新型机器人红外传感皮肤信号处理方法的研究

机器人红外传感皮肤是一种新型的外部感知系统,它具有信息量大,实时性好,与环境无接触测量的特点,被广泛应用在多关节机器人实时避障系统中。但是皮肤上的微型红外传感器输出易受到可见光、工频电源、日光灯等噪声干扰,传统的模拟电路很难满足系统实时性和准确性的要求。为了提高系统的性能,给出了一种基于数字信号处理(DSP)的全数字信号处理技术,采用快速傅里叶变换(FFT)对传感器信号进行处理。分析了快速傅里叶变换误差产生原因,提出加汉宁(Hanning)窗进行误差补偿。仿真和实验结果表明,该技术能有效地减少噪声对系统的影响,使红外传感皮肤能够准确实时地给出周围环境信息。

Research on Signal Processing Method of the Infrared Sensor Skin of New Robot

The robotics infrared sensor skin is a new outward sensing system which has the characteristics of abundant information,high performance on real-time processing and non-contact measurement for its environment.The infrared sensor skin is widely used in the multi-joint robot system for real-time obstacle avoidance.However,the output of mini-type infrared sensors in sensor skin is subjected to noise disturbances caused by visible light, electrical source with its work frequency and fluorescent lamp etc.So,it is very difficult for the traditional analog circuit to meet the(system's) demand of real-time and veracity.In order to improve the systemic performance,a kind of all-digital signal processing technique based on the digital signal process(DSP) is presented.Signal processing is implemented by using fast Fourier transform(FFT) method.By analyzing the error caused by the FFT method,error compensation is realized by using Hanning window.The results of simulations and experiments show that this technique can reduce the effect of noises and provide accurate and real-time environmental information by using the infrared sensor skin.