The invention discloses a
terrain classification method and
system based on a plate
capacitance tomography sensor, and belongs to the technical field of
robot application. The method comprises the following steps: firstly, designing a panel ECT
sensor array comprising eight electrodes, and building a
mobile robot body
sensing data acquisition
system, so as to acquire
mutual capacitance data and inertial data of terrains; and secondly, performing
feature extraction, fusion and classification on the
capacitance data and the inertial data by building a multi-layer
perceptron classification model, after the multi-layer
perceptron model is trained, moving the
robot to a known
terrain, and completing the classification of the
terrain through the multi-layer
perceptron. According to the method, two kinds of
modal information of
inertia and
capacitance are utilized, through combination of interactive vibration information of the
robot and the terrains and changes of
dielectric constants in the terrains, the terrains made of various different materials can be automatically recognized, and the method has high universality and practical significance.