基于PSD的仿生触须传感器的研究及应用

Based on research and application of bionic tentacles PSD sensor

啮齿类动物能够利用触须实现物体识别和避障,为此设计了一种柔性触须传感器。建立了触须传感器的力学模型,推导出了计算触须接触距离的公式。触须传感器利用位置探测器PSD作为传感元件,输出信号经调理电路转换成电压信号。完成了触须传感器的标定实验,建立了光点位移与输出电信号之间的函数关系。利用传感器扫描物体,输出信号传送给计算机进行分析处理,计算出接触点的位置,实现物体轮廓的重建。实验证明了该方法具有可行性。

Rodents can use their tentacles to recognize objects and avoid obstacle, for this reason we design a flexible whisker sensor. Formula for calculating the contact distance of tentacle is deduced. The whisker sensor uses position detector PSD as sensing component, and its output signal is converted into voltage signal by conditioning circuit. In this paper the calibration experiment of the whisker sensor is completed, and the function relationship between the light-spot displacement and the output signal is estab- lished. Then the whisker sensor is used to scan object. The output signals are send to the computer to process, by which the location of the contact point can be gotten. So the object contour is reconstructed. The feasibility of the method is tested by experiment.