| Tactile is a perception of interaction between robot and its external environment, the robot can sense the external environment information through the tactile function. Tactile sensing system has become one of standard features of high-level intelligent robot. It is the key technology of tactile sensing suit for covered all the robot body. By means of sensing suit owned similar human skin, it can judge that whether the robot touches to the external object, and measure the pressure between robot and touched object as well as space distribution characteristic of pressure, and judge the outline of touched object so as to let robot accomplish more complex task. Therefore the study on suit of robot sensing with large area and processing with large-scale sensing signal is the puzzle and hot point in research on robot tactile.In this paper, aimed at the puzzle that are not solved in the tactile sensing array with both outstanding flexility of material and measure information of pressure distribution, it has been completed for innovative research to the preparation technology of robot sensing suit, and signal processing of sensor with large-scale array and so on. The research work has obtained the following innovative results.①Developed a new conductive material of tactile sensing array based on both basic material of conductive rubber and owned outstanding flexility. By means of mechanism experiment, it obtained the characteristic of voltage and resistance as well as 3D relation characteristic among temperature and pressure and resistance under the condition of different mixed consistence for new conductive material. It provided the foundation of technical theoretical support for data processing of sensing clothing.②Developed a sort of novel robot sensing suit owned the property with being large in contact area, better in flexibility, adjustable in resolution and being able in sewing and pruning, And also constructed a sort of novel acquisition and procession system for information. In which, the hardware adopts scanning manner of row and column to capture sensing signal, and its voltage mirror scan circuit can avoid to produce false signal.③Presented a sort of novel fusion algorithm of multi-sensor information processing, in which the algorithm is based on stat characteristic of condition probability and has the data compensation function. It can enhance the intelligent judge ability and information utilization efficiency, strength the data reliability and system viability, and extend time and space coverage.④Presented a sort of novel fusion method of large-scale sensing signal based on BP neural network. It can effectively eliminate the impact, such as environmental temperature and voltage disturbance and other non-target parameters and cross interfering among large-scale sensor signals, of output characteristic for sensing clothing pressure sensor, and enhance stability and reliability of pressure sensing.⑤Presented a sort of recognition method of normalized rotation inertia feature based on outline of touch object of reconstruction robot, and established the fuzzy cognitive map model of tactile sensing data processing for robot clothing, and gave the steps of corresponding reasoning operation. By means of cognitive map operation, the robot can determine the reaction behavior for touch object activating, find the obvious causality among important factors in the perceptive process of sensing clothing. Finally it validated that the fuzzy cognitive map can be as a computing platform, and it is suitable for the whole process data processing of robot perception clothing.In summary, aimed at the robot sensing clothing and data processing, it developed robot tactile sensing suit, and presented the architecture of data processing and processing method of correlated signal in the paper. Theoretical analysis and experimental results show that the system is reasonable and feasible, it can realize to achieve tactile sensing information effectively and accurately, and enhance the robot's perception.
|
PDF Full Text Request