Research On The Application Of The Object Recognition Based On Whisker Sensor Array

Rodents can detect objects and avoid obstacles by their whiskers.According to the principle of bionics, a electromagnetic whisker sensor was designed in this paper.The ability of whisker sensor to recognize surface features was proved by simulations and experiments.Related work was conducted as follows:1.The mechanics model of whisker sensor was established,and the calculation formula of contact distance was deduced.A electromagnetic whisker sensor which was based on Hall element was designed.According to the characteristics of the output signal of whisker sensor,the signal conditioning circuit was optimized.The circuit board was made.The test of the signal processing system was carried out.2.The finite element model of whisker and object was established with LS-DYNA, objects were scanned by whisker at different distances.The simulation data was calculated and analyzed with the MATLAB software,the contour coordinate data was obtained.The feasibility and validity of the method were proved.3.The whisker sensor experiment system based on PC was established.Movement controlling of whisker sensor was realized,including stepper motor control and two axis worktable control. The data acquisition program was compiled with MATLAB software,the real-time acquisition,processing,displaying and saving of sensor data were achieved.4.Experiments of distance measurement and contour fitting of objects were finished,experiment showed that good measurement of objects can be realized by using the electromagnetic whisker sensor.Experiments of surface profile scanning with whisker array were finished,more acquisition signals were obtained,the speed of data collection was improved,experiments showed that whisker sensor system has high measurement and fitting precision.