CN-122015947-A - Spliced multi-mode sensing module and mechanical equipment comprising same

Abstract

The invention discloses a spliced multi-mode sensing module and mechanical equipment comprising the same, wherein the sensing module comprises a bottom plate which is of a regular polygonal plate-shaped structure; the optical detection assembly comprises a photosensitive device and a light source device, a microphone arranged on a bottom plate, and an elastic shell arranged on the bottom plate and wrapping the optical detection assembly and the microphone, wherein a shielding structure is arranged on the inner wall of the elastic shell and is arranged between the photosensitive device and the light source device. The elastic shell deforms under the action of external force, the shielding structure can shield the light path between the photosensitive device and the light source device, so that the photosensitive device detects the light intensity change to indirectly detect the external force, the microphone can detect external vibration, fusion sensing of low-frequency acting force and high-frequency vibration is realized, and all the spliced multi-mode sensing modules can be spliced with each other and can be assembled in a modularized mode. The invention relates to the technical field of sensors.

Inventors

• LI YUNQUAN
• MO LIYAN
• FU SHILING

Assignees

• 华南理工大学

Dates

Publication Date

20260512

Application Date

20260113

Claims (10)

1. 1. A spliced multi-modal awareness module, comprising: A bottom plate which is a regular polygon plate-like structure; An optical detection assembly comprising a photosensitive device and a light source device, both of which are mounted on the base plate, the light source device being capable of emitting light to the photosensitive device; A microphone mounted on the base plate; The elastic shell is arranged on the bottom plate and covers the optical detection assembly and the microphone, a shielding structure is arranged on the inner wall of the elastic shell, the shielding structure is arranged between the photosensitive device and the light source device, and pressing the elastic shell can enable the shielding structure to shield a light path between the photosensitive device and the light source device; The optical detection assembly and the microphones are multiple in number, vibration is transmitted to the microphones through the elastic shell and the bottom plate, the spliced multi-mode sensing modules can be spliced mutually, and the bottom plates of the adjacent spliced multi-mode sensing modules are adjacent to each other.
2. 2. The spliced multimode sensing module of claim 1, wherein the base plate is of a regular hexagonal plate-like structure.
3. 3. The spliced multi-mode sensing module according to claim 2, wherein the elastic shell is of a regular hexagonal shell-like structure and is matched with the shape of the bottom plate, and the edge of the elastic shell is connected with the edge of the bottom plate.
4. 4. The spliced multimode sensing module of claim 1, wherein the elastic shell is a silica gel piece.
5. 5. The spliced multimode sensing module of claim 1, wherein the surface of the elastic shell is black.
6. 6. The spliced multimode perception module of claim 1, wherein the optical detection assembly and the microphones are distributed in a circumferential array about a body center of the base plate.
7. 7. The spliced multimode sensing module of claim 6, wherein the optical path in each of the optical detection assemblies passes through the body center of the base plate.
8. 8. The spliced multimode sensing module of any one of claims 1-7, further comprising a circuit board, wherein the photosensitive device, the light source device and the microphone are integrated on the circuit board, and wherein the circuit board is fixedly connected with the base plate.
9. 9. The spliced multi-mode sensing module of claim 8, wherein a control system is arranged on the circuit board and is electrically connected with the photosensitive device, the light source device and the microphone for collecting optical and acoustic signals for comprehensive analysis.
10. 10. A mechanical device, comprising a mechanical body and a plurality of spliced multi-modal sensing modules according to any one of claims 1 to 9, wherein each of the spliced multi-modal sensing modules is spliced to each other and mounted on a surface of the mechanical body.

Description

Spliced multi-mode sensing module and mechanical equipment comprising same Technical Field The invention relates to the technical field of sensors, in particular to a spliced multi-mode sensing module and mechanical equipment comprising the same. Background At present, more and more mechanical equipment can be provided with a touch sensing device, and the touch sensing device can detect the magnitude, the action position and the action direction of external force, so that the mechanical equipment senses the external environment, and further corresponding actions are better performed. In particular in the field of robots, in order to achieve intelligent human-like behaviour, the robot must have a full perception of the external environment. The existing research is mainly focused on the tactile sensation at the tail end of the manipulator, so that the grabbing and operating capabilities are improved, and the large-area tactile sensation on other parts (such as the trunk and the limbs) of the robot is insufficient, so that the whole perception capability of the robot in a complex operation environment is limited, and the safety and the friendliness of man-machine interaction are difficult to fully guarantee. In addition, the current touch sensing device can only detect and sense low-frequency external force, but cannot respond to high-frequency vibration, so that mechanical equipment cannot carry out more detection and analysis on the external environment in more complex stress conditions, and collision and even damage can be caused when the mechanical equipment operates. Therefore, how to increase the haptic area of the sensing device and how to solve the problem of single sensing mode is one of the technical difficulties of the current sensing device that needs to be solved. Disclosure of Invention The present application aims to solve at least one of the above technical problems in the prior art. Therefore, the application provides the spliced multi-mode sensing module which can increase the touch area of sensing equipment to fully sense external force, and can detect low-frequency external force and high-frequency vibration and comprehensively analyze the stress condition. The application further provides mechanical equipment with the spliced multi-mode sensing module. According to an embodiment of the first aspect of the present application, a spliced multi-modal awareness module includes: A bottom plate which is a regular polygon plate-like structure; An optical detection assembly comprising a photosensitive device and a light source device, both of which are mounted on the base plate, the light source device being capable of emitting light to the photosensitive device; A microphone mounted on the base plate; The elastic shell is arranged on the bottom plate and covers the optical detection assembly and the microphone, a shielding structure is arranged on the inner wall of the elastic shell, the shielding structure is arranged between the photosensitive device and the light source device, and pressing the elastic shell can enable the shielding structure to shield a light path between the photosensitive device and the light source device; The optical detection assembly and the microphones are multiple in number, vibration is transmitted to the microphones through the elastic shell and the bottom plate, the spliced multi-mode sensing modules can be spliced mutually, and the bottom plates of the adjacent spliced multi-mode sensing modules are adjacent to each other. The spliced multi-mode sensing module at least has the advantages that the elastic shell deforms under the action of external force, the shielding structure can shield the light path between the photosensitive device and the light source device, the photosensitive device can indirectly detect the external force by detecting the change of light intensity, the external vibration can be detected through the microphone, the fusion sensing of low-frequency acting force and high-frequency vibration is achieved, the detection frequency band covers high frequency and low frequency, the spliced multi-mode sensing modules can be spliced with each other, modular assembly can be achieved, and the requirements of different working occasions are met. According to some embodiments of the application, the bottom plate is a regular hexagonal plate-like structure. According to some embodiments of the application, the elastic shell is in a regular hexagonal shell-like structure and is adapted to the shape of the bottom plate, and the edge of the elastic shell is connected with the edge of the bottom plate. According to some embodiments of the application, the elastic housing is a silicone piece. According to some embodiments of the application, the surface of the elastic shell is black. According to some embodiments of the application, the optical detection assembly and the microphones are distributed in a circumferential array around a body center of the base pl