| With the research and development of robotic technology,more and more service robots have been set in several areas of social life.The human-robot interaction has become an important research point of robotic area.The proximity sensor could make up the blind area of vision sensor,the collision in interaction can be avoided,and then the safety of human-computer interaction can be improved.In this paper,a dual-mode proximity sensor composed of inductive and capacitive sensing modes has been researched,which can help the robot distinguish different objects and obtain distance information at the same time.Based on the principle of capacitive and inductive sensors,the coplanar capacitor and planar coil have been researched.At first,the impact of important parameters on the performance have been analyzed,analytical relationship between proximity distance and sensor electrical quantity is constructed.Then finite element method was used to analyze the capacitance and inductance sensors,the influence mechanism of the structural parameters on the sensor performance and the proximity perceptual analytical model were verified by simulation results.Based on the theory of AC magnetic field shielding,determine the design of the sensor by optimizing the structural parameters,and a dual-mode capacitive-inductive proximity sensor was constructed.Then conduct experiments for dual-mode sensor cooperative and proximity sensing.The tests revealed that,the metallic and dielectric objects could be differentiated by dual-mode,in which the non-ferromagnetism metal can be distinguished by inductive mode and dielectric objects are differentiated by capacitive mode.And the sensing range of dual-mode sensor is 0 to 5.1 mm.By use of the designed sensor for robotic grasping applications,this sensor could distinguish between different bottles,and provide distance information from 0 to 4.0 mm.The researches of this paper provide a feasible solution for the robot electronic skin proximity sensor. |
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