Whisker sensor suitable for inclined angle between robot perception and barrier

Abstract

The invention discloses a whisker sensor suitable for an inclined angle between robot perception and a barrier, comprising a laser, a one-dimensional PSD sensor, a whisker, a base and a shell. The whisker sensor belongs to the detection device part of a robot and is arranged on a robot body, and an optical position provided with the whisker sensor is at the front end of the robot body; when the robot body is close to the barrier, the whisker sensor realizes the collection of the inclined angle theta between the whisker and the barrier by the one-dimensional PSD sensor and a laser source arranged on the root part of the whisker and then obtain the inclined angle theta between the machine body and the barrier according to the advancing amount S and the tail end displacement amount W of the machine body; in addition, the whisker sensor can realize the barrier avoidance by turning away from the inclined angle theta.

Description

technical field [0001] The present invention relates to a whisker sensor, more particularly to a whisker sensor, which is used for sensing the angle between a robot and an obstacle. Background technique [0002] A robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Its mission is to assist or replace human work in jobs such as manufacturing, construction, or hazardous jobs. A robot is generally composed of an actuator, a drive device, a detection device, and a control system. [0003] The function of the detection device is to detect the motion and working conditions of the robot in real time, feed back to the control system as needed, and after comparing with the set information, adjust the actuator to ensure that the robot's action meets the predetermined requirements. Sensors used as detection devices can be roughly divid...

AI Technical Summary

Problems solved by technology

[0005] Artificial tentacles are currently more commonly used sensing devices. Most of the existing sensors install a small motor or other driving device at the end of the tentacles to scan the object and perceive the shape and contour information of the object, but the disadvantages are Scanning takes a lot of time and cannot provide enough information for a robot moving at high speed to avoid obstacles

For this reason, many scholars have proposed to use passive tentacles to perceive external information, but the roots of the tentacles generally have a small displacement, and the signal changes rapidly, so a high sampling frequency is required to ensure correct signal acquisition. The frequency signal also designs object outline and texture information, so signal acquisition and analysis are more difficult

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