Data processing method for robot tactile sensing information syncretizing

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...

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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 problem of large-area sensing units in robotic clothing. The problem of information acquisition and processing is to intelligently synthesize the data distributed in the whole body tactile sensor to produce more accurate, more complete and more reliable estimates and judgments than a single sensor

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