CN116265884A

CN116265884A - Touch sensor, touch event detection method, sensing device and robot

Info

Publication number: CN116265884A
Application number: CN202111551879.5A
Authority: CN
Inventors: 李望维
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2023-06-20

Abstract

The application discloses a touch sensor, a touch event detection method, sensing equipment and a robot, and belongs to the field of sensor design. The tactile sensor includes: a sensing unit (21), an elastomer support housing (22) and a base (23); the sensing unit (21) is arranged in an inner cavity formed by enclosing the elastic body supporting shell (22) and the base (23); the sensing unit (21) comprises at least two light sources (211) and a photoelectric detector (212), the photoelectric detector (212) is arranged at the top of the inner cavity of the elastic body supporting shell (22), the projection position of the photoelectric detector on the base (23) is located on the base (23), and the at least two light sources are circumferentially arranged around the projection position of the photoelectric detector on the base (23). The combination mode of a plurality of light sources and one photoelectric detector is adopted, so that the use quantity of the photoelectric detectors is reduced, and the volume of the touch sensor is reduced.

Description

Touch sensor, touch event detection method, sensing device and robot

Technical Field

The embodiment of the application relates to the field of sensor design, in particular to a touch sensor, a touch event detection method, sensing equipment and a robot.

Background

With the development and wide application of robotics, robots are required to not only perform a set mechanical movement, but also sense a contact force with the external environment. Thus, haptic sensors are often integrated with robots.

In the related art, an optical-based displacement sensor detects the intensity distribution of light by arranging a plurality of Photodetectors (PD) and a single light source in each set, so as to derive the displacement of the sensing surface of the displacement sensor, and further calculate the magnitude and direction of the force born by the displacement sensor.

However, the conventional optical-based displacement sensor is provided with a plurality of PDs, which are themselves large in size and each of which corresponds to a dedicated amplifying circuit, so that the optical-based displacement sensor occupies a large space and is more costly.

Disclosure of Invention

The application provides a touch sensor, a touch event detection method, sensing equipment and a robot, wherein the touch sensor is small in size, easy to construct and low in cost. The technical scheme is as follows:

according to an aspect of the present application, there is provided a tactile sensor including: the sensing unit, the elastomer support shell and the base;

The sensing unit is arranged in an inner cavity formed by enclosing the elastomer supporting shell and the base;

the sensing unit comprises at least two light sources, a photoelectric detector and a reflector, wherein the photoelectric detector is arranged on the base, the at least two light sources are arranged around the photoelectric detector on the base in a surrounding mode, and the reflector is arranged at the top of an inner cavity of the elastic body supporting shell.

the sensing unit comprises at least two light sources and a photoelectric detector, wherein the photoelectric detector is arranged at the top of an inner cavity of the elastic body supporting shell, the projection position of the photoelectric detector on the base is positioned on the base, and the at least two light sources are arranged around the projection position of the photoelectric detector on the base in a surrounding mode.

According to an aspect of the present application, there is provided a method of manufacturing a tactile sensor, the method comprising:

Fixing the photoelectric detector on the base, and surrounding and fixing the at least two light sources around the photoelectric detector;

fixing the reflector on top of the inner cavity of the elastomer support housing;

the elastomeric support housing is sealingly secured to the base such that the sensing unit is sealed within the interior cavity of the elastomeric support housing.

the photoelectric detector is fixed at the top of the inner cavity of the elastic body supporting shell;

fixing the at least two light sources around a projection position of the photodetector on the base;

the elastomeric support housing is sealingly disposed on the base such that the sensing unit is sealed within the interior cavity of the elastomeric support housing.

According to another aspect of the present application, there is provided a method for detecting a touch event, the method comprising:

acquiring the illumination intensity measured by the photoelectric detector in the touch sensor;

and measuring at least one of the magnitude and the direction of the force born by the touch sensor according to the illumination intensity.

According to another aspect of the present application, there is provided an electronic skin comprising:

the surface of the electronic skin is covered with a tactile sensor array comprising at least two of the tactile sensors described above.

According to another aspect of the present application, there is provided a robot including:

the surface preset position of the robot is covered with the touch sensor or the electronic skin.

According to another aspect of the present application, there is provided a sensing device comprising:

the touch sensor comprises at least one touch sensor, and the controller is connected with the touch sensor and executes the touch event detection method.

According to another aspect of the present application, there is provided a computer readable storage medium having stored therein at least one instruction loaded and executed by a processor to implement the method of detecting a touch event as described in the above aspect.

The beneficial effects that this application provided technical scheme brought include at least:

the photoelectric detector is arranged on the top of the inner cavity of the elastic body supporting shell, the projection position of the photoelectric detector on the base is positioned on the base, and at least two light sources are arranged around the projection position of the photoelectric detector on the base in a surrounding mode. The touch sensor in this application adopts the combination mode of a photoelectric detector and a plurality of light sources, through reducing photoelectric detector's use quantity for touch sensor volume reduces and the cost is lower, simultaneously, and the reduction of photoelectric detector quantity, then photoelectric detector dedicated reading circuit correspondingly reduces, makes touch sensor simpler and measuring speed faster.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a tactile sensing system provided in one exemplary embodiment of the present application;

FIG. 2 is a schematic diagram of a tactile sensor provided in one exemplary embodiment of the present application;

FIG. 3 is a schematic illustration of a tactile sensor measuring illumination intensity provided in one exemplary embodiment of the present application;

FIG. 4 is a schematic diagram of a tactile sensor according to an exemplary embodiment of the present application measuring the illumination intensity of reflected light with a photodetector when subjected to a force in the positive X-axis direction;

FIG. 5 is a schematic diagram of a tactile sensor according to an exemplary embodiment of the present application measuring the illumination intensity of reflected light with a photodetector when subjected to a positive Y-axis force;

FIG. 6 is a schematic diagram of a tactile sensor provided in an exemplary embodiment of the present application measuring the illumination intensity of reflected light with a photodetector when subjected to a force in the positive Z-axis direction;

FIG. 7 is a schematic diagram of a tactile sensor provided in an exemplary embodiment of the present application measuring the illumination intensity of reflected light by a photodetector when subjected to a force of rotation about an X-axis;

FIG. 8 is a schematic diagram of a tactile sensor provided in an exemplary embodiment of the present application measuring the illumination intensity of reflected light by a photodetector when subjected to a force of rotation about a Y-axis;

FIG. 9 is a schematic diagram of a tactile sensor provided in an exemplary embodiment of the present application measuring the illumination intensity of reflected light by a photodetector when subjected to a force of rotation about a Z-axis;

FIG. 10 is a schematic diagram of a tactile sensor provided in one exemplary embodiment of the present application;

FIG. 11 is a schematic diagram of a tactile sensor provided in an exemplary embodiment of the present application;

FIG. 12 is a schematic diagram of a tactile sensor provided in one exemplary embodiment of the present application;

FIG. 13 is a schematic diagram of a tactile sensor provided in an exemplary embodiment of the present application measuring the illumination intensity of reflected light with a photodetector when subjected to a force in the positive X-axis direction;

FIG. 14 is a schematic diagram of a tactile sensor provided in an exemplary embodiment of the present application measuring the illumination intensity of reflected light with a photodetector while subjected to a positive Y-axis force;

FIG. 15 is a schematic view of a tactile sensor provided in an exemplary embodiment of the present application measuring the illumination intensity of reflected light with a photodetector when subjected to a force in the positive Z-axis direction;

FIG. 16 is a schematic illustration of a tactile sensor provided in an exemplary embodiment of the present application measuring the illumination intensity of reflected light by a photodetector when subjected to a force of rotation about an X-axis;

FIG. 17 is a schematic diagram of a tactile sensor provided in an exemplary embodiment of the present application measuring the illumination intensity of reflected light by a photodetector when subjected to a force of rotation about a Y-axis;

FIG. 18 is a schematic diagram of a tactile sensor provided in an exemplary embodiment of the present application measuring the illumination intensity of reflected light by a photodetector when subjected to a force of rotation about the Z-axis;

FIG. 19 is a flowchart of a method of manufacturing a tactile sensor provided in one exemplary embodiment of the present application;

FIG. 20 is a schematic diagram of a tactile sensor provided in one exemplary embodiment of the present application;

FIG. 21 is a flowchart of a method of manufacturing a tactile sensor provided in one exemplary embodiment of the present application;

FIG. 22 is a flowchart of a method for detecting a touch event according to an exemplary embodiment of the present application;

FIG. 23 is a flowchart of a method for detecting force in a touch event according to an exemplary embodiment of the present application;

FIG. 24 is a flowchart of a method for detecting force in a touch event according to one exemplary embodiment of the present application;

FIG. 25 is a flowchart of a method for detecting force in a touch event according to one exemplary embodiment of the present application;

FIG. 26 is a schematic illustration of an electronic skin provided in an exemplary embodiment of the present application;

FIG. 27 is a schematic diagram of a sensing device provided in an exemplary embodiment of the present application;

fig. 28 is a schematic structural diagram of a computer device according to an exemplary embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Fig. 1 shows a schematic structural view of a tactile sensing system provided in an exemplary embodiment of the present application, where the tactile sensing system 100 includes a smart robot 10, a tactile sensor 101, a tactile sensor 102, a tactile sensor 103, and a tactile sensor 104, and a plurality of tactile sensors are attached to the smart robot 10, as shown in fig. 1 (a), the tactile sensors provided in the embodiment of the present application are flexible and can be attached to an outer surface of the smart robot 10 to form an "electronic skin", and the attached outer surface of the smart robot 10 can be any shape, such as a sphere, a hemisphere, a cylinder, an irregular shape, etc., schematically, as shown in fig. 1 (a), the tactile sensor 101 is attached to a head of the smart robot 10, the tactile sensor 102 is attached to a chest of the smart robot, the tactile sensor 103 is attached to an abdomen of the smart robot, and the tactile sensor 104 is attached to an arm of the smart robot.

The tactile sensor may also be attached to the manipulator 11 of the intelligent robot, and as shown in fig. 1 (b), the tactile sensor 105 is attached to the finger of the manipulator 11, and by the manipulator 11 contacting the target object, torque feedback may be provided, so as to determine the gesture of grabbing the target object and how much force is required to grab the target object. The object 106 grasped by the robot 11 is a sphere, and the robot 11 grasps the object 106 using a gesture as shown in fig. 1 (b). Alternatively, the tactile sensor 105 may be attached to the tip portion, knuckle portion, palm portion, or the entire hand of a finger, which is not limited in this application.

Fig. 2 illustrates a schematic cross-sectional structure of a tactile sensor provided in an exemplary embodiment of the present application. The tactile sensor includes: the sensing unit 21, the elastomeric support housing 22 and the base 23.

The sensing unit 21 is disposed in an inner cavity defined by the elastomer support housing 22 and the base 23.

The sensing unit 21 includes at least two light sources 211, a photodetector 212, and a reflector 213, the photodetector 212 is disposed on the base 23, the at least two light sources 211 are disposed around the photodetector 212 on the base 23, and the reflector 21 is disposed on top of the inner cavity of the elastomer supporting housing 22.

Alternatively, the reflector 213 is at least one of a reflective plate, a reflective block, and a reflective film, but is not limited thereto, and the embodiment of the present application is not limited thereto.

In one possible implementation, the sensing unit 21 comprises eight light sources 211. The photodetector 212 is disposed on the base 23, and eight light sources 211 are symmetrically disposed around the photodetector 212 on the base 23.

FIG. 3 illustrates a schematic diagram of a tactile sensor measuring illumination intensity provided in one exemplary embodiment of the present application. The circles in fig. 3 represent the illumination ranges of the eight light sources 211, and the boxes represent reflectors 213 at the top of the interior cavity of the elastomeric support housing 22. The eight light sources 211 are respectively a light source a, a light source b, a light source c, a light source d, a light source e, a light source f, a light source g and a light source h, and the eight light sources 211 are circumferentially arranged around the photodetector 212 on the base 23. Light source a and light source b set up in the positive semi-axis both sides of y axle, and light source c and light source d set up in the positive semi-axis both sides of x axle, and light source e and light source f set up in the negative semi-axis both sides of y axle, and light source g and light source h set up in the negative semi-axis both sides of x axle. Wherein, the light source a is a first positive y-axis light source, and the light source b is a second positive y-axis light source; the light source c is a first positive x-axis light source, and the light source d is a second positive x-axis light source; the light source e is a first negative y-axis light source, and the light source f is a second negative y-axis light source; the light source g is a first negative x-axis light source, and the light source h is a second negative x-axis light source.

Illustratively, when a force is applied to the elastomeric support housing 22, the upper surface of the elastomeric support housing 22 deflects, thereby deflecting the reflector 213 at the top of the interior cavity of the elastomeric support housing 22, which in turn causes the intensity of the reflected light received by the photodetector 212 to vary. The on-off of the light sources 211 is controlled in turn, the photo detector 212 measures the illumination intensity of the reflected light of each light source 211, and the displacement of the reflector 213 at the top of the inner cavity of the elastic body supporting shell 22 is calculated by calculating the illumination intensity change of the reflected light of each light source 211, so as to obtain the magnitude and direction of the bearing force of the tactile sensor.

When the tactile sensor receives a force in the translational direction, for example, when the tactile sensor receives a force in the translational direction along the X-axis, the upper surface of the elastomer supporting housing 22 deflects, so as to drive the reflector 213 at the top of the inner cavity of the elastomer supporting housing 22 to deflect along the X-axis, which further causes the illumination intensity of the reflected light received by the photodetector 212 to change. The on-off of the light source c and the light source h are sequentially controlled, the photoelectric detector 212 measures the illumination intensity of the reflected light of the light source c and the light source h, and the displacement of the reflector 213 at the top of the inner cavity of the elastic body supporting shell 22 along the X-axis direction is calculated by calculating the variation value of the illumination intensity of the reflected light of each light source c and each light source h, so that the size and the direction of the bearing force of the tactile sensor are obtained.

When the tactile sensor receives a force in the rotation direction, for example, when the tactile sensor receives a force in the rotation direction around the X-axis, the upper surface of the elastic body supporting housing 22 rotates, so that the reflector 213 on the top of the inner cavity of the elastic body supporting housing 22 is driven to rotate around the X-axis, and further the illumination intensity of the reflected light received by the photodetector 212 is caused to change. The on-off of the light source g and the light source h are sequentially controlled, the photoelectric detector 212 measures the illumination intensity of the reflected light of the light source g and the light source h, and the displacement or the angle of the reflector 213 at the top of the inner cavity of the elastic body supporting shell 22 around the rotation direction of the X axis is calculated by calculating the variation value of the illumination intensity of the reflected light of each light source g and each light source h, so that the magnitude and the direction of the bearing force of the tactile sensor are obtained.

In summary, in the touch sensor provided in this embodiment, by adopting a combination manner of a plurality of light sources and one photo detector, the volume of the touch sensor is reduced by reducing the number of photo detectors, and meanwhile, the number of photo detectors is reduced, so that the dedicated reading circuit of the photo detector is correspondingly reduced, and the touch sensor is simpler and has faster measurement speed.

When the tactile sensor bears acting force in the translation direction, the tactile sensor measures illumination intensity of reflected light of the light source corresponding to the positive half axle and the negative half axle in the translation direction, and the sensing of the magnitude and the direction of the acting force in the translation direction borne by the tactile sensor is realized by calculating the change value of the illumination intensity of the reflected light of the light source corresponding to the positive half axle and the negative half axle in the translation direction.

When the touch sensor bears the acting force in the rotating direction, the touch sensor measures the illumination intensity of the reflected light of the light sources at the two sides of the rotating shaft, and the sensing of the magnitude and the direction of the acting force in the rotating direction borne by the touch sensor is realized by calculating the change value of the illumination intensity of the reflected light of the light sources at the two sides of the rotating shaft.

The touch sensor provided by the embodiment measures the illumination intensity of the reflected light of each light source through a plurality of light sources and one photoelectric detector, and realizes the sensing of the magnitude and the direction of the force in six degrees of freedom such as the translation direction, the rotation direction and the like.

Based on the alternative embodiment in fig. 2, the haptic sensor measuring the force in the translational and rotational directions is described in detail below.

Illustratively, FIG. 4 shows a schematic diagram of a tactile sensor measuring the illumination intensity of reflected light when subjected to a force in the X-axis translational direction.

In the case where the tactile sensor is subjected to a force in the X-axis translational direction, the reflector 213 at the top of the inner cavity of the elastic body supporting case 22 is displaced in the X-axis direction, resulting in an increase in the combined illumination intensity of the reflected light of the light source c and the light source d measured by the photodetector 212, and a decrease in the combined illumination intensity of the reflected light of the light source h and the light source g measured by the photodetector 212.

Illustratively, when the touch sensor bears a force along the X axis, the positive X-axis light source is switched on, and when the positive X-axis light source is in a switched-on state, the illumination intensity of the positive X-axis light source measured by the photoelectric detector is acquired; the method comprises the steps of switching on a negative x-axis light source, and acquiring illumination intensity of the negative x-axis light source measured by a photoelectric detector when the negative x-axis light source is in a switching-on state; the first difference is a difference between the illumination intensity obtained by measuring the positive x-axis light source by the photodetector 212 and the illumination intensity obtained by measuring the negative x-axis light source by the photodetector 212. The first mapping relation refers to the corresponding relation between the magnitude and the direction of the force in the translation direction born by the touch sensor and the illumination intensity change value measured by the photoelectric detector.

For example, in the case where the tactile sensor is subjected to a force along the X-axis, light source c and light source d are first turned on, and the integrated illumination intensity (λc+λd) of the reflected light of light source c and light source d is measured with photodetector 212; then, turning off the light source c and the light source d, turning on the light source h and the light source g, and measuring the integrated illumination intensity (lambah+lambdag) of the reflected light of the light source h and the light source g by using the photodetector 212; by comparing the difference in illumination intensity between (λc+λd) and (λh+λg), the displacement of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 along the X-axis is derived, and thus the magnitude and direction of the applied force at the elastomeric support housing 22. For example, in the case where the tactile sensor is subjected to a force along the X-axis, the displacement trans of the tactile sensor reflector 213 along the X-axis is calculated _x The correspondence with the illumination intensity measured by the photodetector 212 can be expressed as:

wherein λc is the illumination intensity of the reflected light of the light source c measured by the photodetector; λd is the illumination intensity of the reflected light of the light source d measured by the photodetector; λh is used for representing the illumination intensity of the reflected light of the light source h measured by the photodetector; λg is used to represent the illumination intensity of the reflected light of the light source g measured by the photodetector.

It will be understood that, in measuring the magnitude and direction of the force on the X-axis, the integrated illumination intensity of the reflected light of the light source c and the light source d may be selected to measure with the integrated illumination intensity of the reflected light of the light source h and the light source g, and optionally, the integrated illumination intensity is at least one of the average illumination intensity of the reflected light of the light source c and the light source d, the sum of the illumination intensities of the reflected light of the light source c and the light source d, and the weighted value of the illumination intensities of the reflected light of the light source c and the light source d, which is not limited in the embodiment of the present application. Alternatively, in measuring the magnitude and direction of the force on the X-axis, two light sources on the X-axis may be selected for measurement, for example, light source c and light source h, or light source d and light source g, or light source c and light source g, but not limited thereto, and the embodiment of the present application is not limited thereto.

That is, in the case of measuring the light source c and the light source h, the displacement trans of the tactile sensor reflector 213 along the X-axis is generated _x The correspondence with the illumination intensity measured by the photodetector 212 can be expressed as:

in the case of measuring light source d and light source g, the displacement trans of the tactile sensor reflector 213 along the X-axis occurs _x The correspondence with the illumination intensity measured by the photodetector 212 can be expressed as:

in the case of measuring light source c and light source g, the displacement trans of the tactile sensor reflector 213 along the X-axis occurs _x The correspondence with the illumination intensity measured by the photodetector 212 can be expressed as:

illustratively, table 1 shows the correspondence between the magnitude and direction of the translational force received by the tactile sensor and the illumination intensity variation value measured by the photodetector, i.e., the first map. As shown in table 1, in the case of the force in the translational direction received by the tactile sensor, the illumination intensity of the reflected light of the light source at a specific position, or the illumination intensity of the reflected light of all the light sources, respectively, is measured, for example, in the case of the force in the translational direction received by the tactile sensor,the illumination intensities of the reflected light of all the light sources are measured, and the illumination intensities corresponding to the light source c, the light source h, the light source e and the light source b are respectively X1, X2, X3 and X4, and the displacement trans generated along the X axis by the reflector 213 of the tactile sensor is obtained after the measurement _x The corresponding relationship with the illumination intensity measured by the photodetector 212 can obtain that the translational displacement generated by the reflector 213 at the top of the inner cavity of the elastomer supporting housing 22 along the X axis is Y1, and the translational displacement generated by the reflector 213 at the top of the inner cavity of the elastomer supporting housing 22 along the X axis is Y2; further, the force applied to the elastic supporting housing 22 is 3N along the X-axis, and the force applied to the elastic supporting housing 22 is 5N along the Y-axis, which finally results in: the force in the translational direction borne by the tactile sensor is 5N and the direction is 45 degrees relative to the positive X-axis direction.

Table 1 first mapping relation table

Illustratively, FIG. 5 shows a schematic diagram of a tactile sensor measuring the illumination intensity of reflected light when subjected to a force in the positive Y-axis direction. In the case where the tactile sensor is subjected to a force along the Y-axis, the reflector 213 at the top of the inner cavity of the elastic body supporting case 22 is offset along the Y-axis direction, resulting in an increase in the combined illumination intensity of the reflected light of the light source a and the light source b measured by the photodetector 212, and a decrease in the combined illumination intensity of the reflected light of the light source f and the light source e measured by the photodetector 212.

Under the condition that the tactile sensor bears acting force along the Y-axis translation direction, the positive Y-axis light source is connected, and under the condition that the positive Y-axis light source is in a connected state, the illumination intensity of the positive Y-axis light source measured by the photoelectric detector 212 is obtained; turning on the negative y-axis light source, and acquiring the illumination intensity of the negative y-axis light source measured by the photoelectric detector 212 when the negative y-axis light source is in a turned-on state; obtaining the magnitude and the direction of the force born by the touch sensor in the touch event along the translation direction of the y axis according to the second difference value and the first mapping relation; the second difference is the difference between the illumination intensity obtained by measuring the positive y-axis light source by the photo detector 212 and the illumination intensity obtained by measuring the negative y-axis light source by the photo detector 212.

For example, light source a and light source b are first turned on, and the integrated illumination intensity (λa+λb) of the reflected light of light source a and light source b is measured with photodetector 212; then, turning off the light source a and the light source b, turning on the light source e and the light source f, and measuring the integrated illumination intensity (λe+λf) of the reflected light of the light source e and the light source f by using the photodetector 212; by comparing the difference in illumination intensity between (λa+λb) and (λe+λf), the displacement of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 along the Y-axis is derived, and thus the amount of force applied to the elastomeric support housing 22. For example, in the case where the tactile sensor is subjected to a force in the translational direction along the Y-axis, the displacement trans of the reflector of the tactile sensor along the Y-axis is calculated _y The correspondence with the illumination intensity measured by the photodetector 212 can be expressed as:

wherein λa is the illumination intensity of the reflected light of the light source a measured by the photodetector; λb is the illumination intensity of the reflected light of the light source b measured by the photodetector; λe is used to represent the illumination intensity of the reflected light of the light source e measured by the photodetector; λf is used to represent the illumination intensity of the reflected light of the light source f measured by the photodetector.

It will be appreciated that in measuring the magnitude and direction of the Y-axis force, two light sources on the Y-axis may be selected for measurement, for example, light source a and light source f, or light source a and light source e, or light source b and light source f, or light source b and light source e, but the embodiments are not limited thereto.

Fig. 6 shows a schematic diagram of the tactile sensor measuring the illumination intensity of the reflected light by the photodetector 212 when subjected to a force in the positive Z-axis direction. In the case where the tactile sensor receives a force along the Z-axis, the reflector 213 at the top of the inner cavity of the elastic body supporting case 22 is displaced along the Z-axis direction, resulting in a decrease in the illumination intensity of the reflected light of the light sources a to h measured by the photodetector 212.

Under the condition that the tactile sensor bears the acting force along the Z-axis translation direction, the illumination intensity obtained by measuring the first target light source at the ith moment by the photoelectric detector 212 and the illumination intensity obtained by measuring the first target light source at the (i+1) th moment by the photoelectric detector 212 are obtained, wherein the first target light source refers to at least one of the light sources. Obtaining the magnitude and the direction of the force along the z-axis translation direction born by the touch sensor in the touch event according to the third difference value and the first mapping relation; the third difference is a difference between the illumination intensity obtained by the photo detector 212 measuring the first target light source at the i-th moment and the illumination intensity obtained by the photo detector measuring the first target light source at the i+1-th moment.

For example, when measuring the magnitude and direction of the force along the Z axis, at least one light source may be selected to measure the illumination intensity of the reflected light, for example, only the light source c is selected to measure, so as to obtain the illumination intensity of the reflected light corresponding to the light source c before the tactile sensor receives the force along the positive Z axis, and after the tactile sensor receives the force along the positive Z axis, the illumination intensity of the reflected light of the light source c is measured, and the displacement of the reflector 213 at the top of the inner cavity of the elastomer supporting housing 22 along the Z axis is obtained by comparing the illumination intensity differences of the light source c measured twice before and after, so as to obtain the magnitude of the force applied on the elastomer supporting housing 22. For example, in the case where the tactile sensor is subjected to a force in the direction of translation along the z-axis, the displacement trans of the reflector of the tactile sensor along the z-axis is calculated _z The correspondence with the illumination intensity measured by the photodetector 212 can be expressed as:

wherein λc1 is used for representing the illumination intensity of the reflected light of the light source c at the ith moment measured by the photodetector; λc2 is used to represent the illumination intensity of the reflected light of the light source c at the i+1 time measured by the photodetector.

Fig. 7 shows a schematic diagram of the tactile sensor measuring the illumination intensity of the reflected light by the photodetector when subjected to a force of rotation about the X-axis.

In the case where the tactile sensor is subjected to a force of rotation about the X-axis, that is, in the case where the tactile sensor is subjected to a torque about the X-axis, the reflector 213 at the top of the inner cavity of the elastic body supporting case 22 is rotated about the X-axis, resulting in an increase in the combined illumination intensity of the reflected light of the light source g and the light source d measured by the photodetector 212, and a decrease in the combined illumination intensity of the reflected light of the light source h and the light source c measured by the photodetector 212.

Turning on the first X-axis light source under the condition that the touch sensor bears the force in the rotation direction around the X-axis, and acquiring the illumination intensity of the first X-axis light source measured by the photoelectric detector 212 under the condition that the first X-axis light source is in the on state; the second x-axis light source is turned on, and the illumination intensity of the second x-axis light source measured by the photodetector 212 is acquired while the second x-axis light source is in the on state.

And obtaining the magnitude and the direction of the force about the x-axis rotation direction born by the touch sensor in the touch event according to the fourth difference value and the second mapping relation.

The fourth difference is a difference between the illumination intensity obtained by measuring the first x-axis light source by the photodetector 212 and the illumination intensity obtained by measuring the second x-axis light source by the photodetector 212. The first x-axis light source comprises a first positive x-axis light source and the second x-axis light source comprises a second positive x-axis light source; alternatively, the first x-axis light source comprises a first negative x-axis light source and the second x-axis light source comprises a second negative x-axis light source; alternatively, the first x-axis light source comprises a first positive x-axis light source and a second negative x-axis light source, and the second x-axis light source comprises a second positive x-axis light source and a first negative x-axis light source.

For example, in the case where the tactile sensor is subjected to a rotational direction force about the X-axis, the light sources g and d are first turned on, and the integrated illumination intensity (λg+λd) of the reflected light of the light sources g and d is measured by the photodetector 212; then, turning off the light source g and the light source d, turning on the light source h and the light source c, and measuring the integrated illumination intensity (λh+λc) of the reflected light of the light source h and the light source c by using the photodetector 212; by comparing (λg+λd) with (λd)h + ac) to derive the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 about the X-axis and thus the amount of force applied to the elastomeric support housing 22. For example, in the case where the tactile sensor is subjected to torque about the X-axis, the displacement rev generated by rotation of the tactile sensor reflector 213 about the X-axis is calculated _x The correspondence with the illumination intensity measured by the photodetector 212 may be expressed as:

It will be appreciated that in measuring the magnitude and direction of torque about the X-axis, at least two light sources on either side of the X-axis may be selected for measurement, such as light source g and light source h, or light source d and light source c, but the embodiments of the present application are not limited thereto.

Illustratively, table 2 shows the correspondence between the magnitude and direction of the force in the rotation direction received by the tactile sensor and the illumination intensity variation value measured by the photodetector, that is, the second map. As shown in table 2, when the force in the rotation direction received by the tactile sensor is measured, the illumination intensities of the reflected lights of the light sources at the specific positions are measured, or when the force in the rotation direction received by the tactile sensor is measured, for example, when the illumination intensities of the reflected lights of the light sources at the specific positions are measured, the illumination intensities corresponding to the light sources g and h are respectively X1 and X2, and the rotational displacement trans along the X axis generated by the tactile sensor reflector 213 is obtained _x The correspondence with the intensity of illumination measured by the photodetector 212 can be obtained, the elastomer support housing 22The rotational displacement of the reflector 213 at the top of the cavity along the X-axis is Y1; and then the magnitude of the translational force received by the tactile sensor is aN and the direction is clockwise to the X-axis.

Table 2 second mapping relation table

Illustratively, FIG. 8 shows a schematic diagram of a tactile sensor measuring the illumination intensity of reflected light when subjected to a force in a rotational direction about the Y-axis. In the case where the tactile sensor is subjected to a force of rotation about the Y axis, the reflector 213 at the top of the inner cavity of the elastic body supporting case 22 is rotated about the Y axis, resulting in an increase in the combined illumination intensity of the light source a and the light source f measured by the photodetector 212, and a decrease in the combined illumination intensity of the light source b and the light source e measured by the photodetector 212.

Turning on the first y-axis light source under the condition that the touch sensor bears the force in the rotation direction around the y-axis, and acquiring the illumination intensity of the first y-axis light source measured by the photoelectric detector 212 under the condition that the first y-axis light source is in the on state; the second y-axis light source is turned on, and the illumination intensity of the second y-axis light source measured by the photodetector 212 is acquired while the second y-axis light source is in the on state.

And obtaining the magnitude and the direction of the force about the x-axis rotation direction born by the touch sensor in the touch event according to the fifth difference value and the second mapping relation.

The fifth difference is a difference between the illumination intensity obtained by measuring the first y-axis light source by the photodetector 212 and the illumination intensity obtained by measuring the second y-axis light source by the photodetector 212. The first y-axis light source comprises a first positive y-axis light source, and the second y-axis light source comprises a second positive y-axis light source; alternatively, the first y-axis light source comprises a first negative y-axis light source and the second y-axis light source comprises a second negative y-axis light source; alternatively, the first y-axis light source comprises a first positive y-axis light source and a second negative y-axis light source, and the second y-axis light source comprises a second positive y-axis light source and a first negative y-axis light source.

For exampleFirstly, turning on a light source a and a light source f, and measuring the comprehensive illumination intensity (λa+λf) of the reflected light of the light source a and the light source f by utilizing a photoelectric detector 212; then, turning off the light source a and the light source f, turning on the light source e and the light source b, and measuring the integrated illumination intensity (λe+λb) of the reflected light of the light source e and the light source b by using the photodetector 212; by comparing the difference in illumination intensity between (λa+λf) and (λe+λb), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 about the Y-axis is derived, which in turn yields the amount of force applied to the elastomeric support housing. For example, in the case where the tactile sensor receives a force in a rotational direction about the Y-axis, a displacement revol generated by rotation of the reflector 213 of the tactile sensor about the Y-axis is calculated _y The correspondence with the illumination intensity measured by the photodetector 212 can be expressed as:

It will be appreciated that in measuring the magnitude and direction of torque about the Y-axis, at least two light sources on either side of the Y-axis may be selected for measurement, such as, but not limited to, light source a and light source b, or light source a and light source e, or light source b and light source f, or light source f and light source e.

Illustratively, FIG. 9 shows a schematic diagram of a tactile sensor measuring the illumination intensity of reflected light when subjected to a force in a rotational direction about the Z-axis. When the tactile sensor receives a force along the Z-axis, the reflector 213 at the top of the inner cavity of the elastic body supporting housing 22 rotates around the Z-axis, so that the illumination intensities of the reflected lights of the light source a, the light source c, the light source e and the light source g measured by the photo detector 212 are reduced, and the illumination intensities of the reflected lights of the light source b, the light source d, the light source f and the light source h measured by the photo detector 212 are increased.

When the touch sensor bears the force in the rotating direction around the Z axis, the second target light source is connected, and the illumination intensity of the second target light source measured by the photoelectric detector is obtained when the second target light source is in a connected state; switching on a third target light source, and acquiring the illumination intensity of the third target light source measured by the photoelectric detector when the third target light source is in a switching-on state; the second target light source is any one of the light sources, and the third target light source is a different one of the light sources.

And obtaining the magnitude and the direction of the force in the rotation direction around the z axis, which is born by the touch sensor in the touch event, according to the sixth difference value and the second mapping relation.

The sixth difference is a difference between the illumination intensity obtained by measuring the second target light source by the photodetector 212 and the illumination intensity obtained by measuring the third target light source by the photodetector 212.

It will be appreciated that in measuring the magnitude and direction of torque about the Z-axis, all light sources may be selected for measurement, and at least two light sources may be selected for measurement, such as, for example, light source a and light source b, or light source a and light source d, or light source a and light source f, or light source a and light source h, or light source c and light source d, but the embodiments are not limited thereto.

For example, light source b, light source d, light source f, and light source h are first turned on, and the integrated illumination intensity (λb+λd+λh+λf) of the reflected light of light source b, light source d, light source f, and light source h is measured with photodetector 212; then, turning off the light source b, the light source d, the light source f and the light source h, turning on the light source a, the light source c, the light source e and the light source g, and measuring the integrated illumination intensity (λa+λc+λe+λg) of the reflected light of the light source a, the light source c, the light source e and the light source g by using the photodetector 212; by comparing the difference in illumination intensity between (λb+λd+λh+λf) and (λa+λc+λe+λg), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 about the Z-axis is derived, thereby deriving the force applied to the elastomeric support housing 22 Is of a size of (a) and (b). For example, in the case where the tactile sensor is subjected to a force in the rotational direction about the z-axis, the displacement revol generated by the reflector 213 of the tactile sensor in the rotational direction about the z-axis is calculated _z The correspondence with the illumination intensity measured by the photodetector 212 can be expressed as:

in summary, according to the tactile sensor provided in this embodiment, the photo detector measures the illumination intensity of the reflected light of different light sources, so as to measure the force and direction in the translational direction and the rotational direction, and a person skilled in the art can select a proper number of light sources according to the actual measurement situation, and select an appropriate light source to measure the reflected light, so that the measurement result of the tactile sensor is more accurate.

A schematic cross-sectional structure of a tactile sensor provided in an exemplary embodiment of the present application is shown in sub-view (a) of fig. 10. The tactile sensor includes: the sensing unit 21, the elastomeric support housing 22 and the base 23.

Illustratively, the light source 211 is at least one of a visible light lamp or an infrared lamp, which is not limited in the embodiments of the present application. The reflector 213 is used to reflect the light emitted from the light source 211 to the photodetector 212 through the reflector 213, and the reflector 213 has a sufficiently high contrast with the top of the inner cavity of the elastomeric support housing 22. Contrast refers to the difference in color of the reflector 213 under the light source 211 from the top of the interior cavity of the elastomeric support housing 22. The photodetector 212 is configured to receive the illumination intensity of the light emitted from the light source 211 and convert the light signal into an electrical signal.

Optionally, the base 23 includes an x-axis and a y-axis, and an intersection of the x-axis and the y-axis is an origin; the photodetector 212 is disposed at the origin; the at least two light sources 211 include a positive x-axis light source and a negative x-axis light source, which are located on the positive and negative half-axis sides of the x-axis, respectively.

The at least two light sources 211 include a positive y-axis light source and a negative y-axis light source, which are located on the positive half-axis side and the negative half-axis side of the y-axis, respectively.

Optionally, the positive x-axis light source and the negative x-axis light source are centrosymmetric with an origin as a center; and/or the positive y-axis light source and the negative y-axis light source are symmetrical with the origin as the center.

Optionally, the positive x-axis light source includes n1 light sources, at least two light sources in the n1 light sources are located at two sides of the positive x-axis half axis, and n1 is an integer greater than 2; and/or the negative x-axis light source comprises n2 light sources, at least two light sources in the n2 light sources are positioned at two sides of the negative x-axis half axis, and n2 is an integer greater than 2. For example, n1 light sources are arranged in a straight line, the straight line of the n1 light sources is perpendicular to the positive half axis of the x axis, or the n1 light sources are arranged in a fan shape, and the distance from the origin of each of the n1 light sources is equal. The n2 light sources are arranged along a straight line, the straight line of the n2 light sources is perpendicular to the negative half axis of the x axis, or the n2 light sources are arranged along a fan shape, and the distance between each of the n2 light sources and the origin is equal.

The positive y-axis light source comprises n3 light sources, at least two light sources in the n3 light sources are positioned on two sides of a positive y-axis half shaft, and n3 is an integer greater than 2; and/or the negative y-axis light source comprises n4 light sources, at least two light sources in the n4 light sources are positioned on two sides of the negative y-axis half axis, and n4 is an integer greater than 2.

For example, n3 light sources are arranged in a straight line, the straight line of the n3 light sources is perpendicular to the positive half axis of the y axis, or the n3 light sources are arranged in a fan shape, and each of the n3 light sources is equidistant from the origin. The n4 light sources are arranged along a straight line, the straight line of the n4 light sources is perpendicular to the negative half axis of the y axis, or the n4 light sources are arranged along a fan shape, and the distance between each of the n4 light sources and the origin is equal.

In one possible implementation, the sensing unit 21 comprises eight light sources 211; eight light sources 211 are respectively a light source a, a light source b, a light source c, a light source d, a light source e, a light source f, a light source g and a light source h, and the eight light sources 211 are circumferentially arranged around the photodetector 212 on the base 23; the positive x-axis light source, the negative x-axis light source, the positive y-axis light source and the negative y-axis light source all comprise two light sources.

Wherein, the light source a is a first positive y-axis light source, and the light source b is a second positive y-axis light source; the light source c is a first positive x-axis light source, and the light source d is a second positive x-axis light source; the light source e is a first negative y-axis light source, and the light source f is a second negative y-axis light source; the light source g is a first negative x-axis light source, and the light source h is a second negative x-axis light source.

Optionally, the tactile sensor includes a photodetector 212 and a plurality of light sources 211; the plurality of light sources 211 comprises at least two positive half shafts and negative half shafts of the light sources 211 arranged on the coordinate axes; and/or, the plurality of light sources 211 includes at least two light sources 211 disposed at two sides of the coordinate axis.

As shown in sub-graph (b) of fig. 10, when a force in the translational direction is applied to the elastic body support case 22, only the light source 1 is turned on, and the illumination intensity of the reflected light of the light source 1 is measured by the photodetector 212; after measuring the illumination intensity of the reflected light of the light source 1, the light source 1 is turned off, and the light source 2 is turned on, as shown in sub-diagram (b) of fig. 10, the illumination intensity of the reflected light of the light source 2 is measured by the photodetector 212; by comparing the difference between the illumination intensity of the reflected light of the light source 1 and the illumination intensity of the reflected light of the light source 2, the displacement of the reflector 213 at the top of the inner cavity of the elastic body supporting housing 22 is calculated, and the magnitude and direction of the applied force on the elastic body supporting housing 22 are obtained.

In one possible implementation, there is no intersection of the projected area of the reflector 213 on the base 23 with the location of the light source 211. Illustratively, the projected area of the reflector 213 on the base 23 does not coincide with the light source 211, i.e., the light source is located outside the projected area of the reflector 213 on the base 23, which may make the photodetector 212 more sensitive and accurate to the change in illumination intensity of the reflected light in the event that the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 is displaced.

Optionally, the reflector 213 is one or more. In the case where the reflector 213 is one, the shape of the reflector 213 is a regular polygon. The projected area of the regular polygon on the base 23 does not coincide with the light source 211. In the case where the reflectors 213 are plural, the plural reflectors 213 are arranged in a regular polygon layout, or the plural reflectors 213 are arranged in a ring layout.

For example, in the case where there are a plurality of reflectors 213, the plurality of reflectors 213 are arranged in a regular polygon arrangement, and a projection area of the plurality of reflectors 213 arranged in the regular polygon arrangement on the base 23 is located between the photodetector 212 and the light source 211; alternatively, the plurality of reflectors 213 are arranged in a circular arrangement, and a projection area of the plurality of reflectors 213 arranged in the circular arrangement on the base 23 is located between the photodetector 212 and the light source 211.

Optionally, the reflector 213 is at least one of rectangular, elliptical, and triangular, but is not limited thereto, and the embodiment of the present application is not limited thereto.

In one possible implementation, as shown in fig. 11, the elastomer support housing 22 is a monolithic structure, and in the case that the elastomer support housing 22 is a monolithic structure, the elastomer support housing 22 may be integrally made of a silicone material. In the case where the elastic body support housing 22 is of a unitary structure, the shape of the elastic body support housing 22 is at least one of rectangular, bowl-shaped, hemispherical, and ellipsoidal, but is not limited thereto, and the embodiment of the present application is not limited thereto.

Alternatively, as shown in fig. 12, the elastic body support housing is an assembled structure, the elastic body support housing 22 includes a rigid plate 221 and a deformable support 222, the rigid plate 221 is coupled with the base 23 through the deformable support 222, and the reflector 213 is fixed to a lower surface of the rigid plate 221. Wherein the deformable support 222 comprises at least one of a spring, a rubber material, and a foam material, which is not limited in this embodiment.

In one possible implementation, a plurality of photodetectors 212 may be disposed in a central region of the base 23, with at least two light sources 211 disposed around the plurality of photodetectors 212 on the base 23, and a reflector 213 disposed atop the interior cavity of the elastomeric support housing 22. It will be appreciated that, among the plurality of photodetectors 212 in the central region of the base 23, the plurality of photodetectors 212 may be used simultaneously for measurement, or a single photodetector 212 may be used for measurement, which is not limited in the embodiment of the present application.

In one possible implementation, with a force applied to the elastomeric support housing 22 in the x-axis translational direction, as shown in fig. 13 (a), the combined illumination intensity (λc+λd) of the reflected light of light source c and light source d is measured by photodetector 212; then, the integrated illumination intensity (λh+λg) of the reflected light of the light source h and the light source g is measured by the photodetector 212; by comparing the difference in illumination intensity between (λc+λd) and (λh+λg), the displacement of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 along the X-axis is derived, and thus the magnitude and direction of the applied force at the elastomeric support housing 22. As shown in fig. 13 (b), the illumination intensity λc of the reflected light of the light source c is measured by the photodetector 212; then, the illumination intensity λg of the reflected light of the light source g is measured by the photodetector 212; by comparing the difference in illumination intensity between λc and λg, the displacement of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 along the X-axis is derived, which in turn yields the magnitude and direction of the applied force at the elastomeric support housing 22. As shown in fig. 13 (c), the illumination intensity λd of the reflected light of the light source d by the photodetector 212; then, the integrated illumination intensity lambdag of the reflected light of the light source g is measured by the photodetector 212; by comparing the difference in illumination intensity between λd and λg, the displacement of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 along the X-axis is derived, which in turn yields the magnitude and direction of the force applied to the elastomeric support housing 22. As shown in fig. 13 (d), the source c and the light source g are arranged on the x-axis, and the illumination intensity λc of the reflected light of the light source c is measured by the photodetector 212; then, the illumination intensity λg of the reflected light of the light source g is measured by the photodetector 212; by comparing the difference in illumination intensity between λc and λg, the displacement of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 along the X-axis is derived, which in turn yields the magnitude and direction of the applied force at the elastomeric support housing 22.

In one possible implementation, with a force applied to the elastomeric support housing 22 in the direction of the Y-axis translation, as shown in fig. 14 (a), the combined illumination intensity (λa+λb) of the reflected light of light source a and light source b is measured by photodetector 212; then, the integrated illumination intensity (λe+λf) of the reflected light of the light source e and the light source f is measured by the photodetector 212; by comparing the difference in illumination intensity between (λa+λb) and (λe+λf), the displacement of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 along the Y-axis is derived, and thus the magnitude and direction of the applied force at the elastomeric support housing 22. As shown in fig. 14 (b), the illumination intensity λa of the reflected light of the light source a is measured by the photodetector 212; then, the illumination intensity λe of the reflected light of the light source e is measured by the photodetector 212; the displacement of the reflector 213 at the top of the cavity of the elastomeric support housing 22 along the Y-axis is obtained by comparing the difference in illumination intensity between λand λe, and thus the magnitude and direction of the force applied by the elastomeric support housing 22, as shown in fig. 14 (c), the combined illumination intensity λb of the reflected light of the light source b is measured by the photodetector 212, then the illumination intensity λe of the reflected light of the light source e is measured by the photodetector 212, the displacement of the reflector 213 at the top of the cavity of the elastomeric support housing 22 along the Y-axis is obtained by comparing the difference in illumination intensity between λb and λe, and thus the magnitude and direction of the force applied by the elastomeric support housing 22. As shown in fig. 14 (d), the illumination intensity λa of the reflected light of the light source a is measured by the photodetector 212, and then the illumination intensity λf of the reflected light of the light source f is measured by the photodetector 212, and thus the displacement of the reflector 213 at the top of the elastomeric support housing 22 along the Y-axis is obtained.

In one possible implementation, in the event that a force is applied to the elastomeric support housing 22 in the direction of translation along the Z axis, as shown in fig. 15 (a), the integrated illumination intensity of the reflected light of all light sources is measured at time i by the photodetector 212; then, the photoelectric detector 212 is utilized to measure the comprehensive illumination intensity of the reflected light of all the light sources at the (i+1) th moment; by comparing the integrated illumination intensity differences of all the light sources between the two moments, the displacement of the reflector 213 at the top of the inner cavity of the elastomer support housing 22 along the Z-axis is obtained, and the magnitude and direction of the applied force on the elastomer support housing 22 are obtained. As shown in fig. 15 (b), the integrated illumination intensity (λa1+λc1+λe1+λg1) of the reflected light of the partial light source is measured at the i-th time by the photodetector 212; then, the integrated illumination intensity (λa2+λc2+λe2+λg2) of the reflected light of the partial light source is measured at the i+1th time by using the photodetector 212; by comparing the integrated illumination intensity differences of the light sources between the two moments, the displacement of the reflector 213 at the top of the inner cavity of the elastomer support housing 22 along the Z-axis is obtained, and the magnitude and direction of the applied force on the elastomer support housing 22 is obtained. As shown in fig. 15 (c), the integrated illumination intensity λa1 of the reflected light of the single light source is measured at the i-th timing by the photodetector 212; then, the integrated illumination intensity λa2 of the reflected light of the single light source is measured at the i+1th time by using the photodetector 212; by comparing the integrated illumination intensity differences of the light sources between the two moments, the displacement of the reflector 213 at the top of the inner cavity of the elastomer support housing 22 along the Z-axis is obtained, and the magnitude and direction of the applied force on the elastomer support housing 22 is obtained. As shown in fig. 15 (d), the light sources are arranged on the X-axis, and the integrated illumination intensity (λg1+λd1) of the reflected light of the two light sources is measured at the i-th time by the photodetector 212; then, the integrated illumination intensity (λg2+λd2) of the reflected light of the two light sources is measured at the i+1th time by the photodetector 212; by comparing the integrated illumination intensity differences of the light sources between the two moments, the displacement of the reflector 213 at the top of the inner cavity of the elastomer support housing 22 along the Z-axis is obtained, and the magnitude and direction of the applied force on the elastomer support housing 22 is obtained.

It will be appreciated that the above light sources selected for measuring the magnitude and direction of the translational force applied to the elastomeric support housing 22 are not limited thereto, and a suitable number of light sources may be selected for measurement according to the actual requirements, which is not limited in this embodiment.

In one possible implementation, in the event that a force is exerted on the elastomeric support housing 22 in the direction of X-axis rotation, as shown in fig. 16 (a), the integrated illumination intensity λd of the reflected light of the light source d is measured with the photodetector 212; then, measuring the comprehensive illumination intensity lambdah of the reflected light of the light source h by utilizing a photoelectric detector; by comparing the difference in illumination intensity between λd and λh, the rotational displacement or angle of the reflector at the top of the inner cavity of the elastomeric support housing 22 about the X-axis is derived, which in turn yields the magnitude of the force applied to the elastomeric support housing 22. As shown in fig. 16 (b), the integrated illumination intensity λg of the reflected light of the light source g is measured by the photodetector 212; then, measuring the comprehensive illumination intensity lambdah of the reflected light of the light source h by utilizing a photoelectric detector; by comparing the difference in illumination intensity between λg and λh, the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 about the X-axis is derived, which in turn yields the magnitude of the force applied to the elastomeric support housing.

In one possible implementation, in the event that a force in the Y-axis rotational direction is exerted on the elastomeric support housing 22, as shown in fig. 17 (a), the integrated illumination intensity λa of the reflected light of the light source a is measured with the photodetector 212; then, measuring the comprehensive illumination intensity lambdae of the reflected light of the light source e by utilizing a photoelectric detector; by comparing the difference in illumination intensity between λa and λe, the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 about the Y-axis is derived, which in turn yields the amount of force applied to the elastomeric support housing 213. As shown in fig. 17 (b), the integrated illumination intensity λa of the reflected light of the light source a is measured by the photodetector 212; then, measuring the comprehensive illumination intensity lambdab of the reflected light of the light source b by utilizing a photoelectric detector; by comparing the difference in illumination intensity between λa and λb, the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 about the Y-axis is derived, which in turn yields the magnitude of the force applied to the elastomeric support housing 22.

In one possible implementation, with a force applied to the elastomeric support housing 22 in the direction of Z-axis rotation, as shown in fig. 18 (a), the integrated illumination intensity (λa+λc+λe+λg) of the reflected light of light source a, light source c, light source e, light source g is measured with the photodetector 212; then, measuring the comprehensive illumination intensity (λb+λd+λf+λh) of the reflected light of the light source b, the light source d, the light source f and the light source h by using a photodetector; by comparing the difference in illumination intensity between (λa+λc+λe+λg) and (λb+λd+λf+λh), the rotational displacement or angle of the reflector at the top of the inner cavity of the elastomeric support housing 22 about the Z-axis is derived, and thus the magnitude of the applied force at the elastomeric support housing 22. As shown in fig. 18 (b), the integrated illumination intensity λa of the reflected light of the light source a is measured by the photodetector 212; then, measuring the comprehensive illumination intensity lambdab of the reflected light of the light source b by utilizing a photoelectric detector; by comparing the difference in illumination intensity between λa+ and λb, the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 about the Z-axis is derived, which in turn yields the magnitude of the force applied to the elastomeric support housing 22. As shown in fig. 18 (c), the integrated illumination intensity (λa+λc) of the reflected light of the light sources a and c is measured by the photodetector 212; then, the photodetector 212 is used to measure the integrated illumination intensity (λb+λd) of the reflected light of the light sources b and d; by comparing the difference in illumination intensity between (λa+λc) and (λb+λd), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 about the Z-axis is derived, which in turn yields the amount of force applied to the elastomeric support housing 22. As shown in fig. 18 (d), the integrated illumination intensity (λc+λe) of the reflected light of the light sources c and e is measured by the photodetector 212; then, measuring the comprehensive illumination intensity (λb+λd) of the reflected light of the light sources b and d by using a photodetector; by comparing the difference in illumination intensity between (λc+λe) and (λb+λd), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 about the Z-axis is derived, which in turn yields the amount of force applied to the elastomeric support housing 22.

It will be appreciated that the above light sources selected for measuring the magnitude and direction of the rotational force applied to the elastomeric support housing 22 are not limited thereto, and that a suitable number of light sources may be selected for measurement at a suitable location according to actual requirements, and embodiments of the present application are not limited thereto.

When the tactile sensor bears acting force in the translation direction, the embodiment provides various alternatives for measuring the illumination intensity of the reflected light of the light source corresponding to the positive half axle and the negative half axle in the translation direction, and the sensing of the magnitude and the direction of the acting force in the translation direction borne by the tactile sensor is realized by calculating the change value of the illumination intensity of the reflected light of the light source corresponding to the positive half axle and the negative half axle in the translation direction.

When the touch sensor bears the acting force in the rotating direction, the embodiment provides various alternatives for measuring the illumination intensity of the reflected light of the light sources at the two sides of the rotating shaft, and the sensing of the magnitude and the direction of the acting force in the rotating direction borne by the touch sensor is realized by calculating the change value of the illumination intensity of the reflected light of the light sources at the two sides of the rotating shaft.

In summary, the tactile sensor provided in this embodiment measures the illumination intensity of the reflected light of each light source through a plurality of light sources and one photodetector, so as to realize the sensing of the magnitude and direction of the force in six degrees of freedom such as the translational direction and the rotational direction.

Based on the structural description of the tactile sensor in the above embodiments, a method of manufacturing the tactile sensor will be described below.

FIG. 19 is a flowchart illustrating a method for manufacturing a tactile sensor according to an exemplary embodiment of the present application, which is applied to manufacturing the above-described tactile sensor, and an execution subject of which may be an industrial pipeline device.

Step 1902: the photoelectric detector is fixed on the base, and at least two light sources are fixed around the photoelectric detector.

Illustratively, the base 23 is a printed circuit board (printed circuit board, PCB), the photodetector 212 may be fixed to the base 23 by soldering, and the at least two light sources 23 may also be fixed around the photodetector 212 by soldering.

Illustratively, the photodetector 212 may be fixed to the central region of the base 23 by glue, and the at least two light sources 211 may also be fixed around the photodetector 212 by glue.

It is understood that the above manner of fixing the photodetector 212 and the at least two light sources 211 may be implemented separately or in any combination, which is not limited in this application.

Optionally, the base 23 includes an x-axis and a y-axis, and an intersection of the x-axis and the y-axis is an origin; the photodetector 212 is disposed at the origin; the at least two light sources 211 include a positive x-axis light source and a negative x-axis light source, which are fixed to a positive half-axis side and a negative half-axis side of the x-axis, respectively; the at least two light sources 211 include a positive y-axis light source and a negative y-axis light source, which are fixed to the positive half-axis side and the negative half-axis side of the y-axis, respectively.

Optionally, the positive x-axis light source comprises n1 light sources, and at least two light sources in the n1 light sources are fixed on two sides of the positive x-axis half axis; and/or the negative x-axis light source comprises n2 light sources, at least two light sources in the n2 light sources are fixed on two sides of the negative x-axis half axis, and n2 is an integer greater than 2. The positive y-axis light source comprises n3 light sources, at least two light sources in the n3 light sources are positioned on two sides of a positive y-axis half shaft, and n3 is an integer greater than 2; and/or the negative y-axis light source comprises n4 light sources, at least two light sources in the n4 light sources are fixed on two sides of the negative y-axis half shaft, and n4 is an integer greater than 2.

Step 1904: a reflector is fixed on top of the inner cavity of the elastomer support housing.

Illustratively, the reflector 213 is secured by glue at the top of the interior cavity of the elastomeric support housing 22.

Optionally, a clamping groove is arranged at the top of the inner cavity of the elastomer supporting shell 22, and the reflector 213 is arranged in the clamping groove to realize fixation.

It is understood that the manner of fixing the reflector 213 may be implemented alone or in any combination, which is not limited in this application.

Optionally, there is no intersection of the projection area of the reflector 213 on the base 23 with the location of the light source 211. The reflectors 213 are one or more. In the case where the number of reflectors 213 is plural, the plurality of reflectors 213 are fixed on the top of the inner cavity of the elastic support housing in a regular polygon arrangement, or the plurality of reflectors 213 are fixed on the top of the inner cavity of the elastic support housing in a ring arrangement.

Step 1906: the elastomeric support housing is sealingly secured to the base such that the sensing unit is sealed within the interior cavity of the elastomeric support housing.

Illustratively, after the photodetector 212 and the at least two light sources 211 are secured to the base 23 and the reflector 213 is secured to the top of the interior cavity of the elastomeric support housing 22, the elastomeric support housing 22 is sealingly secured to the base 23 by glue or screw seals such that the photodetector 212, the at least two light sources 211, and the reflector 213 are sealed within the interior cavity of the elastomeric support housing 22.

In summary, the method provided in this embodiment provides a preparation method for preparing the above-mentioned tactile sensor, and a person skilled in the art may select appropriate preparation materials and preparation methods according to practical situations, so that the tactile sensor has more implementation manners.

A schematic structural diagram of another tactile sensor provided in an exemplary embodiment of the present application is shown in fig. 20. The tactile sensor includes: the sensing unit 21, the elastomeric support housing 22 and the base 23.

The sensing unit 21 includes at least two light sources 211 and a photodetector 212, the photodetector 212 is disposed at the top of the inner cavity of the elastomer supporting housing 22, and the projection position of the photodetector 212 on the base 23 is located on the base 23, and the at least two light sources 211 are disposed around the projection position of the photodetector 212 on the base 23.

Illustratively, the light source 211 is at least one of a visible light lamp or an infrared lamp, which is not limited in the embodiments of the present application. The photodetector 212 is configured to receive the illumination intensity of the light emitted from the light source 211 and convert the light signal into an electrical signal.

Optionally, the positive x-axis light source includes m1 light sources, at least two light sources in the m1 light sources are located at two sides of the positive x-axis half axis, and m1 is an integer greater than 2; and/or the negative x-axis light source comprises m2 light sources, at least two light sources in the m2 light sources are positioned on two sides of the negative x-axis half axis, and m2 is an integer greater than 2. For example, m1 light sources are arranged along a straight line, which is perpendicular to the positive half axis of the x-axis, or m1 light sources are arranged along a fan shape, and each of the m1 light sources is equidistant from the origin. The m2 light sources are arranged along a straight line, the straight line is perpendicular to the negative half axis of the x axis, or the m2 light sources are arranged along a fan shape, and the distance between each of the m2 light sources and the origin is equal.

The positive y-axis light source comprises m3 light sources, at least two light sources in the m3 light sources are positioned on two sides of a positive y-axis half shaft, and m3 is an integer greater than 2; and/or the negative y-axis light source comprises m4 light sources, at least two light sources in the m4 light sources are positioned on two sides of the negative y-axis half axis, and m4 is an integer greater than 2. For example, m3 light sources are arranged along a straight line, which is perpendicular to the positive half axis of the y-axis, or m3 light sources are arranged along a fan shape, and each of the m3 light sources is equidistant from the origin. The m4 light sources are arranged along a straight line, the straight line is perpendicular to the negative half axis of the y axis, or the m4 light sources are arranged along a fan shape, and the distance between each of the m4 light sources and the origin is equal.

Optionally, the tactile sensor comprises one photodetector 212 and at least two light sources 211; at least two light sources 211 are symmetrically arranged on a positive half shaft and a negative half shaft of the coordinate axis by taking a primary center as a center; and/or, at least two light sources 211 are disposed on two sides of the coordinate axis with the coordinate axis as a symmetry axis.

Illustratively, when a force is applied to the elastomeric support housing 22, the upper surface of the elastomeric support housing 22 deflects, thereby deflecting the photodetector 212 at the top of the interior cavity of the elastomeric support housing 22, which in turn results in a change in the intensity of illumination received by the photodetector 212. The on-off of the light sources 211 is controlled sequentially, the photo detectors 212 receive illumination intensity, and the illumination intensity value corresponding to each light source 211 received by the photo detectors 212 is compared, so that the displacement of the photo detectors 212 at the top of the inner cavity of the elastic body supporting shell 22 is calculated, and the size and the direction of the bearing force of the touch sensor are obtained.

When the elastic body supporting shell 22 applies a force, only the light source 1 is turned on, and the received illumination intensity is measured by the photoelectric detector 212; after the photodetector 212 measures the received illumination intensity of the light source 1, the light source 1 is turned off, the light source 2 is turned on, and the photodetector 212 is used to measure the received illumination intensity of the light source 2; the displacement of the photo detector 212 at the top of the inner cavity of the elastic body supporting shell 22 is calculated by comparing and calculating the difference between the illumination intensity of the light source 1 received by the photo detector 212 and the illumination intensity of the light source 2 received, and the magnitude and the direction of the acting force applied on the elastic body supporting shell 22 are further obtained.

Alternatively, the elastomer support housing 22 is a monolithic structure, and in the case that the elastomer support housing 22 is a monolithic structure, the elastomer support housing 22 may be integrally made of a silicone material. In the case where the elastic body support housing 22 is a unitary structure, the shape of the elastic body support housing 22 is at least one of rectangular, bowl-shaped, hemispherical, and ellipsoidal, which is not limited in this embodiment.

Alternatively, the elastic body support housing 22 is an assembled structure, the elastic body support housing 22 includes a rigid plate 221 and a deformable support 222, the rigid plate 221 is coupled with the base 23 through the deformable support 222, and the reflector 213 is fixed to a lower surface of the rigid plate 221. Wherein the deformable support 222 comprises at least one of a spring, a rubber material, and a foam material, which is not limited in this embodiment.

In summary, in the tactile sensor provided in this embodiment, by adopting a combination manner of a plurality of light sources and one photo detector, the volume of the tactile sensor is reduced by reducing the number of photo detectors and the number of reflectors, and meanwhile, the number of photo detectors is reduced, so that the dedicated reading circuit of the photo detector is correspondingly reduced, and the tactile sensor is simpler and has faster measurement speed.

When the tactile sensor bears acting force in the translation direction, the photoelectric detector at the top of the inner cavity of the elastic body supporting shell deflects, the photoelectric detector measures illumination intensity of the light source corresponding to the positive half axle and the negative half axle in the translation direction, and the sensing of the magnitude and the direction of the acting force in the translation direction borne by the tactile sensor is realized by calculating the change value of the illumination intensity of the light source corresponding to the positive half axle and the negative half axle in the translation direction.

When the touch sensor bears acting force in the rotating direction, the photoelectric detector at the top of the inner cavity of the elastic body supporting shell rotates, the photoelectric detector measures illumination intensity of the light sources at two sides of the rotating shaft, and the sensing of the magnitude and the direction of the acting force in the rotating direction borne by the touch sensor is realized by calculating the change value of the illumination intensity of the light sources at two sides of the rotating shaft.

The tactile sensor provided by the embodiment measures the illumination intensity of each light source through a plurality of light sources and one photoelectric detector, and realizes the sensing of the magnitude and the direction of force in six degrees of freedom such as translation direction, rotation direction and the like.

Based on the structural description of the tactile sensor of fig. 20 in the above-described embodiment, a method for manufacturing the tactile sensor of fig. 20 will be described.

FIG. 21 is a flowchart illustrating a method for manufacturing a tactile sensor according to an exemplary embodiment of the present application, which is applied to manufacturing the above-described tactile sensor, and an execution subject of which may be an industrial pipeline device.

Step 2102: the top of the inner cavity of the elastic body supporting shell is fixed with a photoelectric detector.

Illustratively, the photodetector 212 is secured by glue at the top of the interior cavity of the elastomeric support housing 22.

Optionally, a clamping groove is arranged at the top of the inner cavity of the elastomer supporting shell 22, and the photoelectric detector 212 is arranged in the clamping groove to realize fixation.

It is understood that the above-described manner of fixing the photodetector 212 may be implemented alone or in any combination, which is not limited in this application.

Optionally, the projection of the photodetector 212 on top of the interior cavity of the elastomeric support housing 22 onto the base 23 is located in a central region of the base.

Step 2104: at least two light sources are fixed around the projection position of the photodetector on the base.

Illustratively, the base 23 is a PCB board, and the at least two light sources 211 may be fixed around the projection position of the photodetector 212 on the base 23 by soldering.

Illustratively, at least two light sources 211 are secured around the projection of the photodetectors 212 onto the base 23 by glue.

It is understood that the above-mentioned at least two light sources 211 may be implemented individually or in any combination, which is not limited in this application.

Optionally, at least two light sources 211 are symmetrically fixed around the projection position of the photodetector 212 on the base 23, and the projection of the photodetector 212 on the base 23 does not intersect with the at least two light sources 211.

Optionally, the base 23 includes an x-axis and a y-axis, and an intersection of the x-axis and the y-axis is an origin; the photodetector 212 is arranged on the top of the elastomer supporting shell 22, and the projection position of the photodetector 212 on the base 23 is positioned at the origin of the base; the at least two light sources 211 include a positive x-axis light source and a negative x-axis light source, which are respectively fixed to a positive half-axis side and a negative half-axis side of the x-axis; the at least two lights 211 include a positive y-axis light source and a negative y-axis light source, which are fixed to the positive half-axis side and the negative half-axis side of the y-axis, respectively.

The positive x-axis light source and the negative x-axis light source are symmetrical in center by taking the origin as the center; and/or the positive y-axis light source and the negative y-axis light source are symmetrical with the origin as the center.

Optionally, the positive x-axis light source comprises m1 light sources, and at least two light sources in the m1 light sources are fixed on two sides of the positive x-axis half axis; and/or the negative x-axis light source comprises m2 light sources, and at least two light sources in the m2 light sources are fixed on two sides of the negative x-axis half axis. The positive y-axis light source comprises m3 light sources, and at least two light sources in the m3 light sources are fixed on two sides of a y-axis positive half shaft; and/or the negative y-axis light source comprises m4 light sources, and at least two light sources in the m4 light sources are fixed on two sides of the negative y-axis half shaft.

Step 2106: the elastomeric support housing is sealingly disposed on the base such that the sensing unit is sealed within the interior cavity of the elastomeric support housing.

Illustratively, after at least two light sources 211 are secured to the base 23 and the photodetector 212 is secured to the top of the interior cavity of the elastomeric support housing 22, the elastomeric support housing 22 is sealingly secured to the base 23 by glue or screw seals such that the photodetector 212, at least two light sources 211, are sealed within the interior cavity of the elastomeric support housing 22.

In combination with the above description of the structure of the touch sensor, the following describes a method for detecting a touch event provided in an embodiment of the present application, and fig. 22 is a flowchart of a method for detecting a touch event provided in an exemplary embodiment of the present application, where the method is applied to a controller to which the touch sensor is connected, the method includes:

step 2202: the illumination intensity measured by the photoelectric detector in the touch sensor is obtained.

The controller obtains the intensity of illumination measured by the photodetector 212 in the tactile sensor. The illumination intensity refers to the illumination intensity of the light source received by the photodetector 212.

Optionally, the illumination intensity of the light source received by the photodetector 212 refers to the illumination intensity of the reflected light of the light source 211 obtained by the photodetector 212, or the illumination intensity of the light source 211 directly received by the photodetector 212, which is not limited in the embodiment of the present application.

Step 2204: and measuring at least one of the magnitude and the direction of the force born by the touch sensor according to the change value of the illumination intensity.

Measuring the magnitude and direction of the force experienced by the tactile sensor refers to calculating the magnitude or direction of the compressive or tensile force experienced by the tactile sensor during a touch event by the controller from the change in intensity of illumination output by the tactile sensor when the tactile sensor is in contact with an article, i.e., when the tactile sensor is in compression or tension.

The controller measures the magnitude and direction of the force experienced by the tactile sensor in a touch event based on the illumination intensity variation value output by the tactile sensor, i.e., the controller measures the magnitude and direction of the force experienced by the tactile sensor in a translational direction or in a rotational direction based on the illumination intensity variation value output by the tactile sensor.

In summary, according to the detection method provided by the embodiment, the controller obtains the illumination intensity of the touch sensor, and the controller can calculate the magnitude and direction of the force born by the touch sensor in the touch event according to the illumination intensity variation value of the touch sensor.

In conjunction with the above description of the method for detecting a touch event, the following describes a method for detecting a force in a translational direction in a touch event provided in an embodiment of the present application, and fig. 23 is a flowchart of a method for detecting a force in a translational direction in a touch event provided in an exemplary embodiment of the present application, where the method is applied to a controller connected to a touch sensor, and the method includes:

Step 2302: the on-off of each light source is controlled in sequence, and the illumination intensity measured by the photoelectric detector is obtained when the light source is in the on state.

The controller sequentially controls the on-off of each light source 211, and sequentially acquires the illumination intensity measured by the photo detector 212 when the light source 211 is in the on state.

Optionally, the controller controls the on/off of the light source 211 at a preset frequency or period, and at the same time, the controller acquires the illumination intensity received by the photodetector 212 at the preset frequency or period. Or, the controller controls the on/off of the light source at a preset frequency or period, and the controller obtains the illumination intensity received by the photodetector 212 within a preset time after the light source 211 is turned on, which is not limited in the embodiment of the present application.

Step 2304: and obtaining at least one of the magnitude and the direction of the force in the translational direction born by the touch sensor in the touch event based on the change value of the illumination intensity measured by the photoelectric detector and the first mapping relation.

Optionally, the first mapping relationship refers to a correspondence relationship between the magnitude and direction of the force in the translational direction received by the tactile sensor and the illumination intensity variation value measured by the photodetector 212.

Illustratively, when the touch sensor bears a force along the X axis, the positive X-axis light source is switched on, and when the positive X-axis light source is in a switched-on state, the illumination intensity of the positive X-axis light source measured by the photoelectric detector is acquired; the method comprises the steps of switching on a negative x-axis light source, and acquiring illumination intensity of the negative x-axis light source measured by a photoelectric detector when the negative x-axis light source is in a switching-on state; obtaining the magnitude and the direction of the force born by the touch sensor along the x-axis translation direction in a touch event according to the first difference value and the first mapping relation; the first difference is a difference between the illumination intensity obtained by measuring the positive x-axis light source by the photodetector 212 and the illumination intensity obtained by measuring the negative x-axis light source by the photodetector 212. The first mapping relation refers to the corresponding relation between the magnitude and the direction of the force in the translation direction born by the touch sensor and the illumination intensity change value measured by the photoelectric detector.

For example, in the case where the tactile sensor is subjected to a force along the X-axis, light source c and light source d are first turned on, and the combined illumination intensity (λc+λd) of light source c and light source d is measured with photodetector 212; then, turning off the light source c and the light source d, turning on the light source h and the light source g, and measuring the comprehensive illumination intensity (lambah+lambdag) of the light source h and the light source g by using the photoelectric detector 212; by comparing the difference in illumination intensity between (λc+λd) and (λh+λg), the displacement of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 along the X-axis is derived, and thus the magnitude and direction of the applied force at the elastomeric support housing 22. In the case where the tactile sensor is subjected to a force along the X-axis, the displacement trans of the tactile sensor reflector 213 along the X-axis is calculated _x The correspondence with the illumination intensity measured by the photodetector 212 may be expressed as:

illustratively, when the tactile sensor receives a force along the Y-axis translation direction, the positive Y-axis light source is turned on, and when the positive Y-axis light source is in the on state, the illumination intensity of the positive Y-axis light source measured by the photodetector 212 is obtained; turning on the negative y-axis light source, and acquiring the illumination intensity of the negative y-axis light source measured by the photoelectric detector 212 when the negative y-axis light source is in a turned-on state; obtaining the magnitude and the direction of the force born by the touch sensor in the touch event along the translation direction of the y axis according to the second difference value and the first mapping relation; the second difference is the difference between the illumination intensity obtained by measuring the positive y-axis light source by the photo detector 212 and the illumination intensity obtained by measuring the negative y-axis light source by the photo detector 212.

For example, light source a and light source b are first turned on, and the combined illumination intensity (λa+λb) of light source a and light source b is measured using photodetector 212; then, turning off light source a and light source b, turning on light source e and light source f, and measuring the integrated illumination intensity (λe+λf) of light source e and light source f by using photodetector 212; by comparing the difference in illumination intensity between (λa+λb) and (λe+λf), the displacement of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 along the Y-axis is derived, and thus the amount of force applied to the elastomeric support housing 22. Calculating the displacement trans of the reflector of the touch sensor along the Y axis under the condition that the touch sensor bears the acting force along the Y axis translation direction _y The correspondence with the illumination intensity measured by the photodetector 212 can be expressed as:

in one possible implementation, the illumination intensity obtained by the photodetector 212 measuring the first target light source at the i-th time and the illumination intensity obtained by the photodetector 212 measuring the first target light source at the i+1-th time are obtained, where the first target light source refers to at least one of the light sources. Obtaining the magnitude and the direction of the force born by the touch sensor in the touch event according to the third difference value and the first mapping relation; the third difference is a difference between the illumination intensity obtained by the photo detector 212 measuring the first target light source at the i-th moment and the illumination intensity obtained by the photo detector measuring the first target light source at the i+1-th moment.

Illustratively, where the tactile sensor is subjected to a force in the direction of translation along the z-axis, the illumination intensity of the first target light source measured by the photodetector 212 at time i and the illumination intensity of the first target light source measured by the photodetector 212 at time i+1 are obtained, the first target light source being at least one of the light sources. Obtaining the magnitude and the direction of the force along the z-axis translation direction born by the touch sensor in the touch event according to the third difference value and the first mapping relation; the third difference is a difference between the illumination intensity obtained by the photo detector 212 measuring the first target light source at the i-th moment and the illumination intensity obtained by the photo detector measuring the first target light source at the i+1-th moment.

For example, when measuring the magnitude and direction of the force along the Z axis, at least one light source may be selected to measure the illumination intensity, for example, only the light source c is selected to measure, so as to obtain the illumination intensity corresponding to the light source c before the tactile sensor receives the force along the positive Z axis, and after the tactile sensor receives the force along the positive Z axis, the illumination intensity of the light source c is measured, and the displacement of the reflector at the top of the inner cavity of the elastomer supporting housing along the Z axis is obtained by comparing the illumination intensity differences of the light source c measured before and after the tactile sensor receives the force along the positive Z axis, so as to obtain the magnitude of the force applied to the elastomer supporting housing. For example, in the case where the tactile sensor is subjected to a force in the direction of translation along the z-axis, the displacement trans of the reflector of the tactile sensor along the z-axis is calculated _z The correspondence with the illumination intensity measured by the photodetector 212 can be expressed as:

in summary, according to the detection method provided by the embodiment, the controller receives the illumination intensity of the light source at the specific position through the photoelectric detector, and the magnitude and direction of the force in the translational direction born by the tactile sensor in the touch event can be calculated according to the corresponding relationship between the illumination intensity of the corresponding light source measured by the photoelectric detector and the first mapping relationship, so that the tactile sensor using the detection method achieves the function of measuring the magnitude and direction of the force in the translational direction born by the tactile sensor in the touch event.

In connection with the above description of the method for detecting a touch event, the following describes a method for detecting a force in a rotational direction in a touch event provided in an embodiment of the present application, and fig. 24 is a flowchart of a method for detecting a force in a rotational direction in a touch event provided in an exemplary embodiment of the present application, where the method is applied to a controller connected to a touch sensor, and the method includes:

step 2402: the on-off of each light source is controlled in sequence, and the illumination intensity measured by the photoelectric detector is obtained when the light source is in the on state.

The controller sequentially controls the on-off of each light source 211, and sequentially acquires the illumination intensity measured by the photoelectric detector 212 when the light source is in the on state.

Optionally, the controller controls the on/off of the light source 211 at a preset frequency or period, and at the same time, the controller acquires the illumination intensity received by the photodetector 212 at the preset frequency or period. Or, the controller controls the on/off of the light source 211 at a preset frequency or period, and the controller obtains the illumination intensity received by the photodetector 212 within a preset time after the light source 211 is turned on, which is not limited in the embodiment of the present application.

Step 2404: and obtaining at least one of the magnitude and the direction of the force in the rotation direction born by the touch sensor in the touch event based on the change value of the illumination intensity measured by the photoelectric detector and the second mapping relation.

Alternatively, the second mapping relationship refers to a correspondence relationship between the magnitude and direction of the force in the rotation direction received by the tactile sensor and the variation value of the illumination intensity measured by the photodetector 212.

Illustratively, the first X-axis light source is turned on when the tactile sensor is subjected to a force in a rotation direction about the X-axis, and the illumination intensity of the first X-axis light source measured by the photodetector 212 is acquired when the first X-axis light source is in an on state; the second x-axis light source is turned on, and the illumination intensity of the second x-axis light source measured by the photodetector 212 is acquired while the second x-axis light source is in the on state.

For example, in the case where the tactile sensor is subjected to a rotational direction force about the X-axis, the light source g and the light source d are first turned on, and the combined illumination intensity (λg+λd) of the light source g and the light source d is measured by the photodetector 212; then, turning off the light source g and the light source d, turning on the light source h and the light source c, and measuring the comprehensive illumination intensity (lambah+lambdac) of the light source h and the light source c by using a photoelectric detector; by comparing the difference in illumination intensity between (λg+λd) and (λh+λc), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 about the X-axis is derived, and thus the amount of force applied to the elastomeric support housing 22. For example, in the case where the tactile sensor is subjected to torque about the X-axis, the displacement rev generated by rotation of the tactile sensor reflector 213 about the X-axis is calculated _x The correspondence with the illumination intensity measured by the photodetector 212 may be expressed as:

illustratively, when the tactile sensor receives a force in a rotation direction around the y-axis, the first y-axis light source is turned on, and when the first y-axis light source is in an on state, the illumination intensity of the first y-axis light source measured by the photodetector 212 is acquired; the second y-axis light source is turned on, and the illumination intensity of the second y-axis light source measured by the photodetector 212 is acquired while the second y-axis light source is in the on state.

For example, light source a and light source f are first turned on, and the combined illumination intensity (λa+λf) of light source a and light source f is measured using photodetector 212; then, turning off light source a and light source f, turning on light source e and light source b, and measuring the integrated illumination intensity (λe+λb) of light source e and light source b by using photodetector 212; by comparing the difference in illumination intensity between (λa+λf) and (λe+λb), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 about the Y-axis is derived, which in turn yields the amount of force applied to the elastomeric support housing 22. For example, in the case where the tactile sensor receives a force in a rotational direction about the Y-axis, a displacement revol generated by rotation of the reflector 213 of the tactile sensor about the Y-axis is calculated _y The correspondence with the illumination intensity measured by the photodetector 212 can be expressed as:

illustratively, the second target light source is turned on under the condition that the touch sensor bears the force of the rotation direction around the Z axis, and the illumination intensity of the second target light source measured by the photoelectric detector is acquired under the condition that the second target light source is in the on state; switching on a third target light source, and acquiring the illumination intensity of the third target light source measured by the photoelectric detector when the third target light source is in a switching-on state; the second target light source is any one of the light sources, and the third target light source is a different one of the light sources.

For example, light source b, light source d, light source f, and light source h are first turned on, and the combined illumination intensities (λb+λd+λh+λf) of light source b, light source d, light source f, and light source h are measured with photodetector 212; then, turning off light source b, light source d, light source f and light source h, turning on light source a, light source c, light source e and light source g, and measuring the integrated illumination intensities (λa+λc+λe+λg) of light source a, light source c, light source e and light source g by using photodetector 212; by comparing the difference in illumination intensity between (λb+λd+λh+λf) and (λa+λc+λe+λg), the rotational displacement or angle of the reflector 213 at the top of the inner cavity of the elastomeric support housing 22 about the Z-axis is derived, and thus the amount of force applied to the elastomeric support housing 22. For example, in the case where the tactile sensor is subjected to a force in the rotational direction about the z-axis, the displacement revol generated by the reflector 213 of the tactile sensor in the rotational direction about the z-axis is calculated _z The correspondence with the illumination intensity measured by the photodetector 212 can be expressed as:

illustratively, the illumination intensity obtained by measuring the fourth target light source at the i-th time by the photodetector and the illumination intensity obtained by measuring the fourth target light source at the i+1-th time by the photodetector are obtained, and the fourth target light source refers to at least one of the light sources.

Obtaining the magnitude and the direction of the force in the rotation direction born by the touch sensor in the touch event according to the seventh difference value and the second mapping relation; the seventh difference value refers to a difference value between the illumination intensity obtained by measuring the fourth target light source at the ith moment by the photoelectric detector and the illumination intensity obtained by measuring the fourth target light source at the (i+1) th moment by the photoelectric detector.

For example, when measuring the magnitude and direction of the force about the Z axis, at least one light source may be selected to measure the illumination intensity, for example, only the light source c is selected to measure, so as to obtain the illumination intensity corresponding to the light source c before the tactile sensor receives the force clockwise about the Z axis, and after the tactile sensor receives the force clockwise about the Z axis, the illumination intensity of the light source c is measured, and the displacement of the reflector at the top of the inner cavity of the elastomer supporting housing about the Z axis is obtained by comparing the illumination intensity differences of the light source c measured twice before and after the tactile sensor receives the force clockwise about the Z axis, so as to obtain the magnitude of the force applied to the elastomer supporting housing.

In summary, according to the detection method provided by the embodiment, the controller receives the illumination intensity of the light source at the specific position through the photoelectric detector, and the magnitude and direction of the force in the rotation direction born by the touch sensor in the touch event can be calculated according to the corresponding relationship between the illumination intensity variation value of the corresponding light source measured by the photoelectric detector and the second mapping relationship, so that the touch sensor using the detection method realizes the function of measuring the magnitude and direction of the force in the rotation direction born by the touch sensor in the touch event.

In connection with the above description of the method for detecting a touch event, the following describes a method for detecting a force in a rotation direction and/or a translation direction in a touch event provided in an embodiment of the present application, and fig. 25 is a flowchart of a method for detecting a force in a rotation direction and/or a translation direction in a touch event provided in an exemplary embodiment of the present application, where the method is applied to a controller connected to a touch sensor, and the method includes:

step 2502: the on-off of each light source is controlled in sequence, and the illumination intensity measured by the photoelectric detector is obtained when the light source is in the on state.

The controller sequentially controls the on-off state of each 211 light source, and sequentially acquires the illumination intensity received by the photoelectric detector 212 when the light source is in the on state.

Optionally, the controller controls the on/off of the light source 211 at a preset frequency or period, and at the same time, the controller acquires the illumination intensity received by the photo detector 212 at the preset frequency or period, or the controller controls the on/off of the light source at the preset frequency or period, and the controller acquires the illumination intensity received by the photo detector 212 within a preset time after the light source is turned on, which is not limited in this embodiment of the present application.

Step 2504: the illumination intensity measured by the photoelectric detector is input into a measuring machine learning model to be predicted, and at least one of the magnitude and the direction of the force born by the touch sensor in the touch event is obtained.

Alternatively, the machine learning model is a model that the computer device trains according to the magnitude and direction of the force that the tactile sensor receives and the correspondence between the illumination intensity variation values measured by the photodetector 212.

Illustratively, the controller receives the illumination intensities of the light sources at specific positions through the photo detector 212, for example, the light sources at specific positions are respectively the light source c, the light source d, the light source h and the light source g, the illumination intensities of the corresponding light sources 211 received by the photo detector 212 are respectively λc, λd, λh and λg, the controller inputs the measured illumination intensities to a machine learning model, and the machine learning model calculates the magnitude and the direction of the force born by the tactile sensor.

Optionally, the training manner of the machine learning model includes: (1) acquiring training samples. The training sample includes a sample force and a sample haptic result, the sample force being a known force acting on the haptic sensor, i.e., a direction and magnitude of the known force; the sample touch result refers to the illumination intensity of the corresponding light source measured by the photoelectric detector under the action of the sample force of the touch sensor. (2) obtaining a predicted haptic result. And inputting sample acting force into the machine learning model to obtain a predicted touch result, namely, a predicted illumination intensity. (3) error loss is obtained. And carrying out error calculation on the predicted touch result and the sample touch result to obtain error loss. (4) And training the machine learning model according to the error loss through an error back propagation algorithm to obtain a trained machine learning model.

In summary, according to the detection method provided by the embodiment, the controller receives the illumination intensity of the light source at the specific position through the photoelectric detector, the controller inputs the illumination intensity of the corresponding light source received by the photoelectric detector to the machine learning model, and the machine learning model calculates the magnitude and direction of the force born by the touch sensor, so that the touch sensor using the detection method has the function of measuring the magnitude and direction of the force born by the touch sensor in the rotation direction and/or translation direction in the touch event.

In connection with the above description of the tactile sensor and the method of detecting a touch event, fig. 25 shows a schematic diagram of an electronic skin.

Illustratively, the surface of the electronic skin is covered with a tactile sensor array comprising at least two of the aforementioned tactile sensors.

For example, as shown in fig. 26, when the electronic skin is attached to the manipulator, the manipulator can collect the touch signal by gripping the object, and feedback the touch signal to the controller, for example, the manipulator feeds back to the controller whether the object slips in the manipulator at the time of initial contact with the object. The manipulator may be used to adjust the gripping force so as to maintain an optimal gripping force while ensuring that the object is not crushed. Since the tactile sensor on the manipulator can provide information of the force in the direction of rotation, i.e. torque information, the controller can better estimate the pose of the object in the hand.

Alternatively, the arrangement of the electronic skin may be adjusted according to the shape of the manipulator.

In summary, the electronic skin provided in this embodiment realizes multi-directional sensing of the magnitude and direction of the force in the rotation direction and/or the translation direction born by the tactile sensor through the tactile sensing array covered on the surface of the electronic skin, thereby providing accurate sensing and feedback.

In combination with the above tactile sensor and the method for detecting a touch event, an exemplary embodiment of the present application provides a robot, where a preset position on a surface of the robot is covered with the above scene sensor or the above electronic skin, and the robot includes a manipulator, such as: and a hand part, wherein the manipulator is used for grabbing objects and is covered with the touch sensor or the electronic skin.

In combination with the above-mentioned tactile sensor and the method for detecting a touch event, an exemplary embodiment of the present application provides a block diagram of a sensing device, as shown in fig. 27, the sensing device 2700 includes: the controller 2710 and the tactile sensor 2720, the tactile sensor 2720 includes at least one of the tactile sensors 2720 described above, and the controller is connected to the tactile sensor 2720 and performs the detection method of the touch event described above.

Optionally, the smart device 2700 also includes a display 2730.

The tactile sensor 2720 is used to detect touch events, and optionally the tactile sensor 2720 is implemented as a tactile sensor as shown in fig. 2 or 20.

In an alternative embodiment, a computer readable storage medium having at least one instruction stored therein is provided, the at least one instruction being loaded and executed by a processor to implement the method for detecting a touch event as described in the above embodiments.

Alternatively, the computer-readable storage medium may include: read Only Memory (ROM), random access Memory (Random Access Memory, RAM), solid state disk (Solid State Drives, SSD), or optical disk. The random access memory may include resistive random access memory (Resistance Random Access Memory, reRAM) and dynamic random access memory (Dynamic Random Access Memory, DRAM), among others. The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

It should be noted that, the application scenario of the above-mentioned touch sensor includes at least one of the following scenarios:

first, be applied to remote control application scenario, through remote control manipulator, the haptic sensor on the manipulator feeds back the size and the direction of the force that the manipulator bore to the haptic rendering equipment, and haptic rendering equipment feeds back the atress rendering result of manipulator to the operator, and the operator can clear the size and the direction of the force that the manipulator bore through atress rendering result.

Secondly, the touch sensor is applied to a self-protection system scene of the intelligent robot, is arranged on the body surface of the intelligent robot, can sense the external environment in real time and protects a self system. Because the touch sensor can sensitively sense pressure, when the intelligent robot is impacted to a certain degree, namely the detected pressure exceeds a certain threshold range, the self-protection switch of the intelligent robot is triggered to perform power-off or other self-protection behaviors.

Thirdly, the touch sensor is applied to a measuring and diagnosing tool scene, the touch sensor is arranged on the surface of the manipulator, and whether the force required for completing the task is reasonable or not is judged by controlling the force information fed back by the manipulator when the manipulator executes the task. For example, when the manipulator is controlled to pull out the plug, the moment applied by the finger tip of the manipulator is measured, so that whether the moment required for completing the task is reasonable or not is known.

It should be noted that, in the above application scenario, the remote control application scenario, the self-protection system scenario of the intelligent robot, and the measurement and diagnosis tool scenario are taken as examples, and the touch sensor may also be applied to other scenarios where the magnitude and/or direction of the force needs to be determined, which is not limited in this embodiment of the present application.

Referring to FIG. 28, a block diagram of a computer device 2800 is shown provided in accordance with one exemplary embodiment of the present application. The computer device 2800 may be a portable mobile terminal such as: smart phones, tablet computers, MP3 players (Moving Picture Experts Group Audio Layer III, mpeg 3), MP4 (Moving Picture Experts Group Audio Layer IV, mpeg 4) players. The computer device 2800 may also be referred to by other names such as user device, portable terminal, etc.

In general, computer device 2800 includes: a processor 2801 and a memory 2802, the processor 2801 being coupled to the tactile sensor provided in the above embodiments.

Processor 2801 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. Processor 2801 may be implemented in hardware in at least one of a DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). Processor 2801 may also include a main processor, which is a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit ); a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, processor 2801 may incorporate a GPU (Graphics Processing Unit, image processor) for rendering and rendering content required to be displayed by the display screen. In some embodiments, the processor 2801 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

Memory 2802 may include one or more computer-readable storage media, which may be tangible and non-transitory. Memory 2802 may also include high-speed random access memory, as well as nonvolatile memory such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 2802 is used to store at least one instruction for execution by processor 2801 to implement the method of detecting a touch event provided herein.

In some embodiments, computer device 2800 may also optionally include: a peripheral interface 2803 and at least one peripheral. Specifically, the peripheral device includes: at least one of radio frequency circuitry 2804, a touch display screen 2805, a camera 2806, audio circuitry 2807, and a power supply 2808.

A peripheral interface 2803 may be used to connect I/O (Input/Output) related at least one peripheral to the processor 2801 and memory 2802. In some embodiments, processor 2801, memory 2802, and peripheral interface 2803 are integrated on the same chip or circuit board; in some other embodiments, either or both of processor 2801, memory 2802, and peripheral interface 2803 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.

The Radio Frequency circuit 2804 is used to receive and transmit RF (Radio Frequency) signals, also referred to as electromagnetic signals. The radio frequency circuit 2804 communicates with a communication network and other communication devices through electromagnetic signals. The radio frequency circuit 2804 converts an electric signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electric signal. Optionally, the radio frequency circuit 2804 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuit 2804 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the world wide web, metropolitan area networks, intranets, generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuit 2804 may also include NFC (Near Field Communication ) related circuits, which are not limited in this application.

The touch display screen 2805 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. The touch display 2805 also has the ability to collect touch signals at or above the surface of the touch display 2805. The touch signal may be input to the processor 2801 as a control signal for processing. The touch display 2805 is used to provide virtual buttons and/or virtual keyboards, also referred to as soft buttons and/or soft keyboards. In some embodiments, the touch display screen 2805 may be one, providing a front panel of the computer device 2800; in other embodiments, the touch display screen 2805 may be at least two, each disposed on a different surface of the computer device 2800 or in a folded design; in still other embodiments, the touch display 2805 may be a flexible display disposed on a curved surface or a folded surface of the computer device 2800. Even further, the touch display screen 2805 may be arranged in an irregular pattern other than a rectangle, i.e., a shaped screen. The touch display screen 2805 may be made of LCD (Liquid Crystal Display ), OLED (Organic Light-Emitting Diode) or other materials.

The camera assembly 2806 is used to capture images or video. Optionally, camera assembly 2806 includes a front camera and a rear camera. In general, a front camera is used for realizing video call or self-photographing, and a rear camera is used for realizing photographing of pictures or videos. In some embodiments, the number of the rear cameras is at least two, and the rear cameras are any one of a main camera, a depth camera and a wide-angle camera, so as to realize fusion of the main camera and the depth camera to realize a background blurring function, and fusion of the main camera and the wide-angle camera to realize a panoramic shooting function and a Virtual Reality (VR) shooting function. In some embodiments, camera assembly 2806 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures.

Audio circuitry 2807 is used to provide an audio interface between a user and computer device 2800. The audio circuit 2807 may include a microphone and a speaker. The microphone is used for collecting sound waves of users and environments, converting the sound waves into electric signals, and inputting the electric signals to the processor 2801 for processing, or inputting the electric signals to the radio frequency circuit 2804 for voice communication. The microphone may be provided in a plurality of different locations of the computer device 2800 for purposes of stereo acquisition or noise reduction. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor 2801 or the radio frequency circuit 2804 into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes. In some embodiments, audio circuit 2807 may also include a headphone jack.

A power supply 2808 is used to provide power to the various components in computer device 2800. The power supply 2808 may be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When power supply 2808 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, computer device 2800 also includes one or more sensors 2809. The one or more sensors 2809 include, but are not limited to: acceleration sensor 2810, gyroscope sensor 2811, pressure sensor 2812, optical sensor 2813, and proximity sensor 2814.

The acceleration sensor 2810 detects acceleration levels on three coordinate axes of a coordinate system established with the computer device 2800. For example, the acceleration sensor 2810 is configured to detect components of gravitational acceleration in three coordinate axes. The processor 2801 may control the touch display 2805 to display a user interface in either a landscape view or a portrait view based on gravitational acceleration signals of the set of acceleration sensors 2810. The acceleration sensor 2810 may be used for gathering motion data for a game or user.

The gyro sensor 2811 can detect the body direction and the rotation angle of the computer device 2800, and the gyro sensor 2811 can collect 3D motion of the user on the computer device 2800 together with the acceleration sensor 2810. Processor 2801 may implement the following functions based on data collected by gyro sensor 2811: motion sensing (e.g., changing UI according to a tilting operation by a user), image stabilization at shooting, game control, and inertial navigation.

Pressure sensor 2812 can be located on a side frame of computer device 2800 and/or on an underlying layer of touch display 2805. When the pressure sensor 2812 is provided at a side frame of the computer device 2800, a grip signal of the computer device 2800 by a user may be detected, and left-right hand recognition or quick operation may be performed according to the grip signal. When the pressure sensor 2812 is disposed in the lower layer of the touch display screen 2805, control of the operability control on the UI interface can be achieved according to the pressure operation of the user on the touch display screen 2805. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

The optical sensor 2813 is used to collect ambient light intensity. In one embodiment, processor 2801 may control the display brightness of touch display 2805 based on the intensity of ambient light collected by optical sensor 2813. Specifically, when the ambient light intensity is high, the display brightness of the touch display screen 2805 is turned up; when the ambient light intensity is low, the display brightness of the touch display screen 2805 is turned down. In another embodiment, processor 2801 may also dynamically adjust the shooting parameters of camera assembly 2806 based on the intensity of ambient light collected by optical sensor 2813.

A proximity sensor 2814, also referred to as a distance sensor, is typically provided on the front of the computer device 2800. The proximity sensor 2814 is used to collect a distance between a user and the front of the computer device 2800. In one embodiment, when the proximity sensor 2814 detects a gradual decrease in the distance between the user and the front of the computer device 2800, the processor 2801 controls the touch display 2805 to switch from a bright screen state to a off screen state; when the proximity sensor 2814 detects a gradual increase in the distance between the user and the front of the computer device 2800, the processor 2801 controls the touch display 2805 to switch from the off-screen state to the on-screen state.

Those skilled in the art will appreciate that the architecture shown in fig. 28 is not limiting as to the computer device 2800, and may include more or fewer components than shown, or combine certain components, or employ a different arrangement of components.

It should be understood that references herein to "a plurality" are to two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

The foregoing description of the preferred embodiments is merely illustrative of the present application and is not intended to limit the invention to the particular embodiments shown, but on the contrary, the intention is to cover all modifications, equivalents, alternatives, and alternatives falling within the spirit and principles of the invention.

Claims

1. A tactile sensor, the tactile sensor comprising: a sensing unit (21), an elastomer support housing (22) and a base (23);

the sensing unit (21) is arranged in an inner cavity formed by enclosing the elastic body supporting shell (22) and the base (23);

the sensing unit (21) comprises at least two light sources (211) and a photoelectric detector (212), the photoelectric detector (212) is arranged at the top of an inner cavity of the elastic body supporting shell (22), the projection position of the photoelectric detector (212) on the base (23) is located on the base (23), and the at least two light sources (211) are arranged around the projection position of the photoelectric detector (212) on the base (23).

2. The tactile sensor of claim 1 wherein said base comprises an x-axis and a y-axis, said x-axis and said y-axis intersecting at an origin;

the photodetector (212) is arranged on the top of the elastomer supporting shell (22), and the projection position of the photodetector (212) on the base (23) is positioned at the origin of the base;

The at least two light sources (211) include a positive x-axis light source and a negative x-axis light source, the positive x-axis light source and the negative x-axis light source being located on a positive half-axis side and a negative half-axis side of the x-axis, respectively.

3. A tactile sensor according to claim 2, wherein,

the positive x-axis light source and the negative x-axis light source are symmetrical with the origin as the center.

4. A tactile sensor according to claim 2, wherein,

the positive x-axis light source comprises m1 light sources, at least two light sources in the m1 light sources are positioned on two sides of the positive x-axis half axis, and m1 is an integer greater than 2;

and/or the number of the groups of groups,

the negative x-axis light source comprises m2 light sources, at least two light sources in the m2 light sources are positioned on two sides of the negative x-axis half axis, and m2 is an integer greater than 2.

5. The tactile sensor according to any one of claims 1 to 4, wherein said base comprises an x-axis and a y-axis, said x-axis and said y-axis intersecting at an origin;

the at least two light sources (211) comprise a positive y-axis light source and a negative y-axis light source, which are located on the positive half-axis side and the negative half-axis side of the y-axis, respectively.

6. A touch sensor as recited in claim 5, wherein,

the positive y-axis light source and the negative y-axis light source are symmetrical with the origin as the center.

7. A touch sensor as recited in claim 5, wherein,

the positive y-axis light source comprises m3 light sources, at least two light sources in the m3 light sources are positioned on two sides of the positive y-axis half axis, and m3 is an integer greater than 2;

and/or the number of the groups of groups,

the negative y-axis light source comprises m4 light sources, at least two light sources in the m4 light sources are positioned on two sides of the negative y-axis half axis, and m4 is an integer greater than 2.

8. The tactile sensor according to any one of claims 2 to 7, wherein the sensing unit (21) comprises eight light sources (211), the positive x-axis light source, the negative x-axis light source, the positive y-axis light source and the negative y-axis light source each comprising two light sources;

the eight light sources (211) are respectively a light source a, a light source b, a light source c, a light source d, a light source e, a light source f, a light source g and a light source h, and the eight light sources (211) are circumferentially arranged around the photoelectric detector (212) on the base (23);

the light source a is a first positive y-axis light source, and the light source b is a second positive y-axis light source; the light source c is a first positive x-axis light source, and the light source d is a second positive x-axis light source; the light source e is a first negative y-axis light source, and the light source f is a second negative y-axis light source; the light source g is a first negative x-axis light source, and the light source h is a second negative x-axis light source.

9. A tactile sensor according to any one of claims 1 to 8, wherein,

the elastic body supporting shell (22) is of an integral structure, and the elastic body supporting shell (22) is made of silica gel materials;

or alternatively, the first and second heat exchangers may be,

the elastomeric support housing (22) includes a rigid plate coupled to the base (23) by a deformable support, and a photodetector (212) secured to a lower surface of the rigid plate.

10. A method for detecting a touch event, the method comprising:

acquiring the illumination intensity measured by the photodetector in the tactile sensor, wherein the tactile sensor is as claimed in any one of claims 1 to 9;

and measuring at least one of the magnitude and the direction of the force born by the touch sensor according to the change value of the illumination intensity.

11. The method of claim 10, wherein the number of light sources is at least two;

the obtaining the illumination intensity measured by the photoelectric detector in the touch sensor comprises the following steps:

sequentially controlling the on-off of each light source, and acquiring the illumination intensity measured by the photoelectric detector when the light source is in an on state;

The measuring at least one of the magnitude and direction of the force borne by the tactile sensor according to the change value of the illumination intensity comprises:

obtaining at least one of the magnitude and the direction of a force in a translation direction born by the touch sensor in the touch event based on the change value of the illumination intensity measured by the photoelectric detector and a first mapping relation;

the first mapping relationship refers to a corresponding relationship between the magnitude and the direction of the force in the translational direction born by the touch sensor and the change value of the illumination intensity measured by the photoelectric detector.

12. The method of claim 11, wherein the light source comprises a positive x-axis light source and a negative x-axis light source;

the step of sequentially controlling the on-off of each light source and obtaining the illumination intensity measured by the photoelectric detector when the light source is in an on state comprises the following steps:

the positive x-axis light source is connected, and the illumination intensity of the positive x-axis light source measured by the photoelectric detector is obtained when the positive x-axis light source is in a connected state;

the negative x-axis light source is connected, and the illumination intensity of the negative x-axis light source measured by the photoelectric detector is obtained when the negative x-axis light source is in a connected state;

The obtaining at least one of the magnitude and the direction of the force in the translational direction born by the touch sensor in the touch event based on the change value of the illumination intensity measured by the photodetector and a first mapping relation includes:

obtaining the magnitude and the direction of the force born by the touch sensor in the touch event along the x-axis translation direction according to a first difference value and the first mapping relation;

the first difference value refers to a difference value between illumination intensity obtained by measuring the positive x-axis light source by the photoelectric detector and illumination intensity obtained by measuring the negative x-axis light source by the photoelectric detector.

13. The method of claim 11, wherein,

acquiring illumination intensity obtained by measuring a first target light source at the ith moment by the photoelectric detector and illumination intensity obtained by measuring the first target light source at the (i+1) th moment by the photoelectric detector, wherein the first target light source refers to at least one of the light sources;

obtaining the magnitude and the direction of the force in the translational direction born by the touch sensor in the touch event according to a third difference value and the first mapping relation;

the third difference value is a difference value between the illumination intensity obtained by the photoelectric detector measuring the first target light source at the ith moment and the illumination intensity obtained by the photoelectric detector measuring the first target light source at the (i+1) th moment.

14. The method of claim 10, wherein the number of light sources is at least two;

Obtaining at least one of the magnitude and the direction of the force in the rotation direction born by the touch sensor in the touch event based on the change value of the illumination intensity measured by the photoelectric detector and a second mapping relation;

the second mapping relationship refers to a corresponding relationship between the magnitude and direction of the force in the rotation direction born by the touch sensor and the variation value of the illumination intensity measured by the photoelectric detector.

15. The method of claim 14, wherein the light source comprises a first x-axis light source and a second x-axis light source;

the first x-axis light source is connected, and the illumination intensity of the first x-axis light source measured by the photoelectric detector is obtained when the first x-axis light source is in a connected state;

the second x-axis light source is connected, and the illumination intensity of the second x-axis light source measured by the photoelectric detector is obtained when the second x-axis light source is in a connected state;

the obtaining at least one of the magnitude and the direction of the force of the rotation direction born by the touch sensor in the touch event based on the change value of the illumination intensity measured by the photodetector and a second mapping relation includes:

Obtaining the magnitude and the direction of the force about the x-axis rotation direction born by the touch sensor in the touch event according to a fourth difference value and the second mapping relation;

the fourth difference value is a difference value between the illumination intensity obtained by measuring the first x-axis light source by the photoelectric detector and the illumination intensity obtained by measuring the second x-axis light source by the photoelectric detector; the first x-axis light source comprises the first positive x-axis light source, and the second x-axis light source comprises the second positive x-axis light source; alternatively, the first x-axis light source comprises the first negative x-axis light source and the second x-axis light source comprises the second negative x-axis light source; alternatively, the first x-axis light source includes the first positive x-axis light source and the second negative x-axis light source, and the second x-axis light source includes the second positive x-axis light source and the first negative x-axis light source.

16. The method of claim 14, wherein,

switching on a second target light source, and acquiring the illumination intensity of the second target light source, which is measured by the photoelectric detector, when the second target light source is in a switching-on state;

Switching on a third target light source, and acquiring the illumination intensity of the third target light source, which is measured by the photoelectric detector, when the third target light source is in a switching-on state;

the second target light source is any one of the light sources, and the third target light source is a different one of the light sources from the second target light source;

obtaining the magnitude and the direction of the force about the z-axis rotation direction born by the touch sensor in the touch event according to a sixth difference value and the second mapping relation;

the sixth difference value is a difference value between the illumination intensity obtained by measuring the second target light source by the photoelectric detector and the illumination intensity obtained by measuring the third target light source by the photoelectric detector.

17. The method of claim 14, wherein,

Acquiring illumination intensity obtained by measuring a fourth target light source at the ith moment by the photoelectric detector and illumination intensity obtained by measuring the fourth target light source at the (i+1) th moment by the photoelectric detector, wherein the fourth target light source refers to at least one of the light sources;

obtaining the magnitude and the direction of the force in the rotation direction born by the touch sensor in the touch event according to a seventh difference value and the second mapping relation;

the seventh difference value is a difference value between the illumination intensity obtained by the photoelectric detector measuring the fourth target light source at the ith moment and the illumination intensity obtained by the photoelectric detector measuring the fourth target light source at the (i+1) th moment.

18. The method of claim 10, wherein the number of light sources is at least two;

inputting the illumination intensity measured by the photoelectric detector into a machine learning model for prediction to obtain at least one of the magnitude and the direction of the force born by the touch sensor in the touch event;

the machine learning model is a model obtained by training a corresponding relation between computer equipment and the change value of the illumination intensity measured by the photoelectric detector according to the magnitude and the direction of the force born by the touch sensor.

19. An electronic skin, characterized in that the surface of the electronic skin is covered with a tactile sensor array comprising at least two tactile sensors according to any one of claims 1 to 9.

20. A robot, characterized in that the robot surface is covered at a preset position with a tactile sensor according to any one of claims 1 to 9, or an electronic skin according to claim 19.