纹理识别触觉传感器的设计与实现

Design and Verification of Tactile Sensor for Texture Recognition

为了解决机器人手指在抓取物体时无法识别其表面纹理信息的问题,设计了一种基于视觉的纹理识别触觉传感器.该传感器的硬件部分包括弹性体、照明装置和摄像头,而算法部分则是直接运用旋转不变LBP算法将拍摄到的纹理图像进行计算识别.为了加快传感器的速度并拓宽其适用范围,将算法移植到硬件电路并在FPGA上进行了验证.实验结果证明该传感器不仅可以识别包括指纹、皮革、织物、纸张等在内的12种纹理,而且可以达到24f/s帧率的实时性处理.

A vision-based tactile sensor is designed to satisfy the need of texture classification when the robotic hand grasping an object. The sensor includes three parts, which are a slab of elastomer, lighting devices and a camera. After obtaining clear images from this sensor, invariant LBP algorithm is used to determine which type the texture belongs to. In order to accelerate the computation speed and widen the use range, the algorithm is transplanted to circuits and verified in FPGA. Tests showed that the sensor can recognize 12 types of texture, including fingerprints, leather, fabric and so on. It can also get a real time result with the speed of 24fps.