• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:

    公开号:WO1984003855A1
    申请号:PCT/EP1984/000094
    申请日:1984-04-04
    公开日:1984-10-11
    发明作者:Ming-Yee Chiu；Constantine J Tsikos
    申请人:Siemens Ag；
    IPC主号:G01L1-00
    专利说明:
    [0001] 2-D PRESSURE IMAGING SYSTEM
    [0002] BACKGROUNO OF THE INVENTION
    [0003] This invention relates to the use of optics to define an object contacted by a sensor device.
    [0004] Existing methods of defining an object contacted by a sensor device utilize electrical transducers. Such transducers are complex, inherently expensive and prone to failures especially when used in a manufacturing environment.
    [0005] SUMMARY OF THE INVENTION
    [0006] It is an object of this invention to provide inexpensive but highly reliable apparatus for defining the configuration of an object.
    [0007] It is a further object of this invention to provide apparatus for a robotic device to identify objects it contacts.
    [0008] It is a further object of this invention to provide apparatus for part idsntification in a manufaeturing environment.
    [0009] This invention represents a major advance in the area of pressure imaging because it utillzes a novel arrangsment of optical components to acnievs a high resolution description or picture of an cojeet at very low cost.
    [0010] The simplicity ofdesign, comparsd to other electrical methods of oefining an object, means high reliability because there ars fe-w parts to fail. Additionally , any repairs that are needed can be performed quickly resulting in a significant increase in operating time as compared to electrical Systems which are inherently more complex and therefore, require mere expertise and time to repair. The high reliability and simplicity of the invention make it well suited to a manufacturing environment where it can be incorporated into a robotic device or used as a part identification system.
    [0011] In general, the invention features, in one aspect, a pressure imaging system for describing the configuration of an object brought in contact with the system. The system includes means for producing collimated light, an optical beam Splitter which is arranged to receive the collimated light, a sensor plate, which is light transparent, flexible and located adjacent to the beam Splitter so that the collimated light reaches the plate after the light passes througn the beam Splitter, a matrix in contact with the sensor plate whicn has a flexible top surface and a rough undersurface which is in contact with the sensor plate, and is arranged so the object can be brought in contact with the top surface of the matrix to deform the matrix, means for receiving the light reflected by the top surface of the sensor plate, and means for determining the configuration of the object based on the reflected light.
    [0012] In preferred embodimencs, the means for producing collimated light includes an incandescent light bulb and a lens; the beam splitter is cuöe shaped; the beam splitter is made of glass; the beam splitter includes a diagonal interface which bisects the splitter along a diagonal plane όf the splitter; the sensor plate is a silicone elastomer; tne matrix is a silicone elastomer witn a flat top surface and a plurality of pyramidal projections on its undersurface; the means for receiving reflected light includes a photodetector airay, such as CCD camera or vidicon which determines the configuration of the object based on the distribution of the reflected light; the focusing lens receives the reflected light, and focuses the light on the photodetector array; the photodetector provides means for converting the two dimensional lignt distribution into electric signals for determining the configuration of the object; means for producing a video display of the object, created from the electric signals.
    [0013] In another preferred embodiment, the system includes means for producing a video display of the object created from the electric signals.
    [0014] In anotner preferred embodiment, the pressure imaging system is an integral part of the contact surface of apparatus for contacting objects, which can determine the configuration of the object contacted; the apparatus is an integral part of a robotic device.
    [0015] Other features and advantages of the invention will be apparent from the following description of the preferred embodiments, and from the claims.
    [0016] For a füll understanding of the present invention, reference should now be made to the following detailed description of preferred embodiments of the invention ano to the accompanying drawings.
    [0017] BRIEF DESCRIPTION OF THE DRAWINGS
    [0018] Fig. 1 is a diagrammatic view of the preferred embodiment.
    [0019] Fig.2 is a diagrammatic view of the preferred embodiment that is in contact with an object.
    [0020] Fig. 3 is an enlarged diagrammatic view of the matrix shown in Fig. 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
    [0021] A preferred embodiment of the invention will now be described with reference to the drawings.
    [0022] Referring to Fig. 1, a pressure imaging system is shown. The system has light source 10 which provides light beam 11 that passes through and is collimated by lens 12. The light source can be an incandescent light bulb or a light emitting diode.
    [0023] Collimated light beam 14 strikes mirror 16 and is reflected as a parallel heam into beam splitter 18. The beam splitter is typically glass with a diagonal interface 20 bisecting it.
    [0024] The light beam entering the beam splitter strikes interfacs 20, which reflects part of the incident light 22 to the left side of the beam splitter and passes remaining light 24 through to the top of the splitter. Light 22 is absorbed by black surface 26.
    [0025] Lignt 24 passes through sensor plate 28, which is a transparent silicone elastomer or rubber located on top of the beam splitter.
    [0026] The lignt strikes contact surface 30, which is the upper surface of the sensor plate.
    [0027] The contact surface reflects the impinging lignt back to interface 20 as reflected light 32. The interface directs reflected light 32 to lens 34 which focuses the light onto photodetector array 36.
    [0028] The photodetector develops electrical signals from the light that correspcnd to the amount of impinging light. Matrix 42, consisting of numerous flexible projections 44 connected by top surface 46, rests on contact surface 30. The top surface must be very thin and flexible so that deformation of an area of the surface in response to placement of an object on that area has only minimal effect on the surrounding surface area.
    [0029] Typically, this matrix is made of silicone elastomer with a flat top surface and an undersurface consisting of a regular two-dimensional array of many small pyramids. The spatial density of the pyramids determines the resolution of the pressure Image.
    [0030] A typical matrix has dimensions of one inch by one inch, and a thickness of two to three millimeters, with a 100 by 100 array of pyramids on its undersurface.
    [0031] Referring to Figs. 2 and 3, the Operation will now be described in detail.
    [0032] An ooject will come in contact with surface 46 and the surface will oeform in relationship to the object. Sensor plate 28, whose upper contact surface 30 is in direct contact with matrix 47. will also deform. The deformation of the sensor plate will be in ccnformance with the deformation of the matrix. Soth matrix 42 and sensor plate 28 are shown in their deformed positipns in Figs. 2 and 3. Both the sensor plate and the matrix will return to undeformed positions when contact with the object ends.
    [0033] If the matrix has a rough underside created by numercus points 44, the deformed portion of the sensor plate will conform to this rough unoerside and light striking the deformed area will be scattered by the rdughness of the surface. This scattering will reduce the amcunt of light 32 reflected to interface 20 by the deformed portions of sensor 28. Light 32 reflected by the undeformed portions of the sensor plate will be reflected directly without any substantial scattering, and therefofe, it will be of greater intensity than the scattered light that is reflected.
    [0034] Referring to Fig. 3, light 32 reflected by the deformed portion of sensor 28 is shown in more detail.
    [0035] Portion 48 of upper contact surface 30, located between adjacent projections, provides an optically smooth concave surface which concentrates reflected light 32 at point A.
    [0036] Light striking porticn 50 of the upper contact surface, which is in contact with a projection 44, is scattered so this portion of reflected light 32 is of lesser intensity than the light reflected by portion 48 of the sensor plate.
    [0037] Reflected light 32 is directed by interface 20 to lens 34 which focuses the light onto various portions of the photodetector array.
    [0038] Using conventional techniques the photodetector array produces electric Signals in response to the incident light, which are proportional to the amount cf lignt incident on portions of the phόtooetector.
    [0039] Tnese Signals are reiated to the defdrmation of sensor plate 28, and therefore, tney are proportional to the pressure distribution createo across the sensor plate by the object placed on it. Photodetector Output 38, created from these signals, can be used to define the size and shape of the object placed on the sensor plate, and to produce a video image of tne object on a conventional cathode ray tube display (not snown) . The pressure image obtained directly from photodstector array 36 is a regular array of dots, with each dot corresponding to one point of contact of a projection's pin-head with the sensor plate. Because the contact area between the peak of the projection and the top surface of the sensor plate is approximately proportional to the pressure exerted on the projection, the dots have variable area, which define the pressure Variation applied to the matrix. Therefore, the pressure Information is encoded in the area of the resulting image. This kind of area-modulation image is commonly called a "nalf-tone" image, and it is just like a picture printed on a newspaper.
    [0040] If a continuous tone pressure image is desired rather than the half-tone image, we can smear the image by oefocusing it. This is acccmplished by moving lens 34 so the image becomes slightly out of focus so that the regular pattern of dots will become a gray scale image which corresponds to the pressure Variation. Essentiaiiy, this is a conventional spatial low pass filtering Operation.
    [0041] in a preferred embddiment the pressure imaging system can be incorporated inte the fingertip of a robot's hand such that sensor plate 28 is located on the exterior surface of the flngertip.
    [0042] When the fingertip comes in contact with an object, the sensor plate will deform and the robot will be able to use Output 38 to determine the objects configuration based on tne pressure distribution createc across the sensor.
    [0043] In another emoodiment the photodetector Output can be used to display a vioeo image of the object on a cathode ray tube display
    [0044] (not snown) using conventional techniques, for the identification of parts in a manufacturing environment. There has thus been shown and described a novel apparatus for a pressure imaging system which fulfills all the objects and advantages sought therefore. Many changes, modificatlons, variations and other uses ano applications of the subject invention will, however, become apparent to those skilled in the art after considering this specification and the accompanying drawings which disclose preferred embodlments thereof. All such changes, modificatlons, variations and other uses and applications which do not depart from the spirit and scope of the Invention are deemed to be covered by the invention which is limited only by the Claims which follow.
    权利要求:
    ClaimsCLAIMSWhat is Claimed is:
    1. A pressure imaging system for describing the configuration of an object brought in contact with the system, comprising:
    a) means for producing collimated light;
    b) an optical beam splitter, said splitter being arranged to receive said collimated light;
    c) a sensor plate, said plate being light transparent and flexible, and located adjacent said beam splitter so that said collimated light reaches said plate after said light passes through said beam splitter;
    d) a matrix in contact with said sensor plate, said matrix comprising a flexible top surface and a plurality of projections on its undersurface, said undersurface oeing in contact witn said sensor plate, and said matrix being arranged so said object can be brought in contact with said top surface of said matrix to deform said matrix;
    e) means for receiving said lignt reflected by the top surface of said sensor plate; and
    f) means for determining the configuration of said doject basec on said refiected light.
    2. The system of Claim 1, wherein said means for producing colllmated light comprises an incandescent light bulb and a leas.
    3. The system of Claim 1, wherein said beam splitter is cube snaped.
    4. The system of claim 1, wherein said beam splitter is made of glass.
    5. The system of claim 3, wherein said beam splitter comprises a diagonal interface which bisects said splitter along a diagonal plane of saio splitter.
    6. The system of claim 1, wherein said sensor plate is a silicone elastomer.
    7. The system of claim 1, wherein said matrix is silicone elastomer with a flat top surface and a plurality of pyramidal projections on its undersurface.
    8. The system of claim 1, wherein said matrix comprises a cloth material with a smooth top surface and uniformly rough undersorface.
    9. The system of claim 1, wherein said means for receiving reflected light comprises a photodetector array which determines the configuration of said object based on the distribution of said reflected light.
    10. The System of claim 9, wherein said focusing lens receies said reflected light, and focuses said light dn said photodetector array.
    11. The system of claim 9, wherein said pnotcdetector array prcvides means for ccnverting said lignt distribution into electric signals for determining the configuration of said object.
    12. The System of claim 11, further comprising means for producing a video display of said object, said display being created from said eiectric signals.
    13. Apparatus for contacting objects comprising said system of claim 1 as an integral part of the contact surface of said apparatus, enabling said apparatus to determine the configuration of said object contacted.
    14. The apparatus of claim 13 , wherein said apparatus is an integral part of a robotic device.
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    同族专利:
    公开号 | 公开日
    EP0121904B1|1988-07-20|
    AT35794T|1988-08-15|
    AU558745B2|1987-02-05|
    AU2818384A|1984-10-25|
    DE3472772D1|1988-08-25|
    EP0121904A1|1984-10-17|
    JPS60501379A|1985-08-22|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE691431C|1937-05-05|1940-05-25|Gertrud Graeper|Vorrichtung zum Kenntlichmachen der Trittspur eines menschlichen Fusses|
    US3966326A|1974-03-29|1976-06-29|Ramot University Authority For Applied Research & Industrial Development Ltd.|Method and apparatus for indicating or measuring contact distribution over a surface|WO2020051458A1|2018-09-06|2020-03-12|Gelsight, Inc.|Retrographic sensors|FR2267735B1|1974-04-17|1977-07-08|Anvar||US4964302A|1984-09-25|1990-10-23|Grahn Allen R|Tactile sensor|
    EP0195873B1|1985-03-28|1989-11-08|THE GOODYEAR TIRE & RUBBER COMPANY|Verfahren zur Bildung eines farbabgestuften Bildes von einem Schwarz-weiss abgestuften Bild, und insbesondere Verfahren zur Herstellung einer farbgestuften isobaren Darstellung einer Druckverteilung|
    SG96541A1|1997-08-14|2003-06-16|Inst Of Microelectronics|Design of a novel tactile sensor|
    JP6443946B2|2014-06-03|2018-12-26|学校法人沖縄科学技術大学院大学学園|光弾性に基づいて力を取得するシステム及び方法|
    法律状态:
    1984-10-11| AK| Designated states|Designated state(s): AU JP |
    优先权:
    申请号 | 申请日 | 专利标题
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