Development of omni-directional and fast-responsive Net-Structure Proximity Sensor
Development of omni-directional and fast-responsive Net-Structure Proximity Sensor
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DOI：
10.1109/iros.2011.6094566
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
K. Terada;Yosuke Suzuki;Hiroaki Hasegawa;S. Sone;A. Ming;M. Ishikawa;M. Shimojo
中科院分区：
文献类型：
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作者：
K. Terada;Yosuke Suzuki;Hiroaki Hasegawa;S. Sone;A. Ming;M. Ishikawa;M. Shimojo
本文提出了一种接近传感器，用于识别一个物体在360度的所有周围的响应时间只有1[ms]。该传感器采用独特的模拟网络结构电路设计，可全方位安装在各种外围设备上，信息处理速度快、简单。因此，该传感器尤其可用于避免移动的机器人、机器人臂、机器人手和其他机器人系统与快速接近的物体的突然接触。本文首先介绍了该传感器的结构和检测原理，然后通过实验对其检测性能进行了测试。结果表明，传感器以3[deg]的精度识别附近物体的角度。此外，作为传感器的实际应用，为移动的机器人制作了大尺寸模型，以实现全方位传感。利用该应用模型，讨论了在相邻目标数目不同或位置不同的情况下，两种检测方法。
This paper presents a proximity sensor for recognizing an object in 360 degrees all around with response time only 1[ms]. The sensor applies an unique design of analog net-structure circuit, which enables all-face mounting on various peripheries and fast-response/simplification of information processing. Thus, the sensor is especially available for avoiding sudden contact with rapidly approaching objects for mobile robots, robot arms, robot hands, and other robotic systems. In this paper, the structure and the detecting principle of the sensor are firstly described, then, its detection property is tested by experiments. The result shows that the sensor recognizes the angle of the nearby object with accuracy of 3[deg]. Furthermore, as practical use of the sensor, a large size model is produced for a mobile robot to achieve omni-directional sensing. By using the application model, two detection methods are discussed on situations where the number or the positions of the nearby objects differs.