摘要
具有目标辨识能力的传感技术是无人系统环境智能感知的关键技术,也是制约无人系统智能化发展的重要因素。面向无人系统登月探测任务,针对现有触觉传感系统局限于感知物体的结构信息如轮廓、表面形貌,难以获取物体的电学信息如表面电位,无法有效辨识目标,提出了具有电位测量与刚度筛选功能的耦合触觉传感系统。该系统基于传感探头内部驻极体的静电效应,实现对目标表面电位的测量;利用传感探头弹性拱顶结构的非线性屈曲行为,实现对目标结构刚度的筛选。建立了包含传感器结构和电学参数、目标物体结构和电学参数的传感模型;阐明了传感器输出电压波形与目标表面电位及结构刚度之间的数学关系,并通过实验进行了验证;搭建了耦合传感系统,实现了在有限结构空间中测量多种物理量的耦合触觉传感。
Target recognition sensing technology is significant for the ambient intelligent perception of the unmanned system,and also limits the development of the intelligent unmanned systems.This paper is aimed at the unmanned system lunar exploration mission.With regard to the fact that the existing tactile sensor system can only sense the structural information of the object such as contour and surface topography,and it is difficult to obtain the electrical information of the object such as the surface potential,leading to the non-effective target identification.A coupled tactile sensor integrated with potential measurement and stiffness selection functions is proposed.Based on the electrostatic effect of the electret in the sensor probe,the measurement of the target surface potential is realized;the nonlinear buckling behavior of the elastic dome structure of the sensor probe is used to realize the stiffness of the target.A mathematical sensing model including the structure and electrical parameters of both sensor and target is established;the relationship between sensor output voltage waveform and target surface potential and structure stiffness is clarified and verified by experiments.A coupled sensing system is built to realize multiple physical quantities tactile sensing in a limited structure space.
作者
冯跃
周子隆
FENG Yue;ZHOU Zilong(School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China)
出处
《无人系统技术》
2021年第5期1-7,共7页
Unmanned Systems Technology
基金
国家自然科学基金(520770055、51607007)。
