Shape recognition method and system based on passive whisker sensor

Abstract

The invention discloses a shape recognition method and system based on a passive whisker sensor. The method comprises the following steps: determining the output voltage of a passive whisker sensor; on the basis of the output voltage, calculating a resultant force applied to the passive whisker sensor when the passive whisker sensor touches an object to be identified; calculating an included angle between a contact surface tangent line and the X-axis direction according to the resultant force, the contact surface tangent line being a tangent line of a contact surface between the passive whisker sensor and the to-be-identified object; calculating the position of the tail end of the whisker of the passive whisker sensor according to the included angle; and identifying the shape of the object to be identified according to the positions of the tail ends of the whiskers. By the adoption of the method, the passive small whisker sensing system can complete a high-precision shape recognition task, and the problem that the shape recognition robustness of the passive whisker sensing system is poor is solved.

Description

technical field [0001] The present invention relates to the field of shape recognition, in particular to a shape recognition method and system based on a passive whisker sensor. Background technique [0002] Rats can perceive the outside world in many ways, among which the sense of touch is more important. A biomimetic tactile sensing system based on mouse whiskers also has great potential for robotic applications because it does not involve severe contact with objects and is not affected by external factors such as lighting. At present, the tactile sensing system applied to robots is mainly used for material recognition, shape recognition and navigation mapping. Among them, material recognition using whisker sensing systems has been extensively studied. [0003] The whisker sensing system that achieves better results in shape recognition is mainly active, that is, the whiskers are driven by a driving device such as a motor to move on a specific trajectory. Since the acti...

AI Technical Summary

Problems solved by technology

Since the active whisker sensing system needs to be driven by motors and other driving devices, the overall volume of the system is too large, which limits its application in micro-robots

In addition, when the drive device drives the tentacles to move on a specific trajectory, it will introduce noise to the output signal of the sensor due to reasons such as jitter, which requires the use of complex algorithms to eliminate these interferences in subsequent signal processing

[0004] However, most of the existing passive whisker sensing systems for shape recognition complete shape recognition by summarizing the characteristics of experimental signals, which lack theoretical explanations.

Moreover, the above-mentioned template matching method requires a large amount of data sets to realize the recognition of more shapes, and the robustness is poor.

Images