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CN109015763A - A kind of multi-modal tactile sensor based on heat discoloration ink material - Google Patents

A kind of multi-modal tactile sensor based on heat discoloration ink material Download PDF

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Publication number
CN109015763A
CN109015763A CN201811004928.1A CN201811004928A CN109015763A CN 109015763 A CN109015763 A CN 109015763A CN 201811004928 A CN201811004928 A CN 201811004928A CN 109015763 A CN109015763 A CN 109015763A
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transparent
heat discoloration
temperature
ink material
transparent elastomer
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孙富春
薛红香
方斌
张春
刘华平
夏子炜
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Tsinghua University
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Tsinghua University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • B25J19/023Optical sensing devices including video camera means
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00Measuring or testing not otherwise provided for
    • G01D21/02Measuring two or more variables by means not covered by a single other subclass

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Spectrometry And Color Measurement (AREA)

Abstract

A kind of multi-modal tactile sensor based on heat discoloration ink material provided by the invention, belongs to robotic sensor technology field.Including shell, which is equipped with Image Acquisition camera, transparent elastomer, photophore and multiple support construction components, and the transparent elastomer top protrudes from cover top portion;Transparent elastomer includes the transparent elastomer ontology made of transparent material dimethyl silicone polymer, the heat discoloration ink material that the upper surface that the transparent elastomer ontology protrudes from cover top portion is coated with two layers of addition silica gel is respectively formed the first heat discoloration layer and the second heat discoloration layer, for realizing the acquisition of temperature, texture and contact force information.Heat discoloration ink material is applied to robot for the first time by the present invention, and the measurement of the multi-modal informations such as integrated temperature, three-dimensional contact force and texture in same sensing device has many advantages, such as simple and compact for structure, reusable, applied widely.

Description

一种基于感温变色油墨材料的多模态触觉感知装置A multi-modal tactile sensing device based on thermochromic ink material

技术领域technical field

本发明涉及一种基于感温变色油墨材料的多模态触觉感知装置,属于机器人传感器技术领域。The invention relates to a multi-modal tactile sensing device based on a temperature-sensitive color-changing ink material, and belongs to the technical field of robot sensors.

背景技术Background technique

随着工业现代化的进程和电子信息产业连续的高速增长,温度传感器在精度、灵敏度等方面有了很大的提升,被广泛应用于很多领域,在工业生产、科学技术等领域发挥着重大的作用,但在机器人行业的应用甚少且具有一定的局限性。因现有的温度传感器只具有温度这一模态,较难与其他模态融合。而在机器人领域,操作过程中获取的模态越多、各个模态之间的联系越密切,机器人的智能性越强。尽管,现今的温度传感器可以被安装于机器人的手部、头部等,但当机器人抓取一个温度不均的物体时,很难获取到物体的真实温度或者物体相关的其他信息。With the process of industrial modernization and the continuous high-speed growth of the electronic information industry, temperature sensors have greatly improved in terms of accuracy and sensitivity, and are widely used in many fields, playing an important role in industrial production, science and technology and other fields. , but there are few applications in the robotics industry and have certain limitations. Because the existing temperature sensor only has the mode of temperature, it is difficult to integrate with other modes. In the field of robotics, the more modalities acquired during operation and the closer the connections between modalities, the stronger the intelligence of the robot. Although today's temperature sensors can be installed on the robot's hands, heads, etc., it is difficult to obtain the real temperature of the object or other information related to the object when the robot grabs an object with uneven temperature.

传统的温度传感器按传感器与被测对象的接触方式可分为两类,一类是接触式温度传感器,一类是非接触式温度传感器。接触式温度传感器通过热传导及对流原理达到热平衡,其测量精度较高,并在一定程度上还可测量物体内部的温度分布,但对于运动的、热容量比较小的、或对感温元件有腐蚀作用的对象,这种方法将会产生很大的误差。非接触式温度传感器与被测对象互不接触,最常用的是辐射热交换原理,其被测对象多为处于运动状态的小目标及热容量小或变化迅速的对象,也可测温度场的温度分布,但受环境的影响比较大。而机器人在操作过程中获取接触物体的温度时,物体可能会产生运动并且环境复杂程度往往不能确定。因此,传统的温度传感器在机器人操作过程中存在很多误差隐患。Traditional temperature sensors can be divided into two types according to the contact mode between the sensor and the measured object, one is contact temperature sensor, and the other is non-contact temperature sensor. The contact temperature sensor achieves thermal balance through the principle of heat conduction and convection. It has high measurement accuracy and can also measure the temperature distribution inside the object to a certain extent. objects, this method will produce a large error. The non-contact temperature sensor does not contact the measured object. The most commonly used is the principle of radiation heat exchange. The measured objects are mostly small targets in motion and objects with small heat capacity or rapid changes. It can also measure the temperature of the temperature field. distribution, but is greatly affected by the environment. However, when the robot obtains the temperature of the contact object during operation, the object may move and the complexity of the environment is often uncertain. Therefore, there are many hidden dangers of error in the traditional temperature sensor during the operation of the robot.

感温变色材料为特定温度下,因电子转移使该有机物的分子结构发生变化,从而实现颜色转变的一种感温材料。其可随温度的上升、下降而反复变色,内部含有微胶囊变色颗粒,粒径在1~10μm之间,并具有耐高温、抗氧化等特性。该感温变色材料可用于聚丙烯(PP)、软聚氯乙烯(S-PVC)和硅胶等透明或半透明塑料的注塑、挤塑成型;也可混入不饱和聚脂、环氧树脂、有机玻璃或尼龙单体内浇铸、模压、固化成型为油墨基材;还常用于水杯、筷子、勺子等感温产品的生产。The thermochromic material is a temperature-sensitive material that changes the molecular structure of the organic substance due to electron transfer at a specific temperature, thereby realizing a color change. It can change color repeatedly with the rise and fall of temperature, and contains microcapsule color-changing particles inside, with a particle size between 1 and 10 μm, and has the characteristics of high temperature resistance and oxidation resistance. The thermochromic material can be used for injection molding and extrusion molding of transparent or translucent plastics such as polypropylene (PP), soft polyvinyl chloride (S-PVC) and silica gel; it can also be mixed with unsaturated polyester, epoxy resin, organic Glass or nylon monomers are cast, molded, and cured into ink substrates; they are also commonly used in the production of temperature-sensitive products such as water cups, chopsticks, and spoons.

目前还未见将上述感温变色材料应用于机器人手的相关技术。At present, there is no related technology of applying the above-mentioned thermochromic material to the robot hand.

发明内容Contents of the invention

本发明的目的是为了克服现已有技术的不足之处,提供一种基于感温变色油墨材料的多模态触觉感知装置。本发明首次将感温变色油墨材料应用于机器人手,本装置可用于机器人操作过程中的温度传感器,并将温度传感器与触觉传感器融合,从而提供了一种多模态触觉感知装置,该装置可获得机器人在操作过程中的三维接触力、接触物体表面的温度、纹理等多个模态的信息。The object of the present invention is to provide a multi-modal tactile sensing device based on thermochromic ink material in order to overcome the shortcomings of the prior art. The present invention applies the temperature-sensitive color-changing ink material to the robot hand for the first time, and the device can be used as a temperature sensor in the process of robot operation, and integrates the temperature sensor and the tactile sensor, thereby providing a multi-modal tactile sensing device, which can Obtain the information of multiple modalities such as the three-dimensional contact force of the robot during operation, the temperature of the contact surface, and the texture.

本发明为实现上述目的,采取如下技术方案:In order to achieve the above object, the present invention takes the following technical solutions:

一种基于感温变色油墨材料的多模态触觉感知装置,包括外壳,该外壳内部设有图像采集摄像头、透明弹性体以及多个支撑结构组件,且所述透明弹性体上部凸出于外壳顶部;其中,所述图像采集摄像头通过摄像头支撑板与外壳底部固连;中部支撑板位于图像采集摄像头上方且由固定在外壳底部四个角部的台肩支撑,该中部支撑板上设有透光孔;所述中部支撑板位上表面设置用于支撑透明弹性体的透明支撑块,该透明支撑块的上部四周通过中部固定板限位,该中部固定板支撑于外壳侧壁上;所述透明弹性体的下部四周设有均布的发光器,且该发光器由所述中部固定板支撑;所述图像采集摄像头的镜头、中部支撑板位的透光孔、透明支撑块和透明弹性体均共光轴设置;A multi-modal tactile sensing device based on a thermochromic ink material, comprising a housing, an image acquisition camera, a transparent elastic body and a plurality of supporting structural components are arranged inside the housing, and the upper part of the transparent elastic body protrudes from the top of the housing ; Wherein, the image acquisition camera is fixedly connected to the bottom of the housing through the camera support plate; the middle support plate is located above the image acquisition camera and is supported by shoulders fixed on the four corners of the bottom of the housing, and the middle support plate is provided with a light-transmitting hole; the upper surface of the middle support plate is provided with a transparent support block for supporting the transparent elastic body, the upper part of the transparent support block is limited by the middle fixing plate, and the middle fixing plate is supported on the side wall of the shell; the transparent The lower part of the elastic body is provided with evenly distributed light emitters, and the light emitters are supported by the middle fixed plate; the lens of the image acquisition camera, the light transmission hole of the middle support plate, the transparent support block and the transparent elastic body Common optical axis setting;

其特征在于,所述透明弹性体包括由透明材料聚二甲基硅氧烷(PDMS)制成的透明弹性体本体,该透明弹性体本体凸出于外壳顶部的上表面涂有两层加入硅胶的感温变色油墨材料分别形成第一感温变色层和第二感温变色层,用于实现温度、纹理及接触力信息的获取。It is characterized in that the transparent elastomer includes a transparent elastomer body made of transparent material polydimethylsiloxane (PDMS), and the upper surface of the transparent elastomer body protruding from the top of the shell is coated with two layers of silicone rubber. The temperature-sensitive color-changing ink materials respectively form the first temperature-sensitive color-changing layer and the second temperature-sensitive color-changing layer, which are used to realize the acquisition of temperature, texture and contact force information.

进一步地,所述第一感温变色层是通过在所述透明弹性体本体上表面使用带有硅胶的第一感温变色油墨材料和掩模板涂抹形成的厚度为0.1mm~0.3mm的7*6的标记点阵列;所述第二感温变色层是通过待所述标记点阵列定型后,在该标记点阵列上涂抹一层厚度为0.1mm~0.2mm的带有硅胶的第二感温变色油墨材料而成。Further, the first thermochromic layer is a 7* layer with a thickness of 0.1 mm to 0.3 mm formed by applying the first thermochromic ink material with silica gel and a mask on the upper surface of the transparent elastomer body. 6 marking point array; the second thermochromic layer is formed by applying a second thermochromic layer with silica gel with a thickness of 0.1 mm to 0.2 mm on the marking point array after the marking point array is finalized. Made of color changing ink material.

优选地,所述第一感温变色油墨材料具有两个变色区间:在65℃以下为黄色,当超过65℃后为白色;所述第二感温变色油墨材料具有四种变色区间:在5℃以下的温度为紫黑色,5℃~22℃为紫色,22℃~45℃为蓝色,45℃以上为白色。Preferably, the first thermochromic ink material has two color changing intervals: yellow below 65°C, and white when it exceeds 65°C; the second thermochromic ink material has four color changing intervals: at 5 The temperature below ℃ is purple-black, 5℃~22℃ is purple, 22℃~45℃ is blue, and above 45℃ is white.

本发明的特点及有益效果:Features and beneficial effects of the present invention:

1、本装置打破了传统温度传感器只能测量单一模态——温度的现状,本发明能够在获得温度的同时获得物体的三维受力、纹理等物体的表面属性;1. This device breaks the current situation that the traditional temperature sensor can only measure a single mode——temperature. The present invention can obtain the surface properties of the object such as the three-dimensional force and texture of the object while obtaining the temperature;

2、本装置制备结构简单、制作成本低,易于在机器人上装卸;2. The preparation structure of the device is simple, the production cost is low, and it is easy to load and unload on the robot;

3、其不受工作环境的影响,变色灵敏度较高;3. It is not affected by the working environment and has high sensitivity to color change;

4、可以根据任务需求调整透明弹性体的硬度和变温材料涂层的厚度、颜色、度数组成来调节传感器的精确度、灵敏度;4. The hardness of the transparent elastomer and the thickness, color, and degree of the temperature-changing material coating can be adjusted according to the task requirements to adjust the accuracy and sensitivity of the sensor;

5、本装置首次实现了将感温变色油墨材料应用到机器人领域,为机器人提供一种感温区间,从而提高机器人的智能化,并且该装置可与机器人上的其他类型的温度传感器共同使用。5. This device realizes the application of temperature-sensitive color-changing ink material to the robot field for the first time, and provides a temperature-sensing range for the robot, thereby improving the intelligence of the robot, and the device can be used together with other types of temperature sensors on the robot.

6、本装置将机器人接触的物体温度分为四个区间,5度以下的温度(本感知装置输出紫黑色的图像);5度到22度(本感知装置输出为紫色的图像);22度到45度(本感知装置输出为蓝色的图像);45度以上(本感知装置输出为白色的图像);通过不同温度区间颜色的变化,对温度识别更加直观。6. This device divides the temperature of the object that the robot touches into four intervals, the temperature below 5 degrees (the sensing device outputs a purple-black image); 5 degrees to 22 degrees (the sensing device outputs a purple image); 22 degrees To 45 degrees (the output of the sensing device is a blue image); above 45 degrees (the output of the sensing device is a white image); through the color change of different temperature ranges, the temperature recognition is more intuitive.

附图说明Description of drawings

图1是本发明的多模态触觉感知装置的整体结构示意图。FIG. 1 is a schematic diagram of the overall structure of the multi-modal tactile sensing device of the present invention.

图2是本发明的多模态触觉感知装置在不同环境温度下,图像采集摄像头获取到的静态状态下带有标记点的弹性体表面的示意图;其中,(1)~(4)分别为0℃、10℃、28℃和49℃对应的结果。Fig. 2 is a schematic diagram of the elastic body surface with marking points in the static state obtained by the image acquisition camera under different ambient temperatures of the multimodal tactile sensing device of the present invention; wherein, (1) to (4) are respectively 0 ℃, 10℃, 28℃ and 49℃ corresponding results.

图3是本发明的多模态触觉装置在79℃环境下,图像采集摄像头获取到的静态状态下带有标记点的弹性体表面的示意图。FIG. 3 is a schematic diagram of the multi-modal haptic device of the present invention in an environment of 79° C., captured by an image acquisition camera in a static state with marking points on the elastic body surface.

图4是本发明的多模态温度触觉装置在常温环境中抓取饼干时,图像采集摄像头获取到的静态状态下带有标记点的弹性体表面的示意图;其中,图4(1)为饼干实物图,图4(2)为获取的透明弹性体表面图像。Fig. 4 is a schematic diagram of the elastic body surface with marking points in a static state captured by the image acquisition camera when the multi-modal temperature tactile device of the present invention grabs a biscuit in a normal temperature environment; wherein, Fig. 4 (1) is a biscuit The physical picture, Figure 4(2) is the obtained surface image of the transparent elastomer.

图5为在常温环境下抓取不同温度六角扳手获得的透明弹性体表面图像;其中,(1)为六角扳手实物图,(2)为未接触六角扳手的透明弹性体表面图像,(3)~(5)分别对应常温、低温和51℃的六角扳手。Figure 5 is the image of the surface of the transparent elastomer obtained by grabbing the hexagonal wrench at different temperatures in a normal temperature environment; among them, (1) is the physical picture of the hexagonal wrench, (2) is the surface image of the transparent elastomer without contact with the hexagonal wrench, (3) ~(5) Hexagonal wrenches corresponding to normal temperature, low temperature and 51°C respectively.

具体实施方式Detailed ways

本发明提出的一种基于感温变色油墨材料的多模态触觉感知装置结合附图及实施例详细说明如下:A multi-modal tactile sensing device based on a temperature-sensitive color-changing ink material proposed by the present invention is described in detail in conjunction with the accompanying drawings and embodiments as follows:

本发明提出的一种基于感温变色油墨材料的多模态触觉感知装置的整体结构如图1所示,该温度触觉感知装置可安装在机器人手上(本实施例装置安装于机器人各手指上),包括由U型底座7和顶盖1构成的外壳,该外壳内部设有图像采集摄像头9、透明弹性体2以及多个支撑结构组件,且透明弹性体2上部凸出于顶盖1;其中,图像采集摄像头9通过摄像头支撑板8与底座7固连,中部支撑板6位于图像采集摄像头9上方且由固定在底座7四个角部的台肩7-1支撑,中部支撑板6上设有透光孔,中部支撑板6上表面设置用于支撑透明弹性体2的透明支撑块5,透明弹性体2与透明支撑块5可为一体成型结构,该透明支撑块5的上部四周通过中部固定板4限位,中部固定板4支撑于底座7的侧壁上;透明弹性体2的下部四周设有均布的发光器3,且该发光器3由中部固定板4支撑;图像采集摄像头9的镜头、中部支撑板6的透光孔、透明支撑块5和透明弹性体2均共光轴设置,且透明弹性体2与图像采集摄像头9的距离满足成像要求。The overall structure of a multi-modal tactile sensing device based on thermochromic ink materials proposed by the present invention is shown in Figure 1. The temperature tactile sensing device can be installed on a robot hand (the device in this embodiment is installed on each finger of the robot. ), comprising a shell made of a U-shaped base 7 and a top cover 1, inside the shell is provided with an image acquisition camera 9, a transparent elastic body 2 and a plurality of supporting structural components, and the upper part of the transparent elastic body 2 protrudes from the top cover 1; Wherein, the image acquisition camera 9 is fixedly connected with the base 7 through the camera support plate 8, the middle support plate 6 is located above the image acquisition camera 9 and is supported by shoulders 7-1 fixed on the four corners of the base 7, and the middle support plate 6 There is a light-transmitting hole, and the upper surface of the middle support plate 6 is provided with a transparent support block 5 for supporting the transparent elastic body 2. The transparent elastic body 2 and the transparent support block 5 can be integrally formed, and the upper part of the transparent support block 5 passes through The middle fixed plate 4 is limited, and the middle fixed plate 4 is supported on the side wall of the base 7; the lower part of the transparent elastic body 2 is provided with evenly distributed light emitters 3, and the light emitters 3 are supported by the middle fixed plate 4; image acquisition The lens of the camera 9, the light transmission hole of the middle support plate 6, the transparent support block 5 and the transparent elastic body 2 are all arranged on the same optical axis, and the distance between the transparent elastic body 2 and the image acquisition camera 9 meets the imaging requirements.

本发明各部件的具体实现方式如下:The specific implementation of each part of the present invention is as follows:

透明弹性体2,用于模仿人体手指的触感及受力情况,其俯视图如图2所示,该透明弹性体本体由透明材料聚二甲基硅氧烷(PDMS)制成,通过混合不同比例的PDMS基本组分和固化剂来得到不同柔软度的弹性体(具体制作工艺为本领域的公知技术),该弹性体本体具有低弹性模量、高重复性及附着性;该透明弹性本体体型为长方体,在凸出于外壳顶部的一侧,先使用带有硅胶(加入硅胶使感温变色油墨材料与透明弹性体更贴合、延展性更强,从而能够获取更加细微的物体纹理)的第一感温变色油墨材料和掩模板涂抹一层直径为0.2~0.3mm、厚度为0.1mm~0.3mm的7*6的标记点阵列2-1,共计42个标记点,待该标记点阵列定型后,再涂抹一层厚度为0.1mm~0.2mm的带有硅胶的第二感温变色油墨材料形成感温变色层2-2。在选择第一感温变色油墨材料和第二感温变色油墨材料时,应保证两种材料在相同温度条件下的颜色差异明显。本实施例所采用的感温变色油墨材料均为常规产品,感温变色油墨材料与硅胶的比例可根据需求控制在1:5~1:8,该比例的不同主要决定了感温变色油墨材料的稠稀度。其中,第一感温变色油墨材料在65℃以下为黄色,当超过65℃后为白色;第二感温变色油墨材料拥有四种变色区间,在5度以下的温度为紫黑色,5度到22度为紫色,22度到45度为蓝色,45度以上为白色。因此,该装置接触65度以下温度的物体均可获得接触力、纹理及温度值区间。标记点2-1的作用是,当该装置接触物体即弹性体发生形变时,标记点会发生移动,根据标记点的位移和弹性体的形变性能即可获得物体的三维受力。感温变色层2-2的作用为:1)通过该材料层的颜色变化获取物体表面的温度;2)与标记点的颜色差异明显,降低了标记点的识别处理难度,并且保护标记点不被磨损;3)具有较强的延展性、防反射性,可得到非常细微的物体纹理;4)耐磨性强,极大提高了该装置的稳定性和使用寿命。本实施例透明弹性体呈长方体,长20mm、宽20mm、高7mm,每个标记点直径0.2~0.3mm、相邻标记点的间距是1mm。图2中,(1)~(4)分别为本实施例在0℃、10℃、28℃和49℃环境温度下透明弹性体2的上表面示意图,其中,感温变色层2-2的颜色依次为紫黑色、紫色、蓝色和灰色(图2中颜色依次从深至浅);标记点2-1颜色始终为黄色(如图2中所示白色点)。又如,通过本实施例透明弹性体2接触79℃的水杯时ta ta相机获取到的图像如图3所示,由图可看出标记点阵列2-1消失,与弹性体表面的感温变色层2-2融为一体,均变为白色。再如,通过本实施例透明弹性体2在常温下获取如图4(1)所示饼干表面的纹理图如图4(2)所示。还如,通过本实施例透明弹性体2抓取不同温度条件下的如图5中(1)所示六角扳手时的弹性体表面的示意图,其中,(2)为对照图,(3)~(5)分别为抓取常温、冰冷状态下(低于5℃)和51℃六角扳手时透明弹性体表面的示意图,由图可明显示意出六角扳手的纹理(轮廓)、接触该六角扳手的透明弹性体表面区域的颜色变化及标记点的位置移动。Transparent elastomer 2 is used to imitate the touch and force of human fingers. Its top view is shown in Figure 2. The transparent elastomer body is made of transparent material polydimethylsiloxane (PDMS). By mixing different proportions The PDMS basic components and curing agent are used to obtain elastomers with different softness (the specific manufacturing process is a well-known technology in the art), and the elastomer body has low elastic modulus, high repeatability and adhesion; the transparent elastic body body shape It is a rectangular parallelepiped, on the side protruding from the top of the shell, first use silicone (adding silicone to make the thermochromic ink material and transparent elastic body fit better, and the ductility is stronger, so that a more subtle object texture can be obtained) The first temperature-sensitive color-changing ink material and the mask plate are coated with a layer of 7*6 marking point array 2-1 with a diameter of 0.2-0.3mm and a thickness of 0.1mm-0.3mm, with a total of 42 marking points. After setting the shape, apply a layer of second thermochromic ink material with silica gel with a thickness of 0.1 mm to 0.2 mm to form a thermochromic layer 2-2. When selecting the first thermochromic ink material and the second thermochromic ink material, it should be ensured that the color difference between the two materials is obvious under the same temperature condition. The temperature-sensitive color-changing ink materials used in this example are all conventional products, and the ratio of the temperature-sensitive color-changing ink material to silica gel can be controlled at 1:5 to 1:8 according to requirements. The difference in this ratio mainly determines the temperature-sensitive color-changing ink material. of thickness. Among them, the first thermochromic ink material is yellow below 65°C, and white when it exceeds 65°C; the second thermochromic ink material has four color changing ranges, purple-black at a temperature below 5°C, and purple-black at a temperature of 5°C to Purple at 22 degrees, blue at 22 to 45 degrees, and white above 45 degrees. Therefore, the device can obtain contact force, texture and temperature value range when it contacts objects with a temperature below 65 degrees. The function of the marking point 2-1 is that when the device contacts an object, that is, the elastic body deforms, the marking point will move, and the three-dimensional force of the object can be obtained according to the displacement of the marking point and the deformation performance of the elastic body. The function of the thermochromic layer 2-2 is: 1) obtain the temperature of the surface of the object through the color change of the material layer; 3) It has strong ductility and anti-reflection, and can obtain very fine object textures; 4) It has strong wear resistance, which greatly improves the stability and service life of the device. In this embodiment, the transparent elastic body is in the shape of a cuboid, with a length of 20 mm, a width of 20 mm, and a height of 7 mm. The diameter of each marked point is 0.2-0.3 mm, and the distance between adjacent marked points is 1 mm. In Fig. 2, (1)-(4) are respectively the upper surface schematic diagrams of the transparent elastic body 2 at 0°C, 10°C, 28°C and 49°C ambient temperatures in this embodiment, wherein the thermochromic layer 2-2 The colors are purple black, purple, blue and gray in turn (the colors are from dark to light in Figure 2); the color of marking point 2-1 is always yellow (white point as shown in Figure 2). As another example, the image captured by the tata camera when the transparent elastic body 2 of this embodiment touches a water cup at 79°C is shown in Figure 3. It can be seen from the figure that the array of marking points 2-1 disappears, which is related to the temperature sensitivity of the elastic body surface. The discoloration layers 2-2 are integrated into one, and both become white. For another example, the texture map of the biscuit surface as shown in FIG. 4(1) is obtained at room temperature through the transparent elastic body 2 of this embodiment, as shown in FIG. 4(2). Also for example, the schematic diagram of the elastic body surface when the transparent elastic body 2 of this embodiment grasps the hexagonal wrench shown in Figure 5 (1) under different temperature conditions, wherein (2) is a comparison diagram, (3)~ (5) Schematic diagrams of the surface of the transparent elastomer when grasping the hexagonal wrench at normal temperature, cold state (less than 5°C) and 51°C, respectively. The texture (contour) of the hexagonal wrench and the contact position of the hexagonal wrench can be clearly shown from the figure The color change of the surface area of the transparent elastomer and the position shift of the marking point.

图像采集摄像头9,用于透过透明支撑块5获取透明弹性体2上各标记点的位置及透明弹性体表面的图像,图像采集摄像头的焦距为13-18mm,本实施例采用USB摄像头模组,焦距为15mm,尺寸25mm*7mm*6mm,每秒产生30帧画面,图像采集摄像头9将采集的图像通过USB接口实时发送到外部控制端。The image acquisition camera 9 is used to obtain the position of each marking point on the transparent elastic body 2 and the image on the surface of the transparent elastic body through the transparent support block 5. The focal length of the image acquisition camera is 13-18mm. This embodiment adopts a USB camera module , the focal length is 15mm, the size is 25mm*7mm*6mm, and 30 frames of pictures are generated per second. The image acquisition camera 9 sends the collected images to the external control terminal in real time through the USB interface.

发光器3采用LED灯及配套的电路板,本实施例采用16个均匀布置在透明弹性体2四周且总电压不超过4V的贴片式白色LED灯。发光器负责给透明弹性体2提供稳定统一的光照,避免由于自然光的亮度变化造成的检测偏差。The light emitter 3 adopts LED lamps and supporting circuit boards. In this embodiment, 16 patch-type white LED lamps are evenly arranged around the transparent elastic body 2 and the total voltage does not exceed 4V. The illuminator is responsible for providing stable and uniform illumination to the transparent elastic body 2, so as to avoid detection deviation caused by brightness changes of natural light.

支撑结构组件,包括摄像头支撑板8、透明支撑块5和中部固定板4以及中部支撑板6;其中,摄像头支撑板8用来固定和定位图像采集摄像头9,该摄像头支撑板通过螺钉固定于外壳的底座7上;透明支撑块5的下表面与中部支撑板6的上表面贴合,透明支撑块5的上表面与透明弹性体2的下表面贴合,通过透明支撑块5对透明弹性体进行支撑,同时使得发光器产生的光线更加均匀,便于提高摄像头采集图像的清晰度,从而保证图像的采集质量;中部固定板6用于固定透明支撑块5并支撑发光器3。本实施例的透明支撑块5选用亚克力板材料,具有92%以上的高透光性,其余支撑结构组件均由树脂经3D打印而成,加工效率高、成本低。The support structure assembly includes a camera support plate 8, a transparent support block 5, a middle fixing plate 4 and a middle support plate 6; wherein the camera support plate 8 is used to fix and position the image acquisition camera 9, and the camera support plate is fixed to the shell by screws on the base 7; the lower surface of the transparent support block 5 is attached to the upper surface of the middle support plate 6, the upper surface of the transparent support block 5 is attached to the lower surface of the transparent elastic body 2, and the transparent elastic body is passed through the transparent support block 5 Support, and make the light generated by the light emitter more uniform at the same time, which is convenient to improve the clarity of the image collected by the camera, thereby ensuring the quality of image collection; the middle fixing plate 6 is used to fix the transparent support block 5 and support the light emitter 3 . The transparent support block 5 of this embodiment is made of acrylic plate material, which has a high light transmittance of more than 92%, and the rest of the support structure components are all made of resin through 3D printing, with high processing efficiency and low cost.

外壳用于容纳和支撑本发明实施例的各组成器件,可以根据实际使用场景的要求采用不同形状。本实施例外壳为密闭的方形小盒,由树脂材料经3D打印而成,加工成本低,长宽高为49mm、30mm、23mm。The housing is used to accommodate and support the components of the embodiments of the present invention, and can adopt different shapes according to the requirements of actual use scenarios. The shell of this embodiment is a small airtight square box, which is made of resin material through 3D printing, with low processing cost, and the length, width and height are 49mm, 30mm, and 23mm.

本发明基于感温变色油墨材料的多模态触觉感知装置的工作过程如下:The working process of the multimodal tactile sensing device based on the thermochromic ink material of the present invention is as follows:

当本装置的透明弹性体2与物品接触时,物体与透明弹性体2表面的感温变色层2-2直接接触,在接触的瞬间最外侧的感温变色层会根据物体的温度产生相应的颜色,透明弹性体表面会根据物体表面的纹理产生相应的纹路,并且接触力在垂直、水平方向的剪切力会造成该透明弹性体发生形变,透明弹性体上的标记点阵列2-1发生相应位移,环绕透明弹性体的发光器(LED灯)4由控制电路提供激励,提供稳定的光源,由图像采集摄像头9透过透光支撑块6捕捉弹性体表面颜色、纹理和标记点位移前后的图像信息,由外部控制端计算标记点的位移信息,得到物体表面的温度、纹理和三维受力(具体计算过程可采用本领域的常规技术予以实现,不属于本发明的保护范畴);而后将这些位移、纹理、温度信息综合在外部控制端上显现出来。When the transparent elastic body 2 of the device is in contact with an object, the object is in direct contact with the thermochromic layer 2-2 on the surface of the transparent elastic body 2, and at the instant of contact, the outermost thermochromic layer will produce a corresponding temperature change according to the temperature of the object. Color, the surface of the transparent elastic body will produce corresponding lines according to the texture of the surface of the object, and the shear force of the contact force in the vertical and horizontal directions will cause the transparent elastic body to deform, and the marking point array 2-1 on the transparent elastic body will Corresponding displacement, the light emitter (LED lamp) 4 surrounding the transparent elastic body is provided with excitation by the control circuit to provide a stable light source, and the image acquisition camera 9 passes through the light-transmitting support block 6 to capture the surface color, texture and mark point of the elastic body before and after displacement image information, the external control terminal calculates the displacement information of the marking point, and obtains the temperature, texture and three-dimensional force of the object surface (the specific calculation process can be realized by conventional technology in the art, and does not belong to the protection category of the present invention); then The displacement, texture, and temperature information are integrated and displayed on the external control terminal.

综上,本发明装置使机器人在操作过程中获得接触物体表面的温度、纹理和接触三维力信息,这些辅助信息提高了机器人的操作精细度,是机器人更加智能化。本发明中的温度传感可用于辅助机器人操作或机器人通过所用感温变色油墨材料的颜色变化提示给用户一个温度区间,比如机器人告知用户此时机器人处于的环境、抓取的物体为冰冷、凉、温、热等状态,从而使用户做出更正确的判断。In summary, the device of the present invention enables the robot to obtain the temperature, texture and three-dimensional contact force information of the surface of the contact object during operation. These auxiliary information improve the precision of the robot's operation and make the robot more intelligent. The temperature sensing in the present invention can be used to assist the operation of the robot or the robot can prompt the user with a temperature range through the color change of the temperature-sensitive color-changing ink material used, for example, the robot informs the user of the environment the robot is in at this time, and the objects grasped are ice-cold and cool. , temperature, heat and other states, so that users can make more correct judgments.

Claims (7)

1. a kind of multi-modal tactile sensor based on heat discoloration ink material, including shell, which is equipped with figure As acquisition camera, transparent elastomer and multiple support construction components, and the transparent elastomer top protrudes from shell top Portion;Wherein, described image acquisition camera is connected by camera support plate and outer casing bottom;Midfoot support plate is adopted positioned at image Collect above camera and the shoulder by being fixed on outer casing bottom four corners supports, which is equipped with loophole;Institute State the transparent support block that the setting of midfoot support plate position upper surface is used to support transparent elastomer, the top surrounding of the transparent support block It is limited by middle part fixed plate, which is supported on side wall of outer shell;The lower part of the transparent elastomer is surrounded by Uniformly distributed photophore, and the photophore is supported by the middle part fixed plate;Camera lens, the midfoot support of described image acquisition camera Loophole, transparent support block and the equal common optical axis setting of transparent elastomer of plate position;
It is characterized in that, the transparent elastomer includes the transparent elastic made of transparent material dimethyl silicone polymer (PDMS) Body ontology, the upper surface which protrudes from cover top portion are coated with the heat discoloration ink material of two layers of addition silica gel Material is respectively formed the first heat discoloration layer and the second heat discoloration layer, for realizing the acquisition of temperature, texture and contact force information.
2. multi-modal tactile sensor according to claim 1, which is characterized in that the first heat discoloration layer is logical It crosses and uses the first heat discoloration ink material and mask plate with silica gel to smear shape in the transparent elastomer body upper surface At the 7*6 with a thickness of 0.1mm~0.3mm label lattice array;The second heat discoloration layer is by the mark point After array sizing, the second heat discoloration with silica gel that a layer thickness is 0.1mm~0.2mm is smeared in the label lattice array Ink material forms.
3. multi-modal tactile sensor according to claim 2, which is characterized in that the first heat discoloration ink material There are two transition intervals for material tool: at 65 DEG C, the following are yellow, are white after more than 65 DEG C;The second heat discoloration ink material There are four types of transition intervals for material tool: it is atropurpureus in 5 DEG C of temperature below, 5 DEG C~22 DEG C are purple, and 22 DEG C~45 DEG C are blue, 45 DEG C the above are whites.
4. multi-modal tactile sensor according to claim 2, which is characterized in that the transparent elastomer is in rectangular Body, long 20mm, width 20mm, high 7mm, each label 0.2~0.3mm of spot diameter, the spacing of adjacent marker point is 1mm.
5. multi-modal tactile sensor according to claim 1, which is characterized in that the coke of described image acquisition camera Away from for 13-18mm.
6. multi-modal tactile sensor according to claim 1, which is characterized in that the photophore using LED light and The total voltage of matched circuit board, the photophore is no more than 4V.
7. multi-modal tactile sensor according to claim 1, which is characterized in that the shell is closed rectangular small Box is formed by resin material through 3D printing, and length is respectively 45mm, 30mm, 23mm.
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