CN-121614037-B - Haptic sensation system and method, electronic device, storage medium, and program product

Abstract

Embodiments of the present disclosure provide haptic sensation systems and methods, electronic devices, storage media, program products. The touch perception system comprises a contact component, a projection component, an acquisition component and a processing component, wherein the contact component is configured to be contacted with an external object and generate deformation, the projection component is configured to project an active light field with time modulation characteristics to a first surface of the contact component, the active light field is projected on the first surface to form a plurality of pattern areas, the light intensity of the adjacent pattern areas is changed based on different time sequence codes, the first surface faces away from a second surface, which is contacted with the external object, of the contact component, the acquisition component comprises a plurality of acquisition units which are arranged in an array mode and are configured to acquire the plurality of pattern areas, and a time mark acquisition data sequence is output.

Inventors

• DENG JIAN
• CHEN LIMING
• LIU CHANG
• CHEN QIYUE

Assignees

• 深圳锐视智芯科技有限公司

Dates

Publication Date

20260512

Application Date

20260202

Claims (20)

1. 1. A haptic sensation system, comprising: a contact assembly configured to be capable of contacting and deforming with an external object; A projection component configured to project an active light field having a time modulation characteristic onto a first surface of the contact component, the active light field being projected on the first surface to form a plurality of pattern areas, light intensities of adjacent ones of the pattern areas varying based on different time series codes, the first surface facing away from a second surface of the contact component in contact with the external object; An acquisition assembly comprising a plurality of acquisition units arranged in an array and configured to acquire a plurality of the pattern areas and output a time-stamped acquisition data sequence, and A processing component configured to perform at least part of: acquiring a data sequence based on the received time mark, and obtaining an observation coding sequence of each acquisition unit; Identifying a plurality of the observed coding sequences to determine the time sequence codes to which the observed coding sequences belong; reconstructing a three-dimensional topography of the contact assembly on one side of the first surface based on the time series code corresponding to each of the acquisition units; Inverting a pressure distribution of the external object acting on the contact assembly based on the reconstructed three-dimensional topography, and Haptic data is output based on the pressure profile.
2. 2. The system of claim 1, wherein the haptic data comprises at least one of the following: contact state information of the contact assembly and the external object; Pressure distribution information of the external object acting on the contact assembly; A total normal force of the external object acting on the contact assembly; Shear force of the external object acting on the contact assembly, and Slip information of the external object relative to the contact assembly.
3. 3. The system of claim 1, wherein the processing component is further configured to: And processing the time-stamped acquisition data sequence through a spatial intersection algorithm based on fixed position parameters between the projection assembly and the acquisition assembly, and reconstructing the three-dimensional morphology.
4. 4. The system of claim 1, wherein the projection assembly is further configured to: The light intensities of two of the pattern areas spatially greater than or equal to a predetermined distance are varied in accordance with the same time-series code.
5. 5. The system of claim 1, wherein the projection assembly is further configured to: A hamming distance between the time-series encodings corresponding to the adjacent pattern regions is set to be greater than or equal to a predetermined threshold.
6. 6. The system of claim 1, wherein the processing component is further configured to: screening the received time-stamped acquisition data sequences before obtaining the observation code sequence of each acquisition unit, comprising: Counting the acquired data of each acquisition unit in the coding period of the time series coding, and Excluding the acquisition units whose counts of the acquired data are below a response rate threshold to form an acquisition unit set for subsequent processing.
7. 7. The system of claim 1, wherein the contact assembly comprises: An outer layer for receiving contact of the external object and including the second surface, and An inner layer laminated with the outer layer and including the first surface, Wherein the inner layer comprises at least one of a diffuse reflective layer, a scattering layer having a microstructure, a deformable speckle layer, and a texture having anisotropic optical characteristics.
8. 8. The system of claim 7, wherein the contact assembly further comprises: an intermediate layer between the outer layer and the inner layer, Wherein the hardness of the intermediate layer near the outer layer is less than the hardness of the intermediate layer near the inner layer, and The hardness of the intermediate layer increases in a gradient.
9. 9. The system of claim 1, wherein the system has a first mode of operation and a second mode of operation, and wherein the material of the contact assembly comprises a light transmissive material, Wherein in the first mode of operation the processing component is further configured to detect a change in light intensity transmitted to the side of the first surface via the light transmissive material based on the time-stamped acquisition data sequence, and And responding to the change of the light intensity to meet a preset condition, triggering the system to switch to the second working mode so as to enable the projection component to project the active light field to the first surface.
10. 10. The system of claim 1, wherein the active light field comprises: and the pattern of the structured light is at least one selected from speckle patterns, stripe patterns, gray code patterns and binary lattice patterns.
11. 11. The system of claim 1, wherein the system further comprises: a timing control module integrated in the projection assembly, the acquisition assembly, or the processing assembly and configured to align the timing of the time-stamped acquisition data sequence with the timing of the time-series code.
12. 12. A method of haptic perception, comprising: Projecting an active light field with time modulation characteristics to a first surface of a contact assembly by a projection assembly, wherein the active light field is projected on the first surface to form a plurality of pattern areas, the light intensity of the adjacent pattern areas is changed based on different time series codes, and the first surface is opposite to a second surface, which is contacted with an external object, of the contact assembly; collecting a plurality of pattern areas by a collecting assembly and outputting a time mark collecting data sequence, wherein the collecting assembly comprises a plurality of collecting units arranged in an array, and Based on the received time-stamped acquisition data sequence, performing at least part of: acquiring a data sequence based on the received time mark, and obtaining an observation coding sequence of each acquisition unit; Identifying a plurality of the observed coding sequences to determine the time sequence codes to which the observed coding sequences belong; reconstructing a three-dimensional topography of the contact assembly on one side of the first surface based on the time series code corresponding to each of the acquisition units; Inverting a pressure distribution of the external object acting on the contact assembly based on the reconstructed three-dimensional topography, and Haptic data is output based on the pressure profile.
13. 13. The method of claim 12, wherein reconstructing a three-dimensional topography of the contact assembly on one side of the first surface based on the time series encoding corresponding to each of the acquisition units comprises: And processing the time-stamped acquisition data sequence through a spatial intersection algorithm based on fixed position parameters between the projection assembly and the acquisition assembly so as to reconstruct the three-dimensional morphology.
14. 14. The method of claim 12, wherein the projecting, by the projection assembly, an active light field having time modulation characteristics onto a first surface of the contact assembly, the active light field being projected onto the first surface to form a plurality of pattern areas, the light intensity of adjacent ones of the pattern areas varying based on different time series codes, comprising: The light intensities of two of the pattern areas spatially greater than or equal to a predetermined distance are varied in accordance with the same time-series code.
15. 15. The method of claim 12, wherein the projecting, by the projection assembly, an active light field having time modulation characteristics onto a first surface of the contact assembly, the active light field being projected onto the first surface to form a plurality of pattern areas, the light intensities of adjacent ones of the pattern areas varying based on different time series codes, further comprising: A hamming distance between the time-series encodings corresponding to the adjacent pattern regions is set to be greater than or equal to a predetermined threshold.
16. 16. The method according to claim 12, wherein the method further comprises: screening the received time-stamped acquisition data sequences before obtaining the observation code sequence of each acquisition unit, comprising: Counting the acquired data of each acquisition unit in the coding period of the time series coding, and Excluding the acquisition units whose counts of the acquired data are below a response rate threshold to form an acquisition unit set for subsequent processing.
17. 17. The method of claim 12, wherein the material of the contact assembly comprises a light transmissive material, wherein the method further comprises: detecting a change in light intensity transmitted to the side of the first surface via the light-transmitting material based on the time-stamped acquisition data sequence, and And triggering the projection component to project the active light field to the first surface in response to the change of the light intensity meeting a preset condition.
18. 18. The method according to claim 12, wherein the method further comprises: The timing of the time-stamped acquisition data sequence is aligned with the timing of the time-series encoding.
19. 19. An electronic device comprising a processor and a memory having stored therein at least one instruction, at least one program, code set, or instruction set that is loaded and executed by the processor to implement the haptic sensation method of any one of claims 12 to 18.
20. 20. A non-transitory computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the haptic sensation method of any of claims 12 to 18.

Description

Haptic sensation system and method, electronic device, storage medium, and program product Technical Field Embodiments of the present disclosure relate to the field of robotic haptic perception and three-dimensional vision measurement, and more particularly, to haptic perception systems, haptic perception methods, electronic devices, non-volatile computer-readable storage media, computer program products. Background With the rapid development of emerging applications such as robotic operation, intelligent manufacturing, medical rehabilitation, virtual reality or augmented reality, the need for refined and dynamic tactile sensations between the end effector and the environment is becoming increasingly urgent. Taking robot operation as an example, the finger of the robot needs to detect whether the finger is in contact with an external object, and further needs to accurately sense the contact position and contact area of the external object, pressure distribution information, total normal force, shearing force and the like of the external object acting on the contact position, and further needs to accurately sense multidimensional information such as sliding trend, friction change and the like of the external object relative to the contact position. Therefore, a new haptic perception scheme that can achieve high frame rate, low power consumption, strong anti-interference capability and is highly sensitive to dynamic contact variation is needed in the industry, so as to improve the adaptability and reliability of intelligent devices such as robots in complex interaction tasks. Disclosure of Invention Embodiments of the present disclosure provide haptic sensation systems, haptic sensation methods, electronic devices, non-volatile computer-readable storage media, computer program products that may at least partially address the above-described problems or other problems in the art. In a first aspect, an embodiment of the disclosure proposes a haptic perception system, which includes a contact component configured to be capable of contacting an external object and generating deformation, a projection component configured to project an active light field with time modulation characteristics onto a first surface of the contact component, the active light field being projected onto the first surface to form a plurality of pattern areas, light intensities of adjacent pattern areas being varied based on different time series codes, a second surface of the first surface facing away from the contact component and contacting the external object, an acquisition component including a plurality of acquisition units arranged in an array and configured to acquire the plurality of pattern areas and output a time-stamped acquisition data sequence, and a processing component configured to perform at least part of acquiring an observation code sequence of each acquisition unit based on the received time-stamped acquisition data sequence, identifying the plurality of observation code sequences to determine a time series code to which the observation code sequence belongs, reconstructing a three-dimensional topography of the contact component on one side of the first surface based on the time series code corresponding to each acquisition unit, inverting a pressure distribution acting on the contact component based on the reconstructed three-dimensional topography, and outputting haptic distribution data based on the pressure distribution. In a second aspect, the embodiment of the disclosure provides a haptic sensation method, which comprises the steps of projecting an active light field with time modulation characteristics to a first surface of a contact component by a projection component, forming a plurality of pattern areas on the first surface by the projection component, enabling light intensities of adjacent pattern areas to change based on different time sequence codes, collecting the plurality of pattern areas by the collection component and outputting a time-stamp collection data sequence, wherein the collection component comprises a plurality of collection units distributed in an array, and based on the received time-stamp collection data sequence, executing at least part of steps of obtaining an observation code sequence of each collection unit based on the received time-stamp collection data sequence, identifying the plurality of observation code sequences to determine the time sequence code to which the observation code sequence belongs, reconstructing a three-dimensional shape of the contact component on one side of the first surface based on the time sequence code corresponding to each collection unit, inverting the pressure distribution of the external object acting on the contact component based on the reconstructed three-dimensional shape, and outputting haptic sensation data based on the pressure distribution. In a third aspect, an electronic device is provided, the electronic device comprising a processor, the p