Medium material recognition method for robot autonomous environment perception

Abstract

The invention discloses a medium material recognition method for robot autonomous environment perception, and belongs to the field of material recognition. The medium material recognition method comprises: driving a metal electrode and a measured material to perform contact and separation a plurality of times; detecting an electrostatic sensing signal by an electrostatic measurement system to obtain the electrostatic signals of multi-class materials. Wherein the metal electrode senses charge change so as to produce the electrostatic sensing signal; extracting three feature quantities such as an electrostatic signal release factor, an effective negative peak number, and a positive and negative peak variance sum within a time window; carrying out recognition classification by using the combined feature vector and constructing a classification device by using a k nearest neighbor algorithm; and re-collecting the electrostatic signals of a certain type of the materials, and carrying out recognition classification on the signal by using the trained classification device so as to achieve the automatic recognition classification on the material by the robot. The invention relates to the medium material recognition method for robot autonomous environment perception, wherein the characteristics of no influence by the illumination condition, reliable principle and simple structure are provided due to no requirement of the external excitation measurement method.

Description

technical field [0001] The invention relates to a medium material identification method for autonomous environment perception of a robot, in particular to a medium material identification method using electrostatic measurement technology, which belongs to the field of material identification. Background technique [0002] With the rapid development of electronics and computer technology and artificial intelligence, intelligent robot technology has made great progress. Intelligent robot is a kind of robot that can complete autonomous perception, autonomous decision-making, autonomous control, independent activities and problem-solving without human intervention. As a typical feature of the powerful autonomy of intelligent robots—autonomous environment perception technology has become an important standard for measuring the intelligence of robots and an important basis for realizing autonomous decision-making and autonomous control of robots. Therefore, the research on autonom...

AI Technical Summary

Problems solved by technology

In the application background of automatic material recognition of robots, the method based on machine vision is not only easily affected by illumination and occlusion, but also has a large amount of image data and complex processing.

In contrast, a variety of recognition methods based on tactile sensation can directly measure the properties of materials, such as hardness, resistivity, thermal conductivity, etc., with a small amount of data and faster recognition, but there are also external excitations that are required, and the structure is relatively Complex, can only identify deficiencies in specific materials

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