基于触须传感器阵列的物体识别应用研究

发布时间：2018-02-11 03:56

本文关键词： 触须传感器霍尔元件有限元仿真距离测量轮廓检测　出处：《南京航空航天大学》2016年硕士论文　论文类型：学位论文

【摘要】：啮齿类动物利用触须可以识别物体和躲避障碍,依据仿生学的原理,本文设计了一种电磁式触须传感器阵列,通过仿真和实验证明了该触须传感器阵列对物体表面特征具有识别能力。本文主要展开了如下的工作:1.建立了触须传感器扫描物体的力学模型,推导出了接触距离的计算公式,在此基础上设计了基于霍尔元件的电磁式触须传感器。根据触须传感器输出信号的特点,对信号调理电路进行了优化,完成了PCB电路板的制作,以及信号处理系统的测试。2.运用ANSYS/LS-DYNA建立了触须和物体的有限元模型,对不同距离的物体进行了扫描。利用MATLAB编写了数据处理程序,对实验数据进行了分析处理,得出了所测物体的轮廓坐标数据,证明了实验方案的有效性和可行性。3.设计了基于PC机的触须传感器系统,实现了触须传感器的运动控制,包括步进电机和两轴工作台的控制。利用LABVIEW编写了数据采集程序,完成了扫描实验数据的实时采集,实现了数据的实时处理和显示。4.完成了不同距离物体的测量实验以及不同半径圆柱轮廓的拟合实验,证明了使用电磁式触须传感器可以很好的对物体进行测量。运用触须阵列对不同形状物体的轮廓表面进行了检测,完成了轮廓表面多组数据的采集,提高了采集速度,实验证明触须阵列系统具有良好的可靠性和测量拟合精度。
[Abstract]:Rodents can recognize objects and avoid obstacles by using tentacles. According to the principle of bionics, an electromagnetic antenna sensor array is designed in this paper. It is proved by simulation and experiment that the antenna sensor array has the ability to recognize the surface features of the object. In this paper, the main work is as follows: 1.The mechanical model of the object scanned by the tentacle sensor is established, and the formula for calculating the contact distance is derived. On this basis, the electromagnetic tentacle sensor based on Hall element is designed. According to the characteristics of the output signal of the tentacle sensor, the signal conditioning circuit is optimized, and the PCB circuit board is fabricated. The finite element model of tentacles and objects is established by using ANSYS/LS-DYNA, and the objects at different distances are scanned. The program of data processing is written by MATLAB, and the experimental data are analyzed and processed. The contour coordinate data of the measured object are obtained, and the validity and feasibility of the experimental scheme are proved. 3. The tentacle sensor system based on PC is designed, and the motion control of the tentacle sensor is realized. It includes the control of stepping motor and two-axis workbench. The program of data acquisition is written by LABVIEW, and the real-time acquisition of scanning experimental data is accomplished. Real time data processing and display. 4. Experiments of measuring objects with different distances and fitting experiments of cylindrical contours with different radii are completed. It is proved that the electromagnetic tentacle sensor can be used to measure the object, and the antenna array is used to detect the contour surface of the object with different shapes. The multi-group data collection on the contour surface is completed, and the acquisition speed is improved. The experimental results show that the antenna array system has good reliability and precision of measurement and fitting.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP212

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