Sensing system with different upper layers

{
  "publication_number": "US10359329B2",
  "country": "US",
  "kind": "B2",
  "title": "Sensing system with different upper layers",
  "abstract": "A structure which detects the application point, intensity and area of the force and the pressure applied, along with the touch, and the forces applied in vertical direction to the sensor as well as the combined forces, which has reduced power consumption. The sensing system has an intermediate layer; a light source located under the intermediate layer; an image sensor located under the intermediate layer; a first fiber optic bundle; a second fiber optic bundle; a control unit which analyzes the image captured by the image sensor using image processing techniques; and a data link for data communication between the image sensor and the control unit.",
  "claims": [
    "1. A sensing system (S) that detects touch, comprising: at least an intermediate layer (1); at least an upper layer (4) located on the intermediate layer (1); at least one light source (2) located under the intermediate layer (1); at least one image sensor (3) located under the intermediate layer (1); at least a first fiber optic bundle (5 a) which comprises a plurality of fiber optic cables positioned such that a tips of which is facing to the light source (2) and other tips of which is facing to the said intermediate layer (1), and which transmits the light obtained from the light source (2) to the upper layer (4) located on the intermediate layer (1); at least a second fiber optic bundle (5 b) which comprises a plurality of fiber optic cables, a tips of which is paired with at least one pixel of the image sensor (3) and other tips of which is positioned facing to the said intermediate layer (1), and which transmits the image of the upper layer (4) located on the intermediate layer (1) to the image sensor (3); at least one control unit which analyzes the image captured by the image sensor (3) using image processing techniques so as to calculate a force applied on the intermediate layer (1); and at least a data link (6) for data communication between the image sensor (3) and the control unit characterized in that the said upper layer (4) comprises a polarized film or a piezochromic material as a material that changes color with force.",
    "2. A sensing system (S) according to claim 1, characterized in that the said upper layer (4) comprises at least one pattern (7).",
    "3. A sensing system (S) according to claim 2, characterized in that the said pattern (7) is in the form of a chess board.",
    "4. A sensing system (S) according to claim 1, characterized in that the said piezochromic material is reversible.",
    "5. A sensing system (S) according to claim 1, characterized in that the said upper layer (4) comprises a first layer positioned at its side close to the surrounding environment and a second layer positioned at its side distant to the surrounding environment and containing an irreversible piezochromic material.",
    "6. A sensing system (S) according to claim 5, characterized in that the said first layer comprises a reversible piezochromic material.",
    "7. A sensing system (S) according to claim 1, characterized in that the upper layer (4) comprises at least an outer layer (8); at least an elastic element (9) positioned under the outer layer (8); and a plurality of obstacles (10) positioned in the elastic element (9) and which are in the form of a light-proof particle such that its color is different from the outer layer (8).",
    "8. A sensing system (S) according to claim 7, characterized in that the said elastic element (9) is in the form of a gel.",
    "9. A sensing system (S) that detects touch, comprising: at least an intermediate layer (1); at least an upper layer (4) located on the intermediate layer (1); at least one light source (2) located under the intermediate layer (1); at least one image sensor (3) located under the intermediate layer (1); at least a first fiber optic bundle (5 a) which comprises a plurality of fiber optic cables positioned such that a tips of which is facing to the light source (2) and other tips of which is facing to the said intermediate layer (1), and which transmits the light obtained from the light source (2) to the upper layer (4) located on the intermediate layer (1); at least a second fiber optic bundle (5 b) which comprises a plurality of fiber optic cables, a tips of which is paired with at least one pixel of the image sensor (3) and other tips of which is positioned facing to the said intermediate layer (1), and which transmits the image of the upper layer (4) located on the intermediate layer (1) to the image sensor (3); at least one control unit which analyzes the image captured by the image sensor (3) using image processing techniques so as to calculate a force applied on the intermediate layer (1); and at least a data link (6) for data communication between the image sensor (3) and the control unit characterized in that the said upper layer (4) comprises a phosphor and/or any other material that stores a part of the light in itself but proceeds to emit light when the light coming from the light source is cut off.",
    "10. A sensing system (S) that detects touch, comprising: at least an intermediate layer (1); at least an upper layer (4) located on the intermediate layer (1); at least one light source (2) located under the intermediate layer (1); at least one image sensor (3) located under the intermediate layer (1); at least a first fiber optic bundle (5 a) which comprises a plurality of fiber optic cables positioned such that a tips of which is facing to the light source (2) and other tips of which is facing to the said intermediate layer (1), and which transmits the light obtained from the light source (2) to the upper layer (4) located on the intermediate layer (1); at least a second fiber optic bundle (5 b) which comprises a plurality of fiber optic cables, a tips of which is paired with at least one pixel of the image sensor (3) and other tips of which is positioned facing to the said intermediate layer (1), and which transmits the image of the upper layer (4) located on the intermediate layer (1) to the image sensor (3); at least one control unit which analyzes the image captured by the image sensor (3) using image processing techniques so as to calculate a force applied on the intermediate layer (1); and at least a data link (6) for data communication between the image sensor (3) and the control unit characterized in that the upper layer (4) partially transmits light."
  ],
  "description_excerpt": "The present invention relates to sensing systems that are used especially in robotic systems.\n\nIn order to explore those areas which may be dangerous for human (for example, different planets, underground tunnels or caves), exploration robots are used. Exploration robots comprise various sensors for detecting objects in the area they are sent and for identifying the characteristics of the said objects. One of the sensors used in the said exploration robots is tactile sensors. By means of the tactile sensors, presence of certain objects and some physical features thereof such as pressure can be detected.\n\nThe conventional tactile sensors comprise a light source positioned under an elastic surface and a light sensing element for sensing the amount of the light reflected from the said surface, as disclosed in US2010155579A1. In such tactile sensors, when a force is applied on the elastic surface, the said surface approaches to the light source and the light sensing element. As a result of such approach, the amount of light incident on the light sensing element increases. The amount of light sensed by the light sensing element and resilience properties of the surface are used to calculate the amount of force applied to the surface. However, in this embodiment, the number of light sources that may be positioned under the unit surface and of the light sensing elements are limited, and it is cumbersome to process data received from a high number of light sensing elements.\n\nSaid problems are solved by a module disclosed in WO2014011126A1.",
  "cpc": [
    "B25J 13/084",
    "G01L 1/242",
    "G01L 1/248",
    "G01L 5/228",
    "G06F 3/0414",
    "G06F 3/0416",
    "G06F 3/042"
  ],
  "ipc": [
    "G01L 1/24",
    "G01L 5/22"
  ],
  "assignees": [
    "Sensobright Industries LLC"
  ],
  "inventors": [
    "Utku Buyuksahin"
  ],
  "filing_date": "2017-04-27",
  "publication_date": "2019-07-23",
  "grant_date": "2019-07-23",
  "priority_date": "2016-05-13",
  "application_number": "US-201716085888-A",
  "family_id": "59285310",
  "cited_by_count": 3,
  "citations": [
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    "WO2014011126A1",
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  ]
}