CN114486004A - Active bionic tentacle sensor and application system thereof - Google Patents
Active bionic tentacle sensor and application system thereof Download PDFInfo
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- CN114486004A CN114486004A CN202111336560.0A CN202111336560A CN114486004A CN 114486004 A CN114486004 A CN 114486004A CN 202111336560 A CN202111336560 A CN 202111336560A CN 114486004 A CN114486004 A CN 114486004A
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 32
- 239000000853 adhesive Substances 0.000 claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 230000003592 biomimetic effect Effects 0.000 claims description 11
- 229910052701 rubidium Inorganic materials 0.000 claims description 5
- IGLNJRXAVVLDKE-UHFFFAOYSA-N rubidium atom Chemical compound [Rb] IGLNJRXAVVLDKE-UHFFFAOYSA-N 0.000 claims description 5
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 27
- 238000000034 method Methods 0.000 abstract description 12
- 230000008569 process Effects 0.000 abstract description 8
- 238000005259 measurement Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000001070 adhesive effect Effects 0.000 description 4
- 230000005672 electromagnetic field Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 241000699670 Mus sp. Species 0.000 description 1
- 241000283203 Otariidae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/12—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress
- G01L1/127—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress by using inductive means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
Abstract
The invention relates to an active bionic tentacle sensor and an application system thereof. The active bionic tentacle sensor comprises: a whisker mechanism and an electromagnetic generating mechanism; the whisker mechanism comprises: the antenna comprises a whisker unit, a ball contact pair and a coil unit; one end of the tentacle unit is fixed on the ball contact pair; the coil unit is mounted on the ball contact pair; the electromagnetic generation mechanism includes: the self-adhesive coil and the self-adhesive coil mounting seat; the self-adhesive coil is arranged in the self-adhesive coil mounting seat; the other end of the whisker unit is away from the self-adhesive coil by a set distance; after the current with the specified size is loaded in the self-adhesive coil, the ball contact pair and the coil unit are matched to realize the swing of the tentacle unit, so that the problems of inaccuracy, difficulty in tentacle positioning and the like existing in the process of movement detection of the tentacle of the conventional tentacle sensor are solved.
Description
Technical Field
The invention relates to the field of whisker sensors, in particular to an active bionic whisker sensor and an application system thereof.
Background
The tentacle sensor simulates the tentacle working principle of animals such as mice and sea lions. The traditional tentacle sensor realizes the detection of the movement position of the tentacle through different working principles, and further realizes various functions required by the sensor. The whisker sensor can be classified into a resistive type, a capacitive type, an electromagnetic type, a piezoelectric type (PZT), a photoelectric type (PSD) and a nano friction generator (TENG) in terms of its operation principle. The traditional resistance-type tentacle sensor causes the change of resistance value through the bending motion of the tentacle, and then positions the motion position of the tentacle, but the active detection application is less, complex circuit design exists, and the detection capability and application of the sensor are limited; the capacitive sensor mostly detects the motion track of the tentacle by changing the capacitance parameter when the tentacle is stressed and deformed, and the working principle of the capacitance leads the stability of a generated signal to be more easily influenced by the surrounding environment than the tentacle motion detection; the electromagnetic tentacle sensor can realize better signal output, detect movement of tentacle through change of magnetic field, at present, there is no active detection method, the PZT tentacle sensor detects deformation of tentacle by means of piezoelectric effect, and can perform active detection, but the method is suitable for small deformation and tentacle movement with small track, and is difficult to apply in large track movement; most of current research on PSD-based tentacle sensors is to collect PSD signals to judge the deformation condition of tentacles, and the PSD-based tentacle sensors are mostly used for passively detecting the outline of an object; the TENG type whisker sensor forms an electric signal output to position the motion condition of the whisker according to the redistribution condition of charges in materials, and the sensor is very easily influenced by the charge distribution in the surrounding environment (such as static electricity in a human body) in the detection process, so the TENG type whisker sensor is difficult to popularize and apply.
Most of the existing methods for determining the whisker movement of the whisker sensor are applied to passive whisker deformation, the application to the active whisker movement is very little, and the detection method which can be applied to the active whisker movement has the defects of unstable output signal, poor real-time performance and low zero sensitivity in the detection process, so that a new active whisker sensor with the characteristics of high stability, high reliability, high accuracy and the like is urgently needed to be provided.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an active bionic tentacle sensor with the characteristics of high stability, high reliability, high accuracy and the like and an application system thereof.
In order to achieve the purpose, the invention provides the following scheme:
an active biomimetic whisker sensor comprising: a whisker mechanism and an electromagnetic generating mechanism;
the whisker mechanism comprises: the antenna comprises a whisker unit, a ball contact pair and a coil unit; one end of the whisker unit is fixed on the ball contact pair; the coil unit is mounted on the ball contact pair;
the electromagnetic generation mechanism includes: the self-adhesive coil and the self-adhesive coil mounting seat; the self-adhesive coil is arranged in the self-adhesive coil mounting seat; the other end of the whisker unit is away from the self-adhesive coil by a set distance; after the current with the appointed size is loaded in the self-adhesive coil, the ball contact pair is matched with the coil unit to realize the swing of the tentacle unit.
Preferably, the tentacle mechanism comprises: tentacles and magnets; one end of the tentacle is arranged on the ball contact pair; the magnet is mounted at the other end of the whisker.
Preferably, the ball contact pair comprises: a ball bearing seat and a ball bearing;
the ball bearing is arranged in the ball bearing seat; the ball bearing is provided with a central through hole; one end of the tentacle penetrates through the central through hole to be fixed.
Preferably, the coil unit includes: an outer ball coil and a Helmholtz coil;
one end of the spherical outer coil is connected with the spherical bearing seat; the other end of the ball outer coil is embedded into the ball bearing, and the horizontal extension line of the ball outer coil is vertical to the central through hole of the ball bearing; the Helmholtz coils are symmetrically arranged on the ball bearing seat by taking the outer ball coil as a center.
Preferably, the tentacle mechanism further comprises: a permanent neodymium magnet;
the permanent rubidium magnet is adhered to the magnet.
Preferably, the ball bearing housing comprises a first sub-housing and a second sub-housing;
the first sub-bearing seat and the second sub-bearing seat form a cavity for placing the ball bearing.
Preferably, the device further comprises an upper support cover and a lower support cover;
the upper supporting cover is adhered to the ball bearing seat; the lower support cover is adhered to the upper support cover; the upper and lower support covers forming a cavity for housing the whisker mechanism and the electromagnetic generating mechanism; the self-adhesive coil mounting seat is adhered to the lower supporting cover.
Preferably, a plurality of observation holes are formed in the upper supporting cover.
Preferably, the self-adhesive coil mounting seat is provided with a plurality of grooves for placing the self-adhesive coil.
In addition, the invention also provides an active bionic tentacle sensor application system, which comprises: a processor and the active bionic tentacle sensor;
the processors are all connected with the active bionic tentacle sensors; the processor is used for determining a voltage amplitude according to the voltage signal output by the active bionic tentacle sensor and determining a swing angle of the tentacle in the active bionic tentacle sensor according to the voltage amplitude.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the active bionic tentacle sensor, the tentacle mechanism and the electromagnetic generating mechanism are adopted, so that the stability is improved, and meanwhile, the accurate control of the tentacle swinging position can be realized. And the tentacle unit, the ball contact pair, the coil unit, the self-adhesive coil and the self-adhesive coil mounting seat can drive the tentacle unit to realize positioning at different angles through the current with the specified size, so that the accurate detection of the movement position of the tentacle during position measurement, texture characterization, object size and shape detection and direction identification is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a schematic structural diagram of an active bionic whisker sensor according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a self-adhesive coil mounting base according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a ball bearing angle detection principle provided by an embodiment of the present invention; FIG. 3a is a schematic angle detection diagram of a ball bearing when no oscillation occurs; FIG. 3b is a schematic diagram illustrating the angle detection of the ball bearing when the ball bearing swings to a first angle; fig. 3c is a schematic view of angle detection of the ball bearing when swinging the second angle.
Description of the symbols:
1-upper supporting cover, 2-ball bearing seat, 3-ball bearing, 4-ball outer coil, 5-Helmholtz coil, 6-tentacle, 7-magnet, 8-self-adhesive coil mounting seat, 9-self-adhesive coil and 10-lower supporting cover.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an active bionic tentacle sensor with the characteristics of high stability, high reliability, high accuracy and the like and an application system thereof, which are used for detecting the movement position of an tentacle during position measurement, texture characterization, object size and shape detection and direction identification and solve the problems of inaccurate detection, difficult tentacle positioning and the like of the traditional tentacle sensor in the movement process of the tentacle.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides an active bionic tentacle sensor, which comprises: whisker mechanism and electromagnetism generation mechanism.
The tentacle mechanism comprises: whisker unit, ball contact pair and coil unit. One end of the whisker unit is fixed on the ball contact pair. The coil unit is mounted on the ball contact pair.
The electromagnetic generation mechanism includes: self-adhesive coils and self-adhesive coil mounting seats. The self-adhesive coil is arranged in the self-adhesive coil mounting seat, for example, a plurality of grooves used for placing the self-adhesive coil can be formed in the self-adhesive coil mounting seat. The other end of the whisker unit is a set distance away from the self-adhesive coil. After the current with the specified magnitude is loaded in the self-adhesive coil, the ball contact pair and the coil unit are matched to realize the swing of the whisker unit.
Further, in order to improve the accuracy of detection, the tentacle mechanism adopted comprises: tentacles, magnets and permanent neodymium magnets.
The permanent rubidium magnet is adhered to the magnet. One end of the whisker is mounted on the ball contact pair. The magnet is arranged at the other end of the tentacle.
The above-mentioned ball contact pair includes: ball bearing seat and ball bearing.
The ball bearing is arranged in the ball bearing seat. The ball bearing is provided with a central through hole. One end of the tentacle passes through the central through hole for fixation.
The ball contact pair provided by the invention is a swing detection mechanism for a rotation angle and a pitch angle, and the mechanism can realize the measurement of the angle in any swing direction in the swing process of a ball bearing. In order to be able to achieve its positioning at any point in the operating range, it is theoretically necessary to arrange as many electromagnets as possible on the self-adhesive coil mount.
The coil unit includes: an extra-spherical coil and a helmholtz coil.
One end of the outer ball coil is connected with the ball bearing seat. The other end of the outer ball coil is embedded into the ball bearing, and the horizontal extension line of the outer ball coil is perpendicular to the central through hole of the ball bearing. The Helmholtz coils are symmetrically arranged on the ball bearing seat by taking the outer ball coil as a center.
In order to further improve the detection stability of the sensor, the ball bearing seat adopted in the invention comprises a first sub bearing seat and a second sub bearing seat.
The first sub-bearing seat and the second sub-bearing seat form a cavity for placing a ball bearing.
In addition, the active bionic tentacle sensor provided by the invention further comprises an upper supporting cover and a lower supporting cover.
The upper supporting cover is adhered to the ball bearing seat. The lower support cover is adhered to the upper support cover. The upper and lower support covers form a cavity for housing the whisker and the electromagnetism generating mechanisms. The self-adhesive coil mounting base is adhered to the lower support cover. The upper supporting cover is provided with a plurality of observation holes, so that the relation between the object to be detected and the whisker swing is observed in the detection process, and the magnitude of the loading current can be controlled more accurately.
The following describes a specific operation principle of the active bionic tentacle 6 sensor provided by the present invention, taking a specific structure of the active bionic tentacle 6 sensor as shown in fig. 1 as an example.
As shown in fig. 1, the active bionic tentacle 6 sensor in this embodiment includes: the device comprises an upper supporting cover 1, a ball bearing seat 2, a ball bearing 3, an outer ball coil 4, a Helmholtz coil 5, a tentacle 6, a magnet 7, a self-adhesive coil mounting seat 8, a self-adhesive coil 9 and a lower supporting cover 10. The tentacles 6 penetrate through a central hole in the ball bearing 3 and are fixed, and the ball bearing 3 and the ball bearing seat 2 form a ball contact pair to realize 100-degree swinging around two centers of the ball bearing 3. In order to ensure that the ball bearing seat 2 after 3D printing can be smoothly assembled with the ball bearing 3, the upper support cover 1 and the ball bearing seat 2 are divided into two parts for 3D printing, and then the two parts of the ball bearing seat 2 are connected together through the upper support cover 1. The upper supporting cover 1 is connected with the self-adhesive coil mounting seat 8 by coating adhesive on the contact surface. After being coated with adhesive, the permanent rubidium magnet is arranged on the magnet 7 and is connected with the tentacle 6 by the adhesive after being matched. The self-adhesive coil 9 is connected with the bottom of the self-adhesive coil mounting seat 8 by coating adhesive on one section. And finally, assembling the lower supporting cover 10 part and the self-adhesive coil mounting seat 8 to form the final active bionic tentacle 6 sensor.
The two motion modes of the active type bionic tentacle 6 sensor, namely swing and circular rotation, are realized, a variable electromagnetic field is formed by loading currents with a certain sequence of magnitude and direction on the self-adhesive coil 9, and the permanent rubidium magnet is driven to form corresponding swing and circular motion by means of the principle that like poles of the magnet 7 repel each other and unlike poles attract each other. To realize the oscillating movement of the tentacles 6, the corresponding self-adhesive coils 9 are sequentially loaded with currents of a predetermined magnitude. For example, as shown in fig. 2, the swinging is realized in the direction A, I, E corresponding to the electromagnet (i.e. the self-adhesive coil 9), and assuming that the direction of the magnet 7 pointing to the self-adhesive coil 9 is S-pole, it is only necessary to sequentially electrify the self-adhesive coil 9, and the magnetic field at the position A, I, E appears N-pole sequentially, and the moving magnetic field is easily realized by external driving and programming of the controller program. The form of the circular motion is similar to the driving form of the oscillating motion, except that the generation of the rotating electromagnetic field is performed only by the edge self-adhesive coil 9.
Wherein, load the electric current of certain order size and direction on self-adhesive coil 9 and constitute the electromagnetic field that changes, can realize the electric current loading of equidirectional not through Arduino board. Specifically, the direction of the current is controlled by controlling the high and low electric potentials of the Arduino port, and further, the direction change of the magnetic field generated by the self-adhesive coil 9 is realized. The control of the magnetic field of the self-adhesive coil 9 is mainly performed by controlling the pwm on the Arduino board. The magnitude of pwm is directly related to the magnitude of the current.
In order to be able to position the tentacles 6 during their movement at any point in the working range, it is theoretically necessary to arrange as many electromagnets as possible on the self-adhesive coil mount 8. For this reason, the present invention is realized based on a magnetic field subdivision technique in order to allow the magnet 7 to stay at a position between the electromagnets. For example, in order to make the magnet 7 stay between the electromagnets a and B, when the electromagnets a and B are loaded with the same magnitude of current, the magnetic fields are superposed at the middle position between the electromagnets a and B to form the strongest electromagnetic field, and the magnet 7 is positioned between the electromagnets a and B under the action of the magnetic field without considering the influence of gravity and friction, so that the magnet 7 can be positioned at more positions without increasing the number of electromagnets. Further, by quantitatively weakening the magnetic field in a and increasing the magnetic field in B, the position of the strongest magnetic field moves from the middle of the magnets 7A and 7B to the position of the magnet 7B, so that the positioning of the magnet 7 at any position in the working range can be realized by controlling the strength of the magnetic field between adjacent electromagnets.
In order to obtain the current swing angle of the tentacle 6 in real time and detect the shape, size, orientation and obstacle of the object, the invention realizes the effective measurement of the swing angle of the tentacle 6 by the mechanism shown in fig. 3. The ball bearing 3 is wound with the outer ball coil 4 and connected with a signal receiver to obtain an induction signal, and after the Helmholtz coil 5 is installed on the ball bearing seat 2, a magnetic field of the Helmholtz coil 5 is formed. The outer ball coil 4, the helmholtz coil 5 and the ball bearing 3 can form an angle detection sensor, that is, the swing angle of the ball bearing 3 is output in a voltage induction manner. When the Helmholtz coil 5 is excited by sine waves, the amplitude of the voltage signal can be continuously changed in the swinging process of the ball bearing 3, and the measurement of the swinging angle of the tentacle 6 can be realized by calibrating the corresponding relation between the amplitude U of the signal and the swinging angle of the ball bearing 3. In fig. 3a, 3b, and 3c, the swing angle of the whisker 6 is different, the amplitude of the output voltage signal is different, and U1> U2> U3. Based on the principle, the bionic tentacle 6 sensor provided by the invention can realize the measurement of the swing angle in any direction. Because the position of the electromagnet generating the magnetic field is known at present, the swing angle of the bionic tentacle 6 sensor in the specified direction can be effectively obtained, and an effective detection method is provided for the detection of objects with specific shapes, sizes, orientations, textures and positions.
Specifically, the swing angle detection may be implemented by: when alternating current with equal and reverse directions is conducted to the upper and lower Helmholtz coils, a uniform magnetic field with constantly changing magnitude exists between the upper and lower Helmholtz coils, at the moment, a wound coil is placed into the Helmholtz coil 5, and on the basis of induced potential E (nS delta B delta t) excited by the obtained changed magnetic field, the induced potential generated by the wound coil can be seen as a sine-changing wave through the output of an oscilloscope. Therefore, when the tentacle 6 swings, the small balls wound with the coils can be driven to move, the area of the coils in a Helmholtz magnetic field is changed, the amplitude of the potential wave output by the coils can also be changed, the corresponding relation between the amplitude of the potential wave output by the coils and the swing angle of the tentacle 6 can be obtained, a corresponding curve is fitted through the corresponding relation between multiple groups of amplitudes and the swing angle, and the swing angle is obtained. Wherein n is the number of turns, S is the area of the induction coil, Δ B is the magnetic field variation, and Δ t is the time variation.
The rotation angle detection can be realized by the following steps: as shown in fig. 2, 9 self-adhesive coils 9 are mounted under the sensor, and the movement of the bottom magnet 7 is controlled by controlling the sequence and magnitude of the current applied to the self-adhesive coils 9, so that the size of the angle of rotation of the tentacle 6 can be determined when the tentacle 6 is rotated, thereby realizing the positioning of the angle of rotation of the tentacle 6. In the process of determining the rotation angle, the rotation angle may be implemented according to a program written in Arduino, which is not described herein again because the program is not a protection core of the present invention.
In addition, the invention also provides an active bionic tentacle sensor application system, which comprises: a processor and the active bionic tentacle sensor.
The processors are all connected with the active bionic tentacle sensor. The processor is used for determining a voltage amplitude according to the voltage signal output by the active bionic tentacle sensor and determining a swing angle of a tentacle in the active bionic tentacle sensor according to the voltage amplitude.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. An active biomimetic whisker sensor, comprising: a whisker mechanism and an electromagnetic generating mechanism;
the whisker mechanism comprises: the antenna comprises a whisker unit, a ball contact pair and a coil unit; one end of the whisker unit is fixed on the ball contact pair; the coil unit is mounted on the ball contact pair;
the electromagnetic generation mechanism includes: the self-adhesive coil and the self-adhesive coil mounting seat; the self-adhesive coil is arranged in the self-adhesive coil mounting seat; the other end of the whisker unit is away from the self-adhesive coil by a set distance; and after the current with the specified magnitude is loaded in the self-adhesive coil, the self-adhesive coil is matched with the ball contact pair and the coil unit to realize the swing of the whisker unit.
2. The active biomimetic whisker sensor of claim 1, wherein the whisker mechanism comprises: tentacles and magnets; one end of the tentacle is arranged on the ball contact pair; the magnet is mounted at the other end of the tentacle.
3. The active biomimetic whisker sensor of claim 2, wherein the ball contact pair comprises: a ball bearing seat and a ball bearing;
the ball bearing is arranged in the ball bearing seat; the ball bearing is provided with a central through hole; one end of the tentacle penetrates through the central through hole to be fixed.
4. The active biomimetic whisker sensor of claim 3, wherein the coil unit comprises: an outer ball coil and a Helmholtz coil;
one end of the spherical outer coil is connected with the spherical bearing seat; the other end of the ball outer coil is embedded into the ball bearing, and the horizontal extension line of the ball outer coil is vertical to the central through hole of the ball bearing; the Helmholtz coils are symmetrically arranged on the ball bearing seat by taking the outer ball coil as a center.
5. The active biomimetic whisker sensor of claim 2, wherein the whisker mechanism further comprises: a permanent neodymium magnet;
the permanent rubidium magnet is adhered to the magnet.
6. The active biomimetic whisker sensor of claim 4, wherein the ball bearing mount comprises a first sub-mount and a second sub-mount;
the first sub-bearing seat and the second sub-bearing seat form a cavity for placing the ball bearing.
7. The active biomimetic whisker sensor of claim 4, further comprising an upper support cover and a lower support cover;
the upper supporting cover is adhered to the ball bearing seat; the lower supporting cover is adhered to the upper supporting cover; the upper and lower support covers forming a cavity for housing the whisker mechanism and the electromagnetic generating mechanism; the self-adhesive coil mounting seat is adhered to the lower supporting cover.
8. The active biomimetic whisker sensor of claim 4, wherein the upper support cover has a plurality of observation holes formed therein.
9. The active biomimetic whisker sensor according to claim 1, wherein the self-adhesive coil mounting base is provided with a plurality of grooves for placing the self-adhesive coil.
10. An active bionic tentacle sensor application system, comprising: a processor and an active biomimetic whisker sensor according to any of claims 1-9;
the processors are all connected with the active bionic tentacle sensors; the processor is used for determining a voltage amplitude according to the voltage signal output by the active bionic tentacle sensor and determining a swing angle of the tentacle in the active bionic tentacle sensor according to the voltage amplitude.
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| CN202111336560.0A CN114486004A (en) | 2021-11-12 | 2021-11-12 | Active bionic tentacle sensor and application system thereof |
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| CN202111336560.0A CN114486004A (en) | 2021-11-12 | 2021-11-12 | Active bionic tentacle sensor and application system thereof |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111060000A (en) * | 2019-12-11 | 2020-04-24 | 维沃移动通信有限公司 | Rotation angle detection device and method and electronic equipment |
| CN111289220A (en) * | 2020-03-11 | 2020-06-16 | 中国人民解放军国防科技大学 | Fluid motion measurement sensor device based on artificial tentacles |
| CN112556729A (en) * | 2020-11-26 | 2021-03-26 | 北京理工大学 | Active bionic tentacle sensor and device |
| CN113548584A (en) * | 2021-05-17 | 2021-10-26 | 上海海事大学 | Bridge crane lifting rope swing angle detection device based on electromagnetic induction principle |
-
2021
- 2021-11-12 CN CN202111336560.0A patent/CN114486004A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111060000A (en) * | 2019-12-11 | 2020-04-24 | 维沃移动通信有限公司 | Rotation angle detection device and method and electronic equipment |
| CN111289220A (en) * | 2020-03-11 | 2020-06-16 | 中国人民解放军国防科技大学 | Fluid motion measurement sensor device based on artificial tentacles |
| CN112556729A (en) * | 2020-11-26 | 2021-03-26 | 北京理工大学 | Active bionic tentacle sensor and device |
| CN113548584A (en) * | 2021-05-17 | 2021-10-26 | 上海海事大学 | Bridge crane lifting rope swing angle detection device based on electromagnetic induction principle |
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| Title |
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| 湖北省武汉仪器仪表学会译: "《传感器技术手册》", 31 August 1987 * |
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