Multiple node tree structure artificial vibrissa proximity-sensing sensor

Abstract

This invention relates to a kind of multi-node tree structure and labor palp approaching sense transduction cell, belong to mechanical technique region. This invention includes coder and elastic medium dry node, tree form limb, anterior branch, anterior branch node with coder and elastic medium, posterior branch, posterior branch node with coder and elastic medium; the dry node with coder and elastic medium fit on the terminal of tree form limb; anterior branch via anterior branch node with coder and elastic medium to connect with tree form limb; posterior branch via posterior branch node with coder and elastic medium to connect with tree form libm; dry node, anterior branch node and posterior branch node via CAN bus connect. This invention can accord demand expediently set transducer precision. At the same time it avoid the complex construction of tradition palp root and processing algorithm to transmit signal, widely depress cost and micromation difficulty, and can insure operational reliability.

Description

technical field [0001] The invention relates to a sensing unit in the technical field of sensors, in particular to a multi-node tree structure artificial tentacles proximity sensing unit. Background technique [0002] Robots need to have sensors to detect and recognize objects in the external environment. Currently, vision sensors are the most common choice. But in a variety of harsh environments, such as dark, muddy environments, fog or underwater environments, tactile sensors have become the first choice. Compared with visual sensors, tactile sensors are much simpler in structure and less expensive. Artificial whiskers are currently more commonly used sensing devices. The existing whisker sensors judge the position and contour of the contact object by recording the tiny displacement of the whisker root due to the contact with the object. However, the displacement of the root of the tentacles is a small and rapidly changing two-dimensional signal, which requires a high sa...

AI Technical Summary

Problems solved by technology

The working process of this kind of whisker sensor depends on the acquisition and analysis of a large amount of experimental data. The data is highly discrete. The production of the sensor, especially the manufacturing process of the tentacles, and the experimental objects will have a great impact on the experimental results. Material selection, sensor calibration and data processing all put forward high requirements, which limit its prospect of being put into a large number of applications as a product

Images