventing external media from seeping into the receiving cavity 205 along the outer wall of the camera 212.

[0051] Please see Figure 6 In some embodiments, the receiving cavity 205 includes a connected plug-in sub-cavity 206 and a receiving sub-cavity 207. The plug-in sub-cavity 206 communicates with the connecting through-hole 225a and is located between the connecting through-hole 225a and the receiving sub-cavity 207. The partition 225 and the main shell 223 of the housing 220 cooperate to form the plug-in sub-cavity 206, and the housing 220 forms the receiving sub-cavity 207. One end of the plug-in sub-cavity 206 communicates with the connecting through-hole 225a, and the other end communicates with the receiving sub-cavity 207, forming a transition area from the reflective cavity 204 to the electronic component area. The receiving sub-cavity 207 is located on the rear side of the plug-in sub-cavity 206 and is directly formed by the rear inner wall of the main shell 223, for accommodating the circuit board 214 of the vision component 210 and other auxiliary electronic components.

[0052] The insertion cavity 206 serves as the pre-mounting area for the vision component 210, primarily used for mounting the mounting base 211 and the third seal 500. One end of the mounting base 211 is inserted into the insertion cavity 206 and fixed to the main housing 223 via interference fit, threaded connection, or screw fastening. The third seal 500 is embedded inside the insertion cavity 206, located between the connection interface of the mounting base 211 and the partition 225, and arranged around the connection through hole 225a. When the mounting base 211 is installed in place, the third seal 500 compresses and deforms under axial pressure, achieving a sealing connection between the partition 225 and the mounting base 211, effectively blocking the media flow path between the reflection cavity 204 and the receiving cavity 205.

[0053] The vision component 210 also includes a circuit board 214, which is electrically connected to the camera 212 and housed within a receiving cavity 207. The receiving cavity 207 provides the circuit board 214 with independent mounting space, away from the front-end optical area and any potential sealing interfaces, reducing the risk of moisture, contamination, or mechanical vibration. The circuit board 214 is electrically connected to the pins or interface terminals of the camera 212 via wires, connectors, or soldering, resulting in a logical layout that facilitates wiring and maintenance.

[0054] Circuit board 214 is electrically connected to the interface terminals of camera 212 via wires, connectors, or flexible circuits. It provides precise drive voltage and timing control signals to the image sensor, controlling the exposure time, gain parameters, and acquisition frame rate of camera 212 to ensure high-quality deformation images are acquired under various lighting and contact conditions. During image acquisition, circuit board 214 receives raw image data from camera 212 and processes it through an integrated signal processing unit.

[0055] Please see Figure 6 and Figure 8 In some embodiments, the cavity wall of the plug-in sub-cavity 206 is provided with a first positioning part 206a. The first positioning part 206a serves as a mechanical positioning reference structure, used to guide and define the installation position of the mounting seat 211 and the third seal 500 during assembly. The first positioning part 206a is disposed on the inner peripheral wall of the plug-in sub-cavity 206 and extends in the circumferential direction. The structural form of the first positioning part 206a may be an annular boss, a positioning step, a groove, or multiple evenly distributed positioning pin holes.

[0056] The third sealing element 500 is provided with a second positioning part 211b, which is positioned and engaged with the first positioning part 206a. The second positioning part 211b is used to form a positioning engagement relationship with the first positioning part 206a. The second positioning part 211b may be formed by a stepped structure, an annular flange, or a positioning groove on the outer peripheral surface of the mounting base 211. When the mounting base 211 is inserted into the plug cavity 206, the second positioning part 211b contacts and engages with the first positioning part 206a, restricting the radial and axial degrees of freedom of the mounting base 211, ensuring that the central axis of the mounting base 211 remains coaxial with the axis of the connecting through hole 225a, and avoiding sealing failure or optical path deviation due to eccentricity or tilt.

[0057] Please see Figure 5 In some embodiments, the touch module 100 includes a transparent bracket 110 and a touch component 120, which together realize the sensing of external contact force and the transmission of optical signals. The transparent bracket 110 is made of a material with high light transmittance and good mechanical strength, such as optical-grade glass, acrylic, or polycarbonate. One end of the transparent bracket 110 is provided with a mounting groove 111, which is recessed inward from the side of the transparent bracket 110 away from the receiving space 201, with its opening facing the external environment, for fixing and supporting the touch component 120. A portion of the touch component 120 is located within the mounting groove 111, and the shape of the mounting groove 111 matches the shape of the touch component 120, which can be circular, rectangular, or have a multi-step structure to ensure that the touch component 120 is accurately positioned and securely installed within the groove.

[0058] A coupling fluid is filled between the touch component 120 and the wall of the mounting groove 111. The coupling fluid is a transparent, bubble-free, low-volatility liquid medium, such as silicone oil, glycerin, or optical matching fluid. The coupling fluid completely fills the tiny gap between the outer peripheral surface of the touch component 120 and the inner wall of the mounting groove 111, eliminating the presence of an air layer. This design effectively reduces light reflection and scattering at the interface between different media, improves light transmittance and imaging clarity, and avoids image distortion or signal attenuation caused by differences in refractive index.

[0059] The coupling fluid also serves as a stress buffer and sealing aid. During the deformation of the touch component 120 under stress, the coupling fluid can evenly transmit pressure, reduce local stress concentration, and improve the linear response characteristics of deformation. At the same time, the gaps filled with coupling fluid form a liquid seal structure, further preventing external dust, moisture, or contaminants from entering the interior from the edge of the touch module 100, thus enhancing the protection capability of the sensor front end.

[0060] In some embodiments, the touch component 120 adopts a multi-layer composite structure with a certain degree of elasticity. The touch component 120 includes a wear-resistant layer, a background layer, a pattern layer, an elastic transparent layer, and a hard transparent layer stacked sequentially. The functional layers are combined through bonding, coating, hot pressing, or integral molding processes to form a tactile sensitive unit with high optical performance, good mechanical response, and long-term durability. This not only improves the overall performance of the touch component 120 but also optimizes the deformation transmission path and image acquisition quality.

[0061] The wear-resistant layer is located on the outermost side of the touch component 120 and comes into direct contact with external objects. It is made of a high-hardness, scratch-resistant transparent material, such as a polyurethane coating, a silicone-based coating, or a hardened resin film. The wear-resistant layer maintains a smooth and intact surface when subjected to repeated friction and mechanical impact, preventing scratches from affecting optical transmittance and extending the lifespan of the touch component 120. The background layer, adjacent to the inner side of the wear-resistant layer, is made of opaque or highly light-shielding materials, such as black ink, a light-shielding film, or a metal deposition layer. It blocks external ambient light from entering the interior from the sides or back, preventing stray light from interfering with the imaging system.

[0062] The pattern layer is located inside the background layer, and its surface has one or more marked patterns with specific geometric shapes, such as grid lines, dot matrix, concentric circles, or coded graphics. These specific patterns serve as reference features for deformation sensing and maintain their initial shape when no external force is applied. When an external object comes into contact with the wear-resistant layer and applies pressure, the pressure is transmitted through the wear-resistant layer and the background layer to the pattern layer, causing identifiable deformations such as stretching, compression, or twisting to the pattern layer and the specific patterns on it.

[0063] The elastic transparent layer is located inside the patterned layer and is made of a flexible material with good elasticity and high light transmittance, such as transparent silicone or polydimethylsiloxane (PDMS). Under pressure, the elastic transparent layer generates elastic deformation corresponding to the external contact force and uniformly transmits the deformation to the patterned layer, while also acting as an optical medium to allow light to pass through.

[0064] The rigid transparent layer, located on the innermost side, is made of a rigid transparent material such as glass, acrylic sheet, or transparent engineering plastic. It provides overall support for the multi-layer structure, prevents interlayer misalignment or collapse, and ensures the stability of the optical system.

[0065] The vision component 210 images a specific pattern on the pattern layer through a hard transparent layer and an elastic transparent layer. When the specific pattern deforms due to contact, the vision component 210 captures an image sequence and analyzes the displacement, degree of deformation, and distribution characteristics of the pattern through an image processing algorithm. It then calculates touch information such as the contact position, pressure magnitude, direction, and distribution, thereby helping to achieve high sensitivity, high resolution, and high environmental adaptability of tactile perception.

[0066] Please see Figure 2 and Figure 3 In some embodiments, the visual-tactile sensor 10 further integrates an illumination module 600, which is installed within the reflective cavity 204 and positioned close to the touch module 100. The illumination module 600 provides a uniform and stable light source, ensuring that the visual component 210 can acquire high-quality pattern distortion images under various ambient light conditions. By rationally arranging the position and angle of the illumination module 600, the impact of shadows, glare, and uneven lighting on image quality can be effectively reduced, improving image recognition accuracy and measurement reliability.

[0067] The lighting module 600 typically consists of a high-brightness LED light source, a focusing lens assembly, a diffuser plate, and a heat dissipation structure. The high-brightness LED light source, as the main light-emitting element, features high efficiency, long lifespan, and adjustable light intensity, making it suitable for applications requiring frequent switching and long-term continuous operation. The focusing lens assembly focuses the light to create directional illumination or wide-angle lighting, adjusting the spot size and distribution according to actual needs. The diffuser plate evenly disperses the light, eliminating overly bright areas and making the lighting softer and more uniform, enhancing image contrast and detail clarity. The heat dissipation structure ensures the stability and safety of the LED light source under high-power operation, extending its lifespan.

[0068] The lighting module 600 is directly mounted inside the reflective cavity 204, adjacent to the connecting through-hole 225a and facing the touch module 100, allowing light to directly illuminate the surface of the touch component 120 and be transmitted to the pattern layer via the transparent bracket 110. When an external object touches and causes deformation of the pattern layer, the ample light provided by the lighting module 600 ensures that the visual component 210 can accurately capture every detail of the pattern change. Furthermore, because the lighting module 600 is located within the enclosed reflective cavity 204, external dust, moisture, and other contaminants are difficult to penetrate, keeping the light source clean, resulting in low maintenance costs and high reliability.

[0069] In some implementations, the reflective cavity 204 is a key functional chamber inside the visual-touch sensor 10 used to construct the optical imaging path. Its main function is to provide a stable and controllable optical environment for the vision component 210, ensuring that the deformation pattern on the surface of the touch module 100 can be captured by the vision component 210 with high fidelity.

[0070] The reflective cavity 204 is disposed between the partition 225 and the touch module 100. One end is connected to the receiving cavity 205 through a connecting through hole 225a, and the other end faces the inner surface of the touch component 120. During operation, the light emitted by the illumination module 600 enters the reflective cavity 204 and illuminates the inner surface of the touch component 120. The cavity wall of the reflective cavity 204 is optically treated and has certain reflective properties, which can direct or diffusely reflect the incident light back to the lens direction of the vision component 210.

[0071] The inner wall of the reflective cavity 204 is typically treated with special methods, such as spraying matte black paint, anodizing, or attaching light-absorbing materials, to minimize multiple reflections and interference from stray light. This design improves the contrast and signal-to-noise ratio of the image and prevents image blurring or distortion caused by reflections from the inner wall of the cavity, thereby ensuring the stability and consistency of image quality.

[0072] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this application. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0073] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A visual-tactile sensor, characterized in that, include: A touch module, wherein the touch module is an elastomer, and the touch module has a pattern layer inside, so that the touch module deforms the pattern when it comes into contact with an external object; A vision module, comprising a vision component and a housing, the housing having a receiving space and a first opening communicating with the receiving space, the touch module being detachably disposed in the first opening, and the vision component being disposed within the receiving space and used to acquire images of deformations generated by the touch module; as well as A first seal is disposed at the connection between the touch module and the housing.

2. The visual-tactile sensor according to claim 1, characterized in that, One of the touch module and the housing is provided with a first positioning groove, the first positioning groove is arranged around the first opening, and the first sealing element is embedded in the first positioning groove.

3. The visual-tactile sensor according to claim 2, characterized in that, The housing has a mounting base protruding on one side facing the touch module, and the mounting base is used to fix and cooperate with the touch module. The first sealing element is provided with a clearance position, which is used to avoid the fixing seat.

4. The visual-tactile sensor according to claim 1, characterized in that, The housing includes a main shell and a cover. The main shell has the receiving space, a first opening, and a second opening communicating with the receiving space. The cover is detachably disposed at the second opening. The first sealing element is disposed at the connection between the touch module and the main shell. The visual-tactile sensor also includes a second seal, which is sealed between the main housing and the cover.

5. The visual-tactile sensor according to claim 4, characterized in that, One of the main shell and the cover is provided with a second positioning groove, the second positioning groove is arranged around the second opening, and the second sealing element is embedded in the second positioning groove.

6. The visual-tactile sensor according to claim 1, characterized in that, The housing is provided with a partition, which is disposed within the accommodating space to divide the accommodating space into a reflective cavity and an accommodating cavity. The partition is provided with a connecting through hole, which connects the reflective cavity and the accommodating cavity. The visual component is disposed within the accommodating cavity. The visual-tactile sensor further includes a third seal, which is disposed around the edge of the connecting through hole and is sealed to the partition and the visual component.

7. The visual-tactile sensor according to claim 6, characterized in that, The vision component includes a mounting base, a camera, and a fourth seal. The third seal is sealed between the partition and the mounting base. The mounting base is provided with a mounting through hole communicating with the connecting through hole. The camera is disposed within the mounting through hole. The camera includes a lens structure and a camera body connected together. The lens structure is disposed close to the connecting through hole relative to the camera body. The fourth sealing member is sealed between the hole wall of the mounting through hole and the camera body.

8. The visual-tactile sensor according to claim 7, characterized in that, The receiving cavity includes a connected plug-in sub-cavity and a receiving sub-cavity. The plug-in sub-cavity is connected to the connecting through hole and located between the connecting through hole and the receiving sub-cavity. The partition and the housing cooperate to form the plug-in sub-cavity, and the housing forms the receiving sub-cavity. The third seal and the mounting base are embedded in the plug-in sub-cavity. The vision component also includes a circuit board, which is electrically connected to the camera and disposed in the receiving sub-cavity.

9. The visual-tactile sensor according to claim 8, characterized in that, The cavity wall of the plug-in sub-cavity is provided with a first positioning part, and the mounting base is provided with a second positioning part, the second positioning part being positioned and engaged with the first positioning part.

10. The visual-tactile sensor according to claim 1, characterized in that, The touch module includes a transparent bracket and a touch component. The transparent bracket has a mounting groove on the side opposite to the receiving space. A portion of the touch component is located in the mounting groove, and coupling fluid is filled between the touch component and the groove wall.

Images