[0049]Next, the technical solutions in the embodiments of the present invention will be described in conjunction with the drawings of the embodiments of the present invention, and it is clearly, and it is understood that the described embodiments are merely embodiments of the invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained in the art without making creative labor premises, all of the present invention.
[0050]It is an object of the present invention to provide a shape recognition method and system based on a passive tentable sensor to increase the accuracy of shape recognition.
[0051]In order to make the above objects, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0052]Such asfigure 1 As shown, a shape recognition method based on a passive tentable sensor includes the following steps:
[0053]Step 101: Determine the output voltage of the passive Troller Sensor. The passive tentable sensor includes a left-sided hanging arm, a right sidewalk arm, a central connection block, and a tentacle; the left sideway arm and the right sidewater arm are respectively disposed on the left side and right side of the central connection block, said Touch is provided on the central connection block; the left sided capping arm is provided with a first voltage sensitive resistance and a second pressure sensitive, and the right sidewall arm is provided with a third pressure sensitive resistance and fourth pressure sensitive. resistance.
[0054]Step 102: Calculating the passive Touch Sensor is touched to the synerg of the body to be identified based on the output voltage.
[0055]Step 103: Calculate the angle of the contact surface tangent and the X-axis direction according to the syndrome; the contact surface cutting line is a tangent of the passive Tripod sensor and the tanker to be identified.
[0056]Step 104: Calculate the position of the tentacle end of the passive Touch sensor based on the angle.
[0057]Step 105: The shape of the object to be identified is identified based on the position of the tentacles.
[0058]The principle of this method will be described in detail below:
[0059]1. The relationship between the terminal position (x, y) and its subjects is applied.
[0060]The deformation and force direction of the tentable sensor passes through some type of objectfigure 2 Indicated. with Supported in the corresponding position, τ1Τ2The bending moment, F, F1And f2The frictional force received at the corresponding position is respectively. Simplify the tentacle bending problemimage 3 The mechanical model shown. Where θbIs the angle of contact with the surface tangent and the X-axis direction, θd= Arctanμ (known), μ is the friction coefficient of contact surface, F is the resultant (support FNAnd friction μFNThe value after the synthesis). In order to facilitate calculation, the present invention will decompose the syndrome F of the tentacle end, and there is an equation (the following derivation uses the converted symbol):
[0061]
[0062]FlyN′= Fcos θd′ (2)
[0063]μ''fN′= Fsin θd′ (3)
[0064]The curvature of any position K and the position bending torque T at the time of tentacleswThe relationship is (the X direction offset of the root of the K position is X)k, Y direction offset is Yk):
[0065]
[0066]Where E is the elastic modulus of the tentacle, i is a moment of inertia that is tentable to the central axis.
[0067]byimage 3 It can be known that the bending moment of k pointswFor (the Trouter-end force position is offset from the X direction in the root of the thread)b, Y direction offset is Yb)
[0068]Tw= - [μ''fN′(xb-xk) + FN′(Yb-yk)] (5)
[0069]Get into (4)
[0070]
[0071]Differential finishing:
[0072]
[0073]Both ends are multiplied by Dθ:
[0074]
[0075]Determined by boundary conditions
[0076]
[0077]Total endimage 3 The coordinates X and Y in the coordinate system established in the middle can be expressed as:
[0078]
[0079]
[0080]Where θbIn line with the F relation:
[0081]
[0082]θ indicates the cross-sectional corner of the tense, θd′Indicates the angle of the synerg F and the X axis.
[0083]2, the relationship between the sensor output and the syndicate F of the Touch end is calculated.
[0084]The force when the tentacle sensor contacts objectsFigure 4 Distressed (after the combination of force), the center block is stressedFigure 5 As shown, the force of the left single cantilever beam is likeFigure 6 Indicated. The length of the connection block is 2A, the perceived beam length is L. The end of the tentacles is not μ''fN′And fN′, Such as the directionFigure 4 Indicated in it. FH1Tensile to the left side of the center block; M1The bending moment of the left side of the center block, For the support for the left side of the medium, m is a bending moment applied to the center block on the tentacles; fH2Tensile, M, right on the right side of the center2The bending moment of the right side of the center block, Support for the right side of the center block. FH marked in the figure1, All are tensile and supported by the labeling point. The same symbol indicates the same size, and the direction of force is shown in the direction of the figure in the figure;AThe bending moment from the left side of the left single cantilever beam.
[0085]according toFigure 4 withFigure 5 , By balance conditions σ m = 0, σ f = 0 is:
[0086]FH1+ Fh2= Fx= Μ''fN′ (11)
[0087]Fv1+ FV2= Fy= FN′ (12)
[0088]M1+ M2= M = μ''fN′· X + fN′Y (13)
[0089]inFigure 6 In the middle, select A points as research objects, from σM = 0
[0090]
[0091]For any point Z of the Z, the distance between the point A is Z), from σm = 0,
[0092]
[0093]From this, any point Z is obtained can be obtained.zAnd deflection νzfor
[0094]
[0095]
[0096]Where: e1Elastic modulus of silicon cantilever beam; i1It is a moment of inertia of the central axis for the beam.
[0097]As can be seen from continuity, the deflection of the end of the cantilever beam and the vertical displacement of the center block edge, that is, 即L= A ()L), Can be launched:
[0098]
[0099]
[0100]Connect (9), (10), (15) and (16)
[0101]
[0102]
[0103]In
[0104]It can be seen from the sensor physical map that the four pressure sensitive resistors are distributed over the end of the cantilever beam, so with Take 0, L, L, 0, respectively. In the formula (12), the bending moment at the four pressure sensitive resistance locations is known. with From:
[0105]
[0106]
[0107]
[0108]
[0109]Stressed stress σ of four pressure sensitive resistors1, Σ2, Σ3Σ4As shown in the following formula (here ignore horizontal μ''fN′And vertical FN′Extension under action):
[0110]
[0111]
[0112]
[0113]
[0114]In the form of (Coefficient); W is the beam of the beam of the beam, W = BT2/ 6, b is the width of the cantilever beam, and T is the thickness of the cantilever beam.
[0115]For pressure sensitive resistors, the amount of resistance variation is related to the lateral stress and longitudinal stress of the subject. Because the horizontal should be small, it is ignored here. Then the resistance resistance changes in the pressure sensitive resistance:
[0116]ΔR / R = π (σ)v-σt) ≈πσ1 (30)
[0117]Where: R is a pressure sensitive resistance resistance value; ΔR is the amount of resistance change; π is a shear pressure resistance component;vFor vertical stress; σtIt is horizontal stress (the lateral stress is small, so it is ignored here).
[0118]Tentual sensor bridge circuit schematicFigure 7 Indicated.
[0119]Then the bridge circuit is output as follows:
[0120]
[0121]R1R2R3R4For resistance, VOUT For output voltages, VCCFor the supply voltage.
[0122]3, connect formula (8), (9), (10), and formula (13), (27), (28), (31), can output the position of the tentacles and surface contact points according to the current time sensor output ( X, Y).
[0123]The derivation process:
[0124]In the formula (10), θd′Can be from θbRepresentation (see formula (1)), the HEST (10) contains only θbAnd f two variables. A series of F values are given, and the corresponding θ is applied to the equivalent to solve the sameb. Θ obtained by a given F andb, Using a polynomial intended to form a curve θb= F (f);
[0125]In the formula (8), (9), X and Y are only θbAnd F two variables, by putting the first step in θb= F (f) brought into, the relationship between X and Y and F, ie x = g (f) and y = h (f);
[0126]Bringing (31) from the two relationships and (1), (13), (13), (27), (27), (27), (27), and (28).
[0127]
[0128]The above expression contains only f and vOUT Two unknown amounts, so in vOUT In the case of known cases, F is obtained by this expression.
[0129](X, Y) can be obtained by the F, X, Y) obtained by F, I'll get X = G (f) and y = H (f).
[0130]Based on the sensor output of different times during the surface of the other, the corresponding time is calculated, and these positions can be smoothed to connect to the shape of the contact surface.
[0131]The above method can make the passive small tense sensing system to complete the shape identification task of high precision, solve the problem of the passive Tactile sensing system shape recognition robustness difference.
[0132]The present invention also provides a shape recognition system based on a passive tentable sensor, including:
[0133]The output voltage determination module is used to determine the output voltage of the passive tentable sensor.
[0134]The synergistic computing module is used to calculate the passive Touch sensor to touch the synerg of the object to be identified.
[0135]The angle calculation module is used to calculate the angle of the contact surface tangent and the X-axis direction according to the synergistic; the contact surface tangent is a tangent to the passive Tripod sensor and the tangent of the object to be identified.
[0136]The end position calculation module is configured to calculate the position of the tentacle end of the passive Touch sensor based on the angle.
[0137]The identification module is used to identify the shape of the object to be identified based on the position of the tentacle end.
[0138]In the present specification, various embodiments are described in the manner, each of the various embodiments are different from those of other embodiments, and the same similar part of each embodiment can be seen. For the system disclosed in the examples, since it corresponds to the method disclosed in the examples, the described relatable is simple, and the relevant method is described.
[0139]Specific examples are described herein to illustrate the principles and embodiments of the present invention, and the above embodiments are intended to help understand the method of the present invention and their core ideas; at the same time, for the present invention Thoughts, there will be changes in the specific embodiments and applications. In summary, the contents of this specification should not be construed as limiting the invention.
