Data processing method for robot tactile sensing information syncretizing

A tactile sensing and data processing technology, applied in the field of robotics, to ensure accuracy and reliability, reliable estimation and judgment, and improve spatial resolution and clarity.

Inactive Publication Date: 2008-06-18
CHONGQING UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] Aiming at the above-mentioned deficiencies in the existing robotic tactile sensing clothing sensing data processing methods, the purpose of the present invention is to provide an information fusion data processing method for robotic tactile sensing clothing, which can solve the proble

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  • Data processing method for robot tactile sensing information syncretizing
  • Data processing method for robot tactile sensing information syncretizing
  • Data processing method for robot tactile sensing information syncretizing

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Embodiment Construction

[0027] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0028] Fig. 1 is a schematic diagram of the principle of the present invention. These include robotic sensing clothing, sampling and scanning circuits, signal conditioning circuits, data acquisition cards and computers. The main part of the tactile clothing sensor system adopts a block array type, that is, the entire tactile clothing is divided into several array blocks, and the row and column leads of each block sensor are connected to the core component of the sampling scanning circuit - the multi-channel analog switch. block selection (analog switch block selection signal is generated by the host computer installed with NI’s PCI-6259 multi-function data acquisition card), and then the voltage signal of each sensing unit in the selected block sensor is sequentially sent to the The signal conditioning circuit, and then use the data acquisition card to colle...

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Abstract

The invention discloses a robot dress tactile sensing, information fusion and data processing method, including the following steps: 1) build up a robot dress tactile sense database in a computer; 2) acquire the data: a data acquisition card collects the data from all the sensors on the robot dress; 3) pre-treat the data in the buffers of the sensors; 4) compensate the sensor data; 5) amalgamate the sensor data; 6) display the amalgamates sensor data in a two or three dimensional image. In this way, the contour figure of the contactant and the pressure distribution at the contact face can be obtained. The invention can estimate and judge more precisely, more thoroughly and more reliably than a single sensor, can improve the spatial decomposition capability of the whole body of the robot, the definition, the measurement precision of the robot sensing image, classification precision and reliability, can improve interpretation and dynamic monitoring abilities, can reduce ambiguity and effectively increase the utility rate of the tactile data.

Description

technical field [0001] The invention relates to a fusion data processing method of tactile sensing information of robot clothing, which belongs to the technical field of robots. The invention uses the tactile signal acquired by the tactile sensor of the robot clothing through an information fusion algorithm to obtain the two-dimensional and three-dimensional distribution data of the position of the contact object and the contact pressure. Background technique [0002] The principle of robot haptics is to contact or interact with the recognized object through the tactile sensor to complete the perception of the surface characteristics and physical properties of the object. Robot tactile sensing clothing refers to clothing-type tactile sensors distributed throughout the robot, which can be cut and sewn according to the shape of the robot, and can be worn on the robot to sense environmental information. Its main features are the large flexibility of the tactile surface, the un...

Claims

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Application Information

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IPC IPC(8): A41H1/00G06F17/30G06F17/40G06F3/05
Inventor 郭兵秦岚邓达强王东升许斌
Owner CHONGQING UNIV
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