CN111590641A - Electronic skin and robot - Google Patents
Electronic skin and robot Download PDFInfo
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- CN111590641A CN111590641A CN202010365886.5A CN202010365886A CN111590641A CN 111590641 A CN111590641 A CN 111590641A CN 202010365886 A CN202010365886 A CN 202010365886A CN 111590641 A CN111590641 A CN 111590641A
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- liquid crystal
- polaroid
- external force
- electronic skin
- skin
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G02—OPTICS
- G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
- G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
- G02F1/01—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour
- G02F1/13—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour based on liquid crystals, e.g. single liquid crystal display cells
- G02F1/133—Constructional arrangements; Operation of liquid crystal cells; Circuit arrangements
- G02F1/1333—Constructional arrangements; Manufacturing methods
- G02F1/13338—Input devices, e.g. touch panels
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- G—PHYSICS
- G02—OPTICS
- G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
- G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
- G02F1/01—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour
- G02F1/13—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour based on liquid crystals, e.g. single liquid crystal display cells
- G02F1/133—Constructional arrangements; Operation of liquid crystal cells; Circuit arrangements
- G02F1/1333—Constructional arrangements; Manufacturing methods
- G02F1/1335—Structural association of cells with optical devices, e.g. polarisers or reflectors
- G02F1/133528—Polarisers
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- G—PHYSICS
- G02—OPTICS
- G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
- G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
- G02F1/01—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour
- G02F1/13—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour based on liquid crystals, e.g. single liquid crystal display cells
- G02F1/133—Constructional arrangements; Operation of liquid crystal cells; Circuit arrangements
- G02F1/1333—Constructional arrangements; Manufacturing methods
- G02F1/1335—Structural association of cells with optical devices, e.g. polarisers or reflectors
- G02F1/133528—Polarisers
- G02F1/133531—Polarisers characterised by the arrangement of polariser or analyser axes
Abstract
The application belongs to the technical field of robots, and provides an electronic skin and a robot.A position where the electronic skin does not receive external force is irradiated with ambient light, the ambient light sequentially passes through an online polaroid and a liquid crystal box and then is absorbed by an offline polaroid, and the position where the electronic skin receives external force is irradiated with ambient light sequentially passes through the online polaroid, the liquid crystal box and the offline polaroid; or, the ambient light that does not receive the position incidence of external force from the electron skin, go up the linear polaroid in proper order, the liquid crystal box is emergent after the linear polaroid, the line polaroid that rolls off the production line, the ambient light that receives the position incidence of external force from the electron skin, be absorbed by the line polaroid that rolls off the production line after going up linear polaroid and liquid crystal box in proper order, can confirm the electron skin and receive position, shape and the pattern of external force through the light of response from the electron skin emergence, do not receive the electric conductivity influence of application of force object, recognition effect is good, can effectively improve the sensitivity of the sense of touch of robot when.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to an electronic skin and a robot.
Background
With the continuous development of the robot technology, various types of special robots emerge endlessly, and great convenience is brought to daily production and life of people. Common robots include special robots such as service robots, underwater robots, entertainment robots, military robots, agricultural robots, robotized machines, and industrial robots such as robot arms and handling robots applied to industrial production. Some types of robots are continuously developing towards anthropomorphic, which can simulate not only human appearance but also human skin, so that the robots can also have touch feeling like humans.
However, the skin of the existing robot is usually realized by a capacitive or resistive touch screen, which can only sense a limited number of multi-point touches, cannot recognize touch patterns (for example, when a hand holds an arm of the robot, the outline pattern of a palm cannot be recognized by the capacitive or resistive touch screen), and neither the capacitive touch screen nor the resistive touch screen can recognize the touch of an insulator, which is poor in recognition effect.
Disclosure of Invention
The utility model provides an aim at provides an electron skin and robot, the skin that aims at solving current robot realizes through capacitanc or resistive touch screen usually, can only sense limited quantity's multiple touch, can not discern the touch pattern to capacitanc touch-sensitive screen and resistive touch-sensitive screen can not discern the touch of insulator, the relatively poor problem of identification effect.
A first aspect of an embodiment of the present application provides an electronic skin, including an upper linear polarizer, a liquid crystal cell, and a lower linear polarizer, which are sequentially disposed along an incident direction of ambient light;
ambient light incident from a position of the electronic skin, which is not subjected to the external force, passes through the upper linear polarizer and the liquid crystal box in sequence and is absorbed by the lower linear polarizer, and ambient light incident from a position of the electronic skin, which is subjected to the external force, passes through the upper linear polarizer, the liquid crystal box and the lower linear polarizer in sequence and is then emitted;
or the ambient light incident from the position of the electronic skin, which is not subjected to the external force, sequentially passes through the upper linear polarizer, the liquid crystal box and the lower linear polarizer and then is emitted, and the ambient light incident from the position of the electronic skin, which is subjected to the external force, sequentially passes through the upper linear polarizer and the liquid crystal box and then is absorbed by the lower linear polarizer.
In one embodiment, the liquid crystal cell includes an upper substrate, an upper alignment layer, a liquid crystal layer, a lower alignment layer, and a lower substrate, which are sequentially disposed;
the light transmission axis of the up-line polaroid is parallel to the light transmission axis of the down-line polaroid and is vertical to the light absorption axis of the down-line polaroid, ambient light incident from the position of the electronic skin, which is not subjected to the external force, sequentially passes through the up-line polaroid and the liquid crystal box and then is absorbed by the down-line polaroid, and ambient light incident from the position of the electronic skin, which is subjected to the external force, sequentially passes through the up-line polaroid, the liquid crystal box and the down-line polaroid and then is emitted;
or, go up the printing opacity axle of line polaroid with the printing opacity axle of the polaroid of rolling off the production line is perpendicular and with the extinction axle of the polaroid of rolling off the production line is parallel, follows the electron skin does not receive the ambient light that the position of external force is incited, passes through in proper order go up the line polaroid the liquid crystal box with the emergence after the polaroid of rolling off the production line follows the electron skin receives the ambient light that the position of external force is incited, passes through in proper order go up the line polaroid with quilt after the liquid crystal box the polaroid of rolling off.
In one embodiment, the liquid crystal cell comprises an upper substrate, an upper electrode layer, an upper alignment layer, a liquid crystal layer, a lower alignment layer, a lower electrode layer and a lower substrate which are arranged in sequence, wherein a voltage is applied between the upper electrode layer and the lower electrode layer;
the light transmission axis of the up-line polaroid is perpendicular to the light transmission axis of the down-line polaroid and is parallel to the light absorption axis of the down-line polaroid, ambient light incident from the position of the electronic skin, which is not subjected to the external force, sequentially passes through the up-line polaroid and the liquid crystal box and then is absorbed by the down-line polaroid, and ambient light incident from the position of the electronic skin, which is subjected to the external force, sequentially passes through the up-line polaroid, the liquid crystal box and the down-line polaroid and then is emitted;
or, go up the printing opacity axle of line polaroid with the printing opacity axle of the polaroid of rolling off the production line is parallel and with the extinction axle of the polaroid of rolling off the production line is perpendicular, follows the electron skin does not receive the ambient light that the position of external force is incited, passes through in proper order go up the line polaroid the liquid crystal box with the emergence after the polaroid of rolling off the production line follows the electron skin receives the ambient light that the position of external force is incited, passes through in proper order go up the line polaroid with quilt after the liquid crystal box the polaroid of rolling off.
In one embodiment, the upper substrate and the lower substrate are rigid substrates or flexible substrates.
In one embodiment, the rigid substrate is a glass substrate and the flexible substrate is a polyimide substrate.
In one embodiment, the e-skin further comprises a light transmissive elastic support structure disposed between the upper and lower alignment layers.
In one embodiment, the light-transmissive elastic support structure is a polyethylene, polystyrene, polytetrafluoroethylene, or polyimide structure.
In one embodiment, the e-skin further comprises a light source with a light emitting face disposed towards the downline polarizer;
the light source rays emitted from the position of the electronic skin, which is not subjected to the external force, sequentially pass through the lower linear polarizer and the liquid crystal box and then are absorbed by the upper linear polarizer, and the light source rays emitted from the position of the electronic skin, which is subjected to the external force, sequentially pass through the lower linear polarizer, the liquid crystal box and the upper linear polarizer and then are emitted;
or the light source rays emitted from the position of the electronic skin, which is not subjected to the external force, sequentially pass through the offline polarizer, the liquid crystal box and the online polarizer and then are emitted, and the light source rays emitted from the position of the electronic skin, which is subjected to the external force, sequentially pass through the offline polarizer and the liquid crystal box and then are absorbed by the online polarizer.
In one embodiment, the light source is a visible light source or an infrared light source.
In one embodiment, the e-skin further comprises an image sensor with a light-sensing surface disposed toward the down-line polarizer;
the image sensor is used for sensing light emitted from the offline polarizer and outputting image signals, and the position where the brightness changes in two frames of image signals continuously output by the image sensor is the position where the electronic skin is subjected to external force.
In one embodiment, the electronic skin further comprises a lens module disposed between the down-line polarizer and the image sensor, and the image sensor and the lens module form a camera.
In one embodiment, the electronic skin further comprises a processor communicatively coupled to the image sensor;
the processor is configured to:
acquiring an image signal output by an image sensor;
comparing two frames of image signals continuously output by the image sensor;
and identifying the position, shape and pattern of the electronic skin subjected to the external force according to the position of the change of the brightness in the two frames of image signals continuously output by the image sensor.
A second aspect of embodiments of the present application provides a robot comprising an electronic skin as described in the first aspect of embodiments of the present application.
The embodiment of the application provides the electronic skin which comprises the upper linear polaroid, the liquid crystal box and the lower linear polaroid which are sequentially arranged along the incident direction of the environmental light, so that the environmental light incident from the position of the electronic skin, which is not subjected to the external force, is absorbed by the lower linear polaroid after sequentially passing through the upper linear polaroid and the liquid crystal box, and the environmental light incident from the position of the electronic skin, which is subjected to the external force, is emergent after sequentially passing through the upper linear polaroid, the liquid crystal box and the lower linear polaroid; or, the ambient light that does not receive the position incidence of external force from the electron skin, go up the linear polaroid in proper order, the liquid crystal box is emergent after the linear polaroid, the line polaroid that rolls off the production line, the ambient light that receives the position incidence of external force from the electron skin, be absorbed by the line polaroid that rolls off the production line after going up linear polaroid and liquid crystal box in proper order, can confirm the electron skin and receive position, shape and the pattern of external force through the light of response from the electron skin emergence, do not receive the electric conductivity influence of application of force object, recognition effect is good, can effectively improve the sensitivity of the sense of touch of robot when.
Drawings
Fig. 1 is a schematic view of a first structure of an e-skin according to an embodiment of the present disclosure;
fig. 2 is a schematic view of a second structure of an electronic skin according to an embodiment of the present disclosure;
fig. 3 is a schematic view of a third structure of an e-skin provided in an embodiment of the present application;
fig. 4 is a schematic diagram of a fourth structure of an e-skin provided in an embodiment of the present application;
fig. 5 is a schematic diagram of a fifth structure of an electronic skin provided in an embodiment of the present application;
fig. 6 is a sixth structural schematic diagram of an electronic skin according to an embodiment of the present application.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The embodiment of the application provides an electronic skin applied to a robot, and the robot can be any type of bionic robot with a machine touch sense, such as a humanoid robot, a robot dog, a robot cat and the like. When the electronic skin is subjected to external force, the brightness change of light penetrating through the electronic skin is sensed to identify the position and the pattern of the electronic skin subjected to the external force.
As shown in fig. 1 and fig. 2, the electronic skin provided in the embodiment of the present application includes an upper line polarizer 1, a liquid crystal cell 2, and a lower line polarizer 3, which are sequentially disposed along an incident direction of ambient light.
In application, the upper linear polarizer and the lower linear polarizer may be configured as any type of linear polarizer according to actual needs, for example, a flexible linear polarizer. The transmission axis of the upper linear polarizer and the transmission axis of the lower linear polarizer may be parallel or perpendicular.
In application, the liquid crystal cell can be configured as a liquid crystal cell structure based on IPS (In-Plane Switching) technology or TN (Twisted Nematic) technology according to actual needs.
As shown in fig. 1, the exemplary illustrated liquid crystal cell is a liquid crystal cell structure based on the IPS technology, which includes an upper substrate 21, an upper alignment layer 22, a liquid crystal layer 23, a lower alignment layer 24, and a lower substrate 25, which are sequentially disposed.
As shown in fig. 2, the exemplary liquid crystal cell is a liquid crystal cell structure based on TN technology, and includes an upper substrate 21, an upper electrode layer 26, an upper alignment layer 22, a liquid crystal layer 23, a lower alignment layer 24, a lower electrode layer 27, and a lower substrate 25, which are sequentially disposed, and a voltage (not shown) is applied between the upper electrode layer 26 and the lower electrode layer 27.
In one embodiment, the upper substrate and the lower substrate are rigid substrates or flexible substrates.
In one embodiment, the rigid substrate is a glass substrate and the flexible substrate is a polyimide substrate.
In application, the upper substrate and the lower substrate can be set into a rigid substrate or a flexible substrate according to actual needs, the flexibility of the electronic skin can be effectively improved by setting the upper substrate and the lower substrate into the flexible substrate, the touch feeling of the electronic skin is closer to the touch feeling of real skin, the contact area and the attaching degree between an object touching the electronic skin and the electronic skin can be increased, and the sensitivity of the touch feeling of the robot is improved.
In application, the upper alignment layer and the lower alignment layer may be polyimide alignment layers, and the upper electrode layer and the lower electrode layer may be indium tin oxide electrode layers.
According to the difference of the relative position relationship between the transmission axis of the upper line polarizer 1 and the transmission axis of the lower line polarizer 2, the working principle of the electronic skin provided by the embodiment of the application comprises the following two types:
the first working principle is that ambient light incident from a position of the electronic skin, which is not subjected to external force, passes through the online polaroid 1 and the liquid crystal box in sequence and is absorbed by the offline polaroid 3, and ambient light incident from a position of the electronic skin, which is subjected to external force, passes through the online polaroid 1, the liquid crystal box 2 and the offline polaroid 3 in sequence and is then emitted;
in the second working principle, ambient light incident from a position of the electronic skin, which is not subjected to an external force, is emitted after sequentially passing through the online polarizer 1, the liquid crystal box 2 and the offline polarizer 3, and ambient light incident from a position of the electronic skin, which is subjected to the external force, is absorbed by the offline polarizer 3 after sequentially passing through the online polarizer 1 and the liquid crystal box.
In application, based on a first working principle, ambient light incident from a position of the electronic skin, which is not subjected to external force, is absorbed by the offline polarizer, and the ambient light incident from the position of the electronic skin, which is subjected to the external force, is sensed through the offline polarizer, so that the electronic skin can be determined to be not subjected to the external force when the ambient light is not sensed, the electronic skin is determined to be subjected to the external force when the ambient light is sensed, and the position of the electronic skin subjected to the external force can be determined according to the position of the sensed ambient light; further, the shape and pattern of the external force may be determined according to a plurality of locations of the external force. Based on a second working principle, ambient light incident from a position of the electronic skin, which is not subjected to external force, is sensed through the offline polarizer, and ambient light incident from a position of the electronic skin, which is subjected to the external force, is absorbed by the offline polarizer, so that the electronic skin can be determined not to be subjected to the external force when the ambient light is sensed, the electronic skin can be determined to be subjected to the external force when the ambient light is not sensed, and the position of the electronic skin subjected to the external force can be determined according to the position of the electronic skin, which is not subjected to the external force; further, the shape and pattern of the external force may be determined according to a plurality of locations of the external force.
In application, when the liquid crystal cell is a liquid crystal cell structure based on the IPS technology, and the transmission axis of the upper linear polarizer is parallel to the transmission axis of the lower linear polarizer and perpendicular to the absorption axis of the lower linear polarizer, the first working principle specifically includes:
ambient light (circularly polarized light) input from a position, which is not subjected to external force, of the electronic skin is changed into first linearly polarized light with the polarization direction parallel to a transmission axis of the upper linear polarizer after passing through the upper linear polarizer, the polarization direction of the first linearly polarized light is rotated by 90 degrees after passing through the liquid crystal box and is changed into second linearly polarized light with the linear polarization direction parallel to a light absorption axis of the lower linear polarizer, and the second linearly polarized light is absorbed by the lower linear polarizer when entering the lower linear polarizer;
ambient light incident from the position of the electronic skin subjected to external force is changed into first linearly polarized light with the polarization direction parallel to the transmission axis of the upper line polarizer after passing through the upper line polarizer, and the first linearly polarized light is emitted from the transmission axis of the lower line polarizer after penetrating through the liquid crystal box.
In application, when the liquid crystal cell is a liquid crystal cell structure based on IPS technology, and the transmission axis of the upper linear polarizer is perpendicular to the transmission axis of the lower linear polarizer and parallel to the absorption axis of the lower linear polarizer, the second working principle specifically includes:
ambient light incident from a position, which is not subjected to external force, of the electronic skin is changed into first linearly polarized light with the polarization direction parallel to the transmission axis of the upper linear polarizer after passing through the upper linear polarizer, the polarization direction of the first linearly polarized light is rotated by 90 degrees after passing through a liquid crystal box, the first linearly polarized light is changed into second linearly polarized light with the linear polarization direction parallel to the transmission axis of the lower linear polarizer, and the second linearly polarized light is emitted from the transmission axis of the lower linear polarizer;
ambient light incident from the position of the electronic skin subjected to the external force is changed into first linearly polarized light with the polarization direction parallel to the transmission axis of the upper line polarizer after passing through the upper line polarizer, and the first linearly polarized light is absorbed by the lower line polarizer after penetrating through the liquid crystal box.
In application, when the liquid crystal box is a liquid crystal box structure based on the TN technology, and the transmission axis of the upper linear polarizer is perpendicular to the transmission axis of the lower linear polarizer and parallel to the absorption axis of the lower linear polarizer, the first working principle specifically includes:
ambient light incident from the position of the electronic skin, which is not subjected to external force, is changed into first linearly polarized light with the polarization direction parallel to the transmission axis of the upper linear polarizer after passing through the upper linear polarizer, and the first linearly polarized light is absorbed by the light absorption axis of the lower linear polarizer after passing through the liquid crystal box;
ambient light incident from the position of the electronic skin subjected to external force is changed into first linearly polarized light with the polarization direction parallel to the light transmission axis of the upper line polarizer after passing through the upper line polarizer, the polarization direction of the first linearly polarized light is rotated by 90 degrees after passing through the liquid crystal box and is changed into second linearly polarized light with the linear polarization direction parallel to the light transmission axis of the lower line polarizer, and the second linearly polarized light is emitted from the light transmission axis of the lower line polarizer.
In application, when the liquid crystal box is a liquid crystal box structure based on the TN technology, and the transmission axis of the upper linear polarizer is parallel to the transmission axis of the lower linear polarizer and perpendicular to the absorption axis of the lower linear polarizer, the second working principle specifically includes:
ambient light (circularly polarized light) input from a position, which is not subjected to external force, of the electronic skin is changed into first linearly polarized light with the polarization direction parallel to the transmission axis of the upper linear polarizer after passing through the upper linear polarizer, and the first linearly polarized light is emitted from the transmission axis of the lower linear polarizer after passing through the liquid crystal box;
ambient light incident from the position of the electronic skin subjected to external force is changed into first linearly polarized light with the polarization direction parallel to the light transmission axis of the upper linear polarizer after passing through the upper linear polarizer, the polarization direction of the first linearly polarized light is rotated by 90 degrees after passing through the liquid crystal box and is changed into second linearly polarized light with the linear polarization direction parallel to the light absorption axis of the lower linear polarizer, and the second linearly polarized light is absorbed by the lower linear polarizer when being incident to the lower linear polarizer.
In one embodiment, the e-skin further comprises a light transmissive elastic support structure disposed between the upper and lower alignment layers.
In application, the light-transmitting elastic support structure can be set to be light-transmitting at will, has elasticity and certain mechanical strength according to actual needs, and can play a certain supporting role on the upper substrate and the lower substrate of the liquid crystal box, for example, an integrated or separated support structure made of polyethylene, polystyrene, polytetrafluoroethylene or polyimide. The integrated support structure may be a frame-like structure comprising a plurality of support points. The discrete support structure can comprise a plurality of support columns, and the support columns can be arranged into cylinders, elliptic columns, trapezoidal columns or rectangular columns and the like according to actual needs.
In one embodiment, the light-transmissive elastic support structure is a polyethylene, polystyrene, polytetrafluoroethylene, or polyimide structure.
Fig. 3 exemplarily shows on the basis of fig. 1 that the e-skin further includes a light-transmissive elastic support structure disposed between the upper alignment layer 22 and the lower alignment layer 24, the light-transmissive elastic support structure includes a plurality of support pillars 4, and the plurality of support pillars 4 are uniformly distributed between the upper alignment layer 22 and the lower alignment layer 24.
In one embodiment, the e-skin further comprises a light source with a light emitting surface disposed towards the downline polarizer.
Fig. 3 shows, by way of example, on the basis of fig. 1 that the e-skin further comprises a light source 5 whose light-emitting face is arranged towards the downlight polarizer 3.
In application, the light source may be a visible light source or an invisible light source, and the invisible light source may be an infrared light source.
Based on the principle of light reversibility, when the electronic skin includes a light source, the first working principle further includes:
when light source rays emitted from the position of the electronic skin, which is not subjected to external force, sequentially pass through the offline polarizer 3 and the liquid crystal box and then are absorbed by the online polarizer 1, the light source rays emitted from the position of the electronic skin, which is subjected to external force, sequentially pass through the offline polarizer 3, the liquid crystal box and the online polarizer 1 and then are emitted;
or, the light source light emitted from the position of the electronic skin not subjected to the external force sequentially passes through the offline polarizer 3, the liquid crystal cell and the online polarizer 1 and then is emitted, and the light source light emitted from the position of the electronic skin subjected to the external force sequentially passes through the offline polarizer 3 and the liquid crystal cell and then is absorbed by the online polarizer 1.
In application, based on a first working principle, light rays of a light source emitted from a position, which is not subjected to external force, of the electronic skin are absorbed by the online polaroid, light rays of the light source emitted from the position, which is subjected to the external force, of the electronic skin penetrate through the online polaroid, and when the light source is a visible light source, the light rays of the light source penetrating through the online polaroid can be observed by human eyes, so that the positions, which are not subjected to the external force, of the electronic matching can be observed by the human eyes to be darker, and the positions. Based on the second working principle, the light rays of the light source emitted from the position of the electronic skin, which is not subjected to the external force, penetrate through the online polarizer, the light rays of the light source emitted from the position of the electronic skin, which is subjected to the external force, are absorbed by the online polarizer, and when the light source is a visible light source, the light rays of the light source, which penetrate through the online polarizer, can be observed by human eyes, so that the positions, which are subjected to the external force, of the electronic matching can be observed by the human eyes to be darker, and the positions.
In application, when the liquid crystal cell is a liquid crystal cell structure based on IPS technology, the transmission axis of the offline polarizer is parallel to the transmission axis of the online polarizer and perpendicular to the absorption axis of the online polarizer, the first working principle specifically further includes:
light (circularly polarized light) emitted from the position of the electronic skin, which is not subjected to external force, is changed into third linearly polarized light with the polarization direction parallel to the transmission axis of the lower linear polarizer after passing through the lower linear polarizer, the polarization direction of the third linearly polarized light is rotated by 90 degrees after passing through the liquid crystal box, the third linearly polarized light is changed into fourth linearly polarized light with the linear polarization direction parallel to the light absorption axis of the upper linear polarizer, and the fourth linearly polarized light is absorbed by the upper linear polarizer when being emitted to the upper linear polarizer;
the light source light emitted from the position of the electronic skin, which is subjected to the external force, is changed into third linearly polarized light with the polarization direction parallel to the transmission axis of the lower-line polarizer after passing through the lower-line polarizer, and the third linearly polarized light is emitted from the transmission axis of the upper-line polarizer after penetrating through the liquid crystal box.
In application, when the liquid crystal cell is a liquid crystal cell structure based on IPS technology, the transmission axis of the offline polarizer is perpendicular to the transmission axis of the online polarizer and is parallel to the absorption axis of the online polarizer, the second working principle specifically further includes:
the light source light emitted from the position, which is not subjected to external force, of the electronic skin is changed into third linearly polarized light with the polarization direction parallel to the light transmission axis of the lower linear polarizer after passing through the lower linear polarizer, the polarization direction of the third linearly polarized light is rotated by 90 degrees after passing through the liquid crystal box and is changed into fourth linearly polarized light with the linear polarization direction parallel to the light transmission axis of the upper linear polarizer, and the fourth linearly polarized light is emitted from the light transmission axis of the upper linear polarizer;
the light source rays emitted from the position of the electronic skin subjected to the external force are changed into third linearly polarized light with the polarization direction parallel to the transmission axis of the lower linear polarizer after passing through the lower linear polarizer, and the third linearly polarized light is absorbed by the upper linear polarizer after penetrating through the liquid crystal box.
In application, when the liquid crystal cell is a liquid crystal cell structure based on TN technology, and the transmission axis of the offline polarizer is perpendicular to the transmission axis of the online polarizer and parallel to the absorption axis of the online polarizer, the first working principle specifically further includes:
the light source rays emitted from the position, which is not subjected to the external force, of the electronic skin are changed into third linearly polarized light with the polarization direction parallel to the transmission axis of the lower-line polarizer after passing through the lower-line polarizer, and the third linearly polarized light is absorbed by the light absorption axis of the upper-line polarizer after penetrating through the liquid crystal box;
the light source light emitted from the position of the electronic skin, which is subjected to the external force, is changed into third linearly polarized light with the polarization direction parallel to the light transmission axis of the lower linear polarizer after passing through the lower linear polarizer, the polarization direction of the third linearly polarized light is rotated by 90 degrees after passing through the liquid crystal box, the third linearly polarized light is changed into fourth linearly polarized light with the linear polarization direction parallel to the light transmission axis of the upper linear polarizer, and the fourth linearly polarized light is emitted from the light transmission axis of the upper linear polarizer.
In application, when the liquid crystal cell is a liquid crystal cell structure based on TN technology, and the transmission axis of the offline polarizer is parallel to the transmission axis of the online polarizer and perpendicular to the absorption axis of the online polarizer, the second working principle specifically further includes:
the light source rays emitted from the position, which is not subjected to the external force, of the electronic skin are changed into third linearly polarized light with the polarization direction parallel to the transmission axis of the lower-line polarizer after passing through the lower-line polarizer, and the third linearly polarized light is emitted from the transmission axis of the upper-line polarizer after penetrating through the liquid crystal box;
the light source light emitted from the position of the electronic skin, which is subjected to the external force, is changed into third linearly polarized light with the polarization direction parallel to the light transmission axis of the lower linear polarizer after passing through the lower linear polarizer, the polarization direction of the third linearly polarized light is rotated by 90 degrees after passing through the liquid crystal box, the third linearly polarized light is changed into fourth linearly polarized light with the linear polarization direction parallel to the light absorption axis of the upper linear polarizer, and the fourth linearly polarized light is absorbed by the upper linear polarizer when being incident to the upper linear polarizer.
In one embodiment, the e-skin further comprises an image sensor with a light-sensing surface disposed toward the down-line polarizer.
Fig. 4 exemplarily shows on the basis of fig. 3 that the e-skin further comprises an image sensor 6 with a photosensitive surface arranged towards the downline polarizer 3;
the image sensor is used for sensing the light emitted from the off-line polarizer 3 and outputting an image signal, and the position where the brightness changes in the two frames of image signals continuously output by the image sensor 6 is the position where the electronic skin is subjected to an external force.
In one embodiment, the surfaces of the linear polarizer, the liquid crystal cell, and the linear polarizer in the incident direction of the ambient light are the same size as the photosensitive surface of the image sensor.
In an application, the image sensor comprises a photosensitive pixel array, and the larger the pixels of the photosensitive pixel array, the higher the sensing sensitivity, so that the sensitivity of the electronic skin to the external force is higher. The size of the photosensitive surface of the image sensor is the same as the size of the linear polaroid, the liquid crystal box and the surface of the linear polaroid in the incident direction of the ambient light, so that the image sensor can sense whether the light emitted from each position of the electronic skin exists or not one by one and output image signals, and the position of the electronic skin subjected to external force can be accurately determined according to the position where the brightness changes in two continuously output frame image signals.
Fig. 4 exemplarily shows that the photosensitive surface of the image sensor 6 has the same size as the surfaces of the linear polarizer 1, the liquid crystal cell 2, and the downline polarizer 3 in the incident direction of the ambient light.
In one embodiment, the electronic skin further comprises a lens module disposed between the down-line polarizer and the image sensor, and the image sensor and the lens module form a camera.
Fig. 5 exemplarily shows on the basis of fig. 4 that the electronic skin further includes a lens module 7 disposed between the lower linear polarizer 3 and the image sensor 6, and the size of the photosensitive surface of the image sensor 6 is smaller than the size of the surfaces of the linear polarizer 1, the liquid crystal cell 2, and the lower linear polarizer 3 in the incident direction of the ambient light.
In application, a lens module can be arranged between the image sensor and the offline polarizer, so that the image sensor and the lens module form a camera, and when the area of the image sensor is smaller than that of a liquid crystal box due to the light condensation effect of the lens module, whether light rays are emitted from each position of the electronic skin can be sensed one by one, and an image signal is output. Through setting up the camera lens module, can effectively reduce image sensor's size, practice thrift the cost, reduce the volume of electron skin.
In one embodiment, the electronic skin further comprises a processor communicatively coupled to the image sensor.
Fig. 6 exemplarily shows on the basis of fig. 5 that the electronic skin further comprises a processor 8 in communicative connection with the image sensor 6;
the processor 8 is configured to:
acquiring an image signal output by an image sensor;
comparing two frames of image signals continuously output by the image sensor;
and identifying the position, shape and pattern of the electronic skin subjected to the external force according to the position of the change of the brightness in the two frames of image signals continuously output by the image sensor.
In application, the recognized shapes and patterns may be planar or solid shapes and patterns. The e-skin may be configured to cover a local area or an entire area of the robot surface in the same shape according to the contour of the surface of the robot.
In Application, the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
According to the embodiment of the application, ambient light incident from the position of the electronic skin, which is not subjected to external force, sequentially passes through the online polaroid and the liquid crystal box and then is absorbed by the offline polaroid, and ambient light incident from the position of the electronic skin, which is subjected to external force, sequentially passes through the online polaroid, the liquid crystal box and the offline polaroid and then is emitted; or, the ambient light that does not receive the position incidence of external force from the electron skin, go up the linear polaroid in proper order, the liquid crystal box is emergent after the linear polaroid, the line polaroid that rolls off the production line, the ambient light that receives the position incidence of external force from the electron skin, be absorbed by the line polaroid that rolls off the production line after going up linear polaroid and liquid crystal box in proper order, can confirm the electron skin and receive position, shape and the pattern of external force through the light of response from the electron skin emergence, do not receive the electric conductivity influence of application of force object, recognition effect is good, can effectively improve the sensitivity of the sense of touch of robot when.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (13)
1. The electronic skin is characterized by comprising an upper linear polarizer, a liquid crystal box and a lower linear polarizer which are sequentially arranged along the incident direction of ambient light;
ambient light incident from a position of the electronic skin, which is not subjected to the external force, passes through the upper linear polarizer and the liquid crystal box in sequence and is absorbed by the lower linear polarizer, and ambient light incident from a position of the electronic skin, which is subjected to the external force, passes through the upper linear polarizer, the liquid crystal box and the lower linear polarizer in sequence and is then emitted;
or the ambient light incident from the position of the electronic skin, which is not subjected to the external force, sequentially passes through the upper linear polarizer, the liquid crystal box and the lower linear polarizer and then is emitted, and the ambient light incident from the position of the electronic skin, which is subjected to the external force, sequentially passes through the upper linear polarizer and the liquid crystal box and then is absorbed by the lower linear polarizer.
2. The e-skin of claim 1, wherein the liquid crystal cell comprises an upper substrate, an upper alignment layer, a liquid crystal layer, a lower alignment layer, and a lower substrate, arranged in that order;
the light transmission axis of the up-line polaroid is parallel to the light transmission axis of the down-line polaroid and is vertical to the light absorption axis of the down-line polaroid, ambient light incident from the position of the electronic skin, which is not subjected to the external force, sequentially passes through the up-line polaroid and the liquid crystal box and then is absorbed by the down-line polaroid, and ambient light incident from the position of the electronic skin, which is subjected to the external force, sequentially passes through the up-line polaroid, the liquid crystal box and the down-line polaroid and then is emitted;
or, go up the printing opacity axle of line polaroid with the printing opacity axle of the polaroid of rolling off the production line is perpendicular and with the extinction axle of the polaroid of rolling off the production line is parallel, follows the electron skin does not receive the ambient light that the position of external force is incited, passes through in proper order go up the line polaroid the liquid crystal box with the emergence after the polaroid of rolling off the production line follows the electron skin receives the ambient light that the position of external force is incited, passes through in proper order go up the line polaroid with quilt after the liquid crystal box the polaroid of rolling off.
3. The e-skin of claim 1, wherein the liquid crystal cell comprises an upper substrate, an upper electrode layer, an upper alignment layer, a liquid crystal layer, a lower alignment layer, a lower electrode layer, and a lower substrate arranged in sequence, wherein a voltage is applied between the upper electrode layer and the lower electrode layer;
the light transmission axis of the up-line polaroid is perpendicular to the light transmission axis of the down-line polaroid and is parallel to the light absorption axis of the down-line polaroid, ambient light incident from the position of the electronic skin, which is not subjected to the external force, sequentially passes through the up-line polaroid and the liquid crystal box and then is absorbed by the down-line polaroid, and ambient light incident from the position of the electronic skin, which is subjected to the external force, sequentially passes through the up-line polaroid, the liquid crystal box and the down-line polaroid and then is emitted;
or, go up the printing opacity axle of line polaroid with the printing opacity axle of the polaroid of rolling off the production line is parallel and with the extinction axle of the polaroid of rolling off the production line is perpendicular, follows the electron skin does not receive the ambient light that the position of external force is incited, passes through in proper order go up the line polaroid the liquid crystal box with the emergence after the polaroid of rolling off the production line follows the electron skin receives the ambient light that the position of external force is incited, passes through in proper order go up the line polaroid with quilt after the liquid crystal box the polaroid of rolling off.
4. The e-skin of claim 2 or 3, wherein the upper substrate and the lower substrate are rigid substrates or flexible substrates.
5. The electronic skin of claim 4, wherein the rigid substrate is a glass substrate and the flexible substrate is a polyimide substrate.
6. The electronic skin of claim 2 or 3, further comprising a light-transmissive elastic support structure disposed between the upper and lower alignment layers.
7. The electronic skin of claim 6, wherein the light-transmissive elastic support structure is a polyethylene, polystyrene, polytetrafluoroethylene, or polyimide structure.
8. The electronic skin according to any one of claims 1 to 3, further comprising a light source having a light emitting surface disposed toward the downline polarizer;
the light source rays emitted from the position of the electronic skin, which is not subjected to the external force, sequentially pass through the lower linear polarizer and the liquid crystal box and then are absorbed by the upper linear polarizer, and the light source rays emitted from the position of the electronic skin, which is subjected to the external force, sequentially pass through the lower linear polarizer, the liquid crystal box and the upper linear polarizer and then are emitted;
or the light source rays emitted from the position of the electronic skin, which is not subjected to the external force, sequentially pass through the offline polarizer, the liquid crystal box and the online polarizer and then are emitted, and the light source rays emitted from the position of the electronic skin, which is subjected to the external force, sequentially pass through the offline polarizer and the liquid crystal box and then are absorbed by the online polarizer.
9. The electronic skin of claim 8, wherein the light source is a visible light source or an infrared light source.
10. The electronic skin according to any one of claims 1 to 3, further comprising an image sensor having a photosensitive surface disposed toward the lower linear polarizer;
the image sensor is used for sensing light emitted from the offline polarizer and outputting image signals, and the position where the brightness changes in two frames of image signals continuously output by the image sensor is the position where the electronic skin is subjected to external force.
11. The electronic skin of claim 10, further comprising a lens module disposed between the lower linear polarizer and the image sensor, the image sensor and the lens module constituting a camera.
12. The electronic skin of claim 10, further comprising a processor communicatively coupled to the image sensor;
the processor is configured to:
acquiring an image signal output by an image sensor;
comparing two frames of image signals continuously output by the image sensor;
and identifying the position, shape and pattern of the electronic skin subjected to the external force according to the position of the change of the brightness in the two frames of image signals continuously output by the image sensor.
13. A robot comprising the electronic skin according to any one of claims 1 to 12.
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|---|---|---|---|
| CN202010365886.5A CN111590641A (en) | 2020-04-30 | 2020-04-30 | Electronic skin and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010365886.5A CN111590641A (en) | 2020-04-30 | 2020-04-30 | Electronic skin and robot |
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Application publication date: 20200828 |