Whisker sensor for perceiving three-dimensional force displacement and three-dimensional force of contact point

Abstract

The invention discloses a whisker sensor for perceiving three-dimensional force displacement and a three-dimensional force of a contact point. The whisker sensor is installed on a robot body, the whisker sensor comprises a cross elastic beam (1), strain gauges (8), a flexible whisker (3), a contact ball (4), a spring (7) and a sleeve (5), wherein the cross elastic beam (1) is of a hollow structure and comprises four elastic beams (2) arranged inside, a wheel rim and four wheel rim screw holes (6), the four elastic beams (2) are intersected in pairs to form an angle of 90 degrees and thus form a cross shape, and the upper surface, the lower surface, the left side surface and the right side surface are each provided with a strain gauge (8) in an adhesive mode; the four wheel rim screw holes (6) are symmetrically distributed at the upper surface of the cross elastic beam (1) for fixing the position of the sensor; and the flexible whisker (3) is installed at the center of the cross elastic beam (1). According to the invention, accurate positioning of a target object can be realized.

Description

technical field [0001] The invention relates to a whisker sensor, in particular to a flexible whisker sensor, capable of sensing three-dimensional force displacement and three-dimensional force and realizing precise positioning of a target. Background technique [0002] Robot perception technology is the basis and support for robot intelligent decision-making and control. How to perceive environmental information in an unknown environment, perform navigation, path planning and autonomous obstacle avoidance is becoming a new research hotspot. The main means of perceiving external information are vision, hearing, force and touch. At present, the main method for robots to perceive external information is to imitate the principle of human vision. However, in low visibility or dark conditions, relying solely on visual sensors can no longer meet the requirements. In this case, the tactile sensor came into being. [0003] Artificial tentacles are currently more commonly used sensi...

AI Technical Summary

Problems solved by technology

[0003] Artificial tentacles are currently more commonly used sensing devices. Most of the existing sensors are equipped with small motors or other driving devices at the end of the tentacles to scan objects and perceive the shape and contour information of objects. The disadvantage is that scanning takes a lot of time and cannot be used for high-speed walking. The robot provides enough information to avoid obstacles or locate the target

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