机器人触须传感器的研究及应用  

Research and Application of Robot Whisker Sensor

作　　者：李明义[1] 谷安[1] 郑汉卿[1] 

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《自动化技术与应用》2015年第9期44-47,共4页Techniques of Automation and Applications

摘　　要：啮齿类动物能够利用触须实现物体识别和避障,为此设计了一种柔性触须传感器。触须传感器利用位置探测器PSD作为传感元件,输出信号经调理电路转换成电压信号。触须传感器标定实验建立了光点位移与输出电信号之间的函数关系。利用传感器扫描物体,输出信号传送给计算机进行分析处理,计算出接触点的位置,实现物体轮廓的重建。实验证明了该方法具有可行性。Rodents can use their tentacles to recognize objects and avoid obstacle, for this reason a flexible whisker sensor is designed. The whisker sensor uses position detector PSD as sensing component, and its output signal is converted into voltage signal by conditioning circuit. In this paper the calibration experiment of the whisker sensor establishes the function relationship between the light-spot displacement and the output signal. Then the whisker sensor is used to scan object. The output signals are sent to the computer to process, then the location of the contact point can be gotten. So the object contour is reconstructed. The feasibility of the method is tested by experiment.

关 键 词：移动机器人 触须传感器 PSD 轮廓识别 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]