基于质心识别对阵列式触觉系统的压力和温度信息研究

Research on Pressure and Temperature Information of the Tactile Array System by Recognition of Heart

机器人触觉是机器人在非视觉传感器领域里获取环境信息的重要知觉形式,利用硅压阻式压力传感器组成阵列式触觉系统,将采集到的压力和温度信息组成灰度图像,经过对图像的预处理、区域分割、质心识别后,判断出物体的滑移情况,并将结果利用图像形象化地显示出来。实验结果表明,该方法可以快速有效地对物体滑移做出判断,并可以直观地显示出物体温度分布情况。

Robot tactile sensors is an important form of perception in the field of non-visual access to environmental information. By using silicon piezoresistive pressure sensor array tactile system, the gray image was formed by the collected pressure and temperature information. After the pretreatment, regional segmentation, center of mass identification for the image, the object slip was judged, and the results of the figurative images were displayed. Experimental results show that the method can quickly and effectively judge the object slip and can show object temperature distribution directly.