CN100544622C - Data processing method for robot tactile sensing information syncretizing - Google Patents
Data processing method for robot tactile sensing information syncretizing Download PDFInfo
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- CN100544622C CN100544622C CNB2007100931234A CN200710093123A CN100544622C CN 100544622 C CN100544622 C CN 100544622C CN B2007100931234 A CNB2007100931234 A CN B2007100931234A CN 200710093123 A CN200710093123 A CN 200710093123A CN 100544622 C CN100544622 C CN 100544622C
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Abstract
The invention discloses a kind of data processing method for robot tactile sensing information syncretizing, it comprises the steps: 1. at first to set up robot clothes haptic data storehouse in computer; 2. data are obtained: data collecting card is gathered the data that all the sensors sends on the robot clothes; 3. the data in the sensor buffer are carried out preliminary treatment; 4. sensing data compensation; 5. heat transfer agent merges; 6. the data after fusion treatment show with the two and three dimensions image, thereby the appearance profile and the interface pressure that obtain contactant distribute.This method can be able to produce than single-sensor and obtain more accurate, more complete, more reliable estimation and judgement, can improve spatial decomposition power and definition, tactile sensing device of robot's image mapping accuracy, nicety of grading and the reliability of robot whole body, strengthen decipher and dynamic monitoring ability, reduce fuzziness, effectively improve the utilization rate of haptic data etc.
Description
Technical field
The present invention relates to a kind of data processing method for robot tactile sensing information syncretizing, belong to the Robotics field.The haptic signal that the present invention obtains robot clothes tactile sensing by information fusion algorithm, thereby obtains the position and the two dimension that contacts pressure, distributed in three dimensions data of contactant.
Background technology
Tactile sensing device of robot's principle contacts or interacts with being known object by touch sensor exactly, finishes the perception to body surface feature and physical property.Tactile sensing device of robot's sensing clothes are meant the garment-type touch sensor that is distributed in the robot whole body, can cut out and make processing according to the shape of robot, and wearable in robot on one's body with the perception environmental information.Its main feature is that tactile-surface is flexible big, the multifunction of the unrestricted and sensation of sensor shape.
Tactile sensing device of robot's sensing clothes have following characteristics: (1) obtains data such as position, pressure by sensor.Sensing data spatially shows as two dimensional surface information.Robot clothes tactile sensing is the passive type sense of touch, and is similar to machine vision.Can ask for time, the spatial distribution of pressure data by image processing method.(2) compare with machine vision, tactile data has more diversity.Except that spatial data, pressure distribution data, robot can obtain the multiple physical message of contactant by touch sensor, as the surface roughness of contactant, temperature, hardness, material etc.Therefore it is similar to the function of human body skin, can realize robot to the abundanter perception of environment, so that people's machine information is mutual.
The tactile sensing device of robot is the emerging sense of touch research direction sixties in 20th century, in the intelligent robot tactile sensing method that proposes up to now, the pvdf membrane piezo-electric effect of utilizing that has obtains the power visual information, utilize ultrasonic wave or the pressure that have cause capacitance variations, utilize multiple schemes such as mechanical switch, fiber waveguide sensing in addition, but in these schemes, the emphasis that considers a problem all is that the tactile sensing technology is applied to robot hand, finger, and it is that tactile sensing is used for the robot arm joint place that individual program is arranged.Be distributed in robot whole body garment-type tactile sensing Study on Technology at present and still be in the starting stage at home and abroad, can be very few for the reference of research.The intelligent robot touch sensing costume, not only have characteristics such as high sensitivity and large tracts of land, can also detect the appearance profile and the pressure distribution of contactant and robot health phase-contact surface, its achievement is expected to be used for the whole body tactile sensing system of anthropomorphic robot, obtains new breakthrough at robot sensing's technical elements.
The difficult point of intelligent robot touch sensing costume is that the data that each sensor obtains are handled.This is because the sensor that the robot clothes relate to reaches thousands of of hundreds of, the characterisitic parameter of each sensor is different, the state of acceptance effect is different with effect, not only needs the data that obtain are compensated, and the more important thing is also to relate to the multi-sensor information fusion problem.Multi-sensor information fusion is an emerging research field, is a kind of research of handling about data that launches at system's use this particular problem of multisensor.Multi-sensor information fusion technology is an application technology that practicality is stronger that grew up in recent years, is the new technology of multidisciplinary intersection, relates to signal processing, probability statistics, information theory, pattern-recognition, artificial intelligence, fuzzy mathematics scheduling theory.
System compares with single-sensor, the utilization multi-sensor information fusion technology is aspect problems such as solution detection, tracking and target identification, can strengthen the system survival ability, improve the reliability and the robustness of whole system, strengthen the confidence level of data, and the raising precision, time, the spatial coverage of expansion whole system, the real-time of increase system and information utilization etc.
Utilize that a plurality of sensor obtains about object and comprehensive, the complete information of environment, be mainly reflected on the blending algorithm.Therefore, the key problem of multisensor syste is to select suitable blending algorithm.For multisensor syste, information has diversity and complexity, therefore, is to have robustness and parallel processing capability to the basic demand of information fusion method.In addition, the arithmetic speed and the precision problem that also have computational methods; Interface capability with preceding continuous pretreatment system and follow-up recognition system; The coordination ability with different technologies and method; To requirement of message sample etc.Generally speaking, based on nonlinear mathematical method,, can be used as fusion method if it has fault-tolerance, adaptivity, associative memory and parallel processing capability.
Though multi-sensor information fusion does not form complete theoretical system and effective fusion algorithm,, pointed fusion method has been proposed at some applications bases concrete application background separately.And for tactile sensing device of robot's sensing clothes, the research of its information fusion is very few, and this also is a big factor that hinders its development.The robot clothes processing that is confined to handle switching signal does not at present have the detected pressures size, information processing aspect the robot pressure sensing many pressure sensor information fusion, artificial neural network, Bayesian Estimation and Dempster-Shafer evidence theory based on the BP network or the like arranged, but all be that limitation is robot hand, finger, it is that tactile sensing is used for the robot arm joint place that individual program is also arranged, and robot sensing's clothes aspect is not utilization also.
Summary of the invention
At existing tactile sensing device of robot's sensing clothes sensing data processing method above shortcomings, the purpose of this invention is to provide a kind of machine and go into the information fusion data processing method of touch sensing costume, the information that this method can solve robot clothes large tracts of land sensing unit is obtained and is handled problems, the data that are about to be distributed in the whole body tactile sensing are made intelligent comprehensive, produce than single-sensor and obtain more accurate, more complete, more reliable estimation and judgement.
The object of the present invention is achieved like this: data processing method for robot tactile sensing information syncretizing is characterized in that: it comprises the steps:
1. at first in computer, set up robot clothes haptic data storehouse, this database comprise at least each sensor physical location, obtain the needed time of data, recover error compensation coefficient from each sensor from the characterisitic parameter of each sensor fetched data, each sensor;
2. data are obtained: data collecting card is gathered the data that all the sensors sends on the robot clothes, and the sensing data that collects is delivered in the computer sensor buffer;
3. the data in the sensor buffer are carried out preliminary treatment: each sensing data in the sensor buffer is taken out successively and according to the time ordered pair transducing signal carry out filtering and compensation deals, simultaneously according to the timing control signal of sensor and in conjunction with the information in the robot clothes haptic data storehouse, determine the address information of this data corresponding sensor, this address and robot clothes sensing unit are mapping relations one to one, all data dispose and form the sensor template, and this template is the quantity of physical address, data format and the sensor of sensor;
4. sensing data compensation: the data after the last step (the 3. step) handled are carried out compensation data and correction in conjunction with characterisitic parameter in the robot clothes haptic data storehouse and penalty coefficient again;
5. heat transfer agent merges: all are comprehensively become an inherent data cell through compensation with revised sensing data, come the characteristic functions of analyte sensors by the probability density formula curve, use statistical theory to define the error detection standard, and definition spacing standard of measurement is used as the standard of acquisition sensor error, all sensing datas are merged one by one according to the address relevance, simultaneously sensing data is carried out error compensation and wrong detection;
6. will go up the step (the 5. step) data after fusion treatment and show, thereby obtain the appearance profile and the interface pressure distribution of contactant with the two and three dimensions image.
Described 2. the method for step data capture card image data be: whole sense of touch clothes sensor is divided into several array blocks, the ranks lead-out wire of sensor in each array block is inserted the sampled scan circuit, carry out the piece choosing by the sampled scan circuit, the scanning circuit piece selects signal to be produced by the computer that data collecting card has been installed, the voltage signal of each sensing unit is sent into signal conditioning circuit successively in the piece sensor that then will select, again by computer-controlled data collecting card will be conditioned signals collecting in computer, and with the deposit data that collects in computer sensor buffer.
6. described go on foot method for displaying image is: the 3-D view of at first setting up a robot corresponding with the entity robot in computer, all sensor correspondences the coordinate points in the 3-D view on the entity robot clothes, the characteristic value of sensor is represented the size of institute's reading numerical values with shade and is showed on the coordinate points of this sensor correspondence in 3-D view, sensing data document (promptly calling the sensing data after overcorrect and fusion treatment) just can carry out the haptic data demonstration and the sense of touch image shows by calling at last, thereby the appearance profile and the interface pressure that obtain contactant distribute.
Further, for fear of because the error of sensor contingency, three numerical value of the same sensor that the data collecting card continuous acquisition is obtained are averaged as this sensor compensation and revised actual output in the sensing data compensation with after revising.
This method will be distributed in the data of whole body tactile sensing and make intelligent comprehensive, can effectively handle and avoid the influence of the uncertain error in single sense of touch group unit and the error message that sensor fault produces, guarantee the accuracy and the reliability of fusion results simultaneously, produce than single-sensor and obtain more accurate, more complete, more reliable estimation and judgement.Strong robustness can improve spatial decomposition power and definition, tactile sensing device of robot's image mapping accuracy, nicety of grading and the reliability of robot whole body, strengthens decipher and dynamic monitoring ability, reduces fuzziness, effectively improves the utilization rate of haptic data etc.
This method can overcome the influence of various external environments such as environment temperature, voltage disturbance, improves the precision of outline data measurement of contactant surface and image reconstruct, thereby makes robot sensing's clothes have good stable, fault-tolerance and reliability.
Description of drawings
Fig. 1-principle schematic of the present invention;
Fig. 2-tactile sensing device of robot's sensing clothes data processing method flow chart;
Fig. 3-tactile sensing data display structure schematic diagram;
Not homoscedastic two the probability-distribution function figure of Fig. 4-have;
But the definition schematic diagram of Fig. 5-letter spacing degree.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is further described in detail.
Fig. 1 is a principle schematic of the present invention.Comprising robot sensing's clothes, sampled scan circuit, signal conditioning circuit, data collecting card and computer.The main part of sense of touch clothes sensing system adopts block array, promptly whole sense of touch clothes are divided into several array blocks, the ranks lead-out wire of each piece sensor is inserted the core part-multiway analog switch of sampled scan circuit, carry out piece choosing (the analog switch piece selects signal to be produced by the main frame of the PCI-6259 multifunctional data acquisition card that NI company has been installed) by multiway analog switch, the voltage signal of each sensing unit is sent into signal conditioning circuit successively in the piece sensor that then will select, utilize data collecting card that robot sensing's clothes are carried out data acquisition then, and the sensing data that collects delivered in the sensor buffer, handle the form that the appearance profile of contactant and interface pressure are distributed with image through a series of data and intuitively manifest.
Fig. 2 is this tactile sensing device of robot sensing clothes data processing method flow chart, it comprises four big steps: be that data are obtained successively, data preliminary treatment, sensing data compensation and sensing data handle, wherein each step also comprises the processing method that some are concrete, this method also comprises an important robot clothes haptic data storehouse, and the information of databases storage is the foundation of each step process.Below in conjunction with Fig. 2 the present invention is carried out
Describe in detail:
Robot clothes haptic data storehouse (being divided into 3 data bank):
1, sensor database: this database has comprised the relevant information of all available sensors in the system, mainly contains: the kind of available sensors and their output data formats separately; The operation constraint of each sensor; The physical location of each sensor; Obtain the needed time of data from each sensor; Characterisitic parameter (as standard deviation etc.) from each sensor fetched data; Initial data is changed, obtained to have the data of algorithm characteristic.
2, sensor error detects and compensation database: this database has comprised all the sensors and the information of performance separately thereof.Problematic sensor will be delineated out in this database, and will do further to analyze to their data, and allow the error of sensing data to recover.Recovering the error compensation coefficient will be stored in this database.
3, environment data base: this database storage information relevant with working environment.Environmental information determines next step execution action, successfully carries out personality characteristics and working environment that an action need be known robot manipulation person, and these data all are stored in the environment data base.
Data acquisition step
The main task of this unit is to obtain and store the raw sensory data for later retrieval, and there are a plurality of sensor input signals this unit, by interface the raw sensory data is stored in the buffer, and buffer is a storage intermediary.
The haptic unit number is very many in tactile sensing device of robot's sensing clothes, if be directly connected on the computer, then need develop the dedicated computing machine board card that has a large amount of input ports, and obviously this kind mode is inappropriate.Therefore in the experimental system design of tactile sensing device of robot's sensing clothes whole sense of touch clothes are divided into several array blocks, the ranks lead-out wire of each tactile sensor array inserts scanning circuit, carry out the piece choosing by scanning circuit, the detected voltage signal of each sensing element is sent into signal conditioning circuit successively in the piece sensor array that then will select, signal conditioning circuit mainly amplifies and filtering voltage signal, data collecting card by host computer control collects conditioned signal in the main frame according to the mode of lining by line scan again, and with the deposit data that collects in the Computer Cache device.Buffer refers to a zone of PC memory, and it is used for interim store data.When needing per second to gather the data of several thousand sensing units, and show it is difficult in real time.But the data of capture card are delivered to buffer earlier, can earlier their quick storage be got up, give them after a while more again for change and show or analyze.
Computer is gathered synchronously by data collecting card output timing control signal, finishes the unit of sensor and selects and data acquisition.The line scanning method scans delegation at every turn, thereby has improved the reading speed of single tactile array full detail greatly, for the real-time of whole system is laid hardware foundation, and when improving sample rate, has solved the crosstalk noise problem between ranks preferably.Data collecting card to a plurality of variations comparatively slowly analog signal carry out A/D when conversion, utilize multiway analog switch that each road analog signal is connected with A/D converter in turn simultaneously, make an A/D converter can finish the conversion of a plurality of analog signals, save hardware spending.
The data pre-treatment step
This step relates to sensor selection, transducing signal processing, sensing data is handled and the output of sensor template.
Sensor is selected: computer is gathered synchronously by data collecting card output timing control signal, finishing the unit of sensor selects and data acquisition, that is to say that it is timing control signal decision by computer output that the selection of sensor unit and data are obtained, and this timing control signal is by the decision of the sensor timing unit in robot clothes haptic data storehouse, and this timing control signal is that each sensor with robot sensing's clothes has mapping relations.
Transducing signal is handled: it is to control by certain algorithm the data that collect are carried out filtering and compensation that transducing signal is handled.Because measuring object is not stable signal, so external interference, as electromagnetic interference, environment temperature, humidity etc., all can bring certain influence to signal.In addition, artifical influence factor is many, in the experimental bench build process, and planar smoothness, voltage-stabilized power supply precision that tactile sensor array is placed, the hysteresis of conductive rubber pressure drag characteristic etc. all can have error; Preposition scanning circuit, signal conditioning circuit, capture card stube cable etc. all can be introduced the loss of voltage that certain noise and analog switch cause.Because the data acquisition of each sensing unit is not a continuous acquisition, but with acquisition time, the start-stop moment of gathering and time, the foundation that signal is handled will be made according to the time of sampling exactly, promptly controls by certain algorithm by the timing control signal decision.
The signal processing is adopted digital filtering mainly to finish signal is screened, and only allows the signal of special frequency channel pass through.Suppose that the useful component in the input signal respectively accounts for different frequency bands with noise contribution, behind wave filter, can effectively remove noise contribution.Because the signal of gathering is a direct current, so by low-pass filter circuit, more satisfactory to the elimination of some noises.And in the process of design, also taken into full account and how to avoid and reduce these errors.Adopt the advantage of digital filter: (1) stiffness of system height, flexibility is strong; (2) no resistance matching problem; (3) low frequency signal can be handled and also strict linear-phase filtering and multi-C filtering can be realized; (4) can obtain adaptive-filtering simply; (5) the control figure word length can accurately be controlled the advantages such as precision of wave filter.
Sensing data is handled: it is that sensing data with obtaining is determined sensor address according to timing control signal and respective sensor relation that sensing data is handled, and this address and robot clothes sensing unit are mapping relations one to one.
The output of sensor template: the data pretreatment unit is according to receiving physical address and the data that data in the sensing data buffer and timing control signal determine each sensor, and combine the template of having set up with actual sensing clothes mapping with sensor database, promptly realized the output of sensor template, this template is the quantity of physical address, data format and the sensor of sensor.
The sensing data compensation process
Because the characterisitic parameter of each sensor and not quite identical in robot sensing's clothes.Before using, will demarcate, thereby the characterisitic parameter that obtains each sensor has been set up the sensor compensation database each sensor.This step is used the parameter in the sensor compensation database by known compensation relationship formula, and all sensing datas that obtained by the data pre-treatment step are compensated and revise, and makes with the discrepant sensor of actual value to obtain correcting.Simultaneously for fear of since the error of sensor contingency three numerical value that same sensor circle collection obtains are taken the mean, with this as this sensor final data value.
The sensing data treatment step
This step comprises that heat transfer agent merges, sensed image is handled and sensed image shows three little steps.
Sensor information merges: the purpose that the different haptic unit detecting signals of robot clothes touch sensor are carried out information fusion is to eliminate the interference of system noise and random noise, minimum may dropping to of false signal appearance, estimate to obtain high-precision profiling object surface.This is because robot clothes haptic unit spacing each other is very little, therefore when contactant contacts with tactile array, can influence contact point some contacts on every side.If use the data of coming from different sensors, represent the attribute of same object, the result probably can depart from.Sensing data departs from mainly and causes by following 2: characteristics such as the noise of (1) sensor, accuracy; Process when (2) data transaction being become arithmetic form.Therefore, the credible measurement is exactly to describe sensor by probability distribution, a comprehensive initial mean value of description valid data.
It merges thought: all are comprehensively become an inherent data cell through compensation with revised sensing data, come the characteristic functions of analyte sensors by the probability density formula curve, use statistical theory to define the error detection standard, and definition spacing standard of measurement is used as the standard of acquisition sensor error.The data of multisensor contain a large amount of uncertainties, so will find the inner link between these sensors.Can merge some very approaching sensing datas, if but the value of some sensor differs greatly, and will consider that these values are correct, and should not combine them.
Merge principle: this notion of range measurement between two probability curves is widely used in the statistics.In sensor error detection and offset data, define a spacing standard of measurement so that sensor error is surveyed.Consider two probability distribution P as shown in Figure 4
i(x) and P
j(x), wherein, it is different that their variance is measured, as σ
i 2≠ σ
j 2, x
i, x
jRepresented the reading of i and j sensor respectively.Definite condition probability-distribution function P
Ij
P
ij＝P(x
i/x
j) (1)
Equally, can define P
Ji
P
ji＝P(x
j/x
i) (2)
As shown in Figure 4, P
IjCompare P
JiGreatly, because probability distribution P
i(x) in, x
iIt is the value of i sensor.Corresponding x
iThe time, conditional probability function value P
Ij=0.75, mean that the probability that j sensor is accurate reading is 75%.On the contrary, probability distribution P
j(x), P
Ji=0.3, mean that it is 30% that i sensor has the probability of accurate reading.
Can draw such conclusion from above-mentioned analysis: at function P
i(x) in, x
iAnd x
jValue more approaching; Same, at function P
j(x) in, x
iAnd x
jValue differ just bigger.Fig. 4 has showed two probability-distribution function P
i(x) and P
j(x) spacing has different values, and its difference is determined by selected probability-distribution function.
In view of the uncertainty of multi-sensor data, must find out the inner link between the sensor.Therefore be necessary some very approaching sensing datas are merged,, belong to abnormal value, then it should not combined if some difference value data of sensor is very big.
On the basis of this analysis, define a kind of new distance measurement, use d
IjPerhaps d
JiThe error of representing acquisition sensor.But this new spacing is called letter spacing degree d
IjPerhaps d
Ji, as Fig. 5 (a) with (b).
Wherein,
With
A and B are at probability distribution curve P
i(x) or P
j(x) under, sensor value x
iAnd x
jBetween the area that enclosed.In general, d
Ij≠ d
JiUnless, standard deviation sigma
i 2=σ
j 2, and 0≤d
Ij, d
Ji≤ 1
Lift one about d
IjSpecial case,
(1) works as x
i=x
jThe time, d
Ij=0 (as shown in Figure 5).
(2) work as x
iAnd x
jDuring apart from infinity, d
Ij=1.
But the advantage of letter spacing degree mainly contains following two aspects: it not only provides one to describe identical abstract scale value with the front, has also proposed the relation of spacing and coherence measurement.Such as, d
IjIf the value x of=0.6 expression sensor
iBe correct, sensor values x then
jAt probability-distribution function P
i(x) also has 60% confidential interval under.It must be noted that x
iAnd x
jBetween distance big more, confidence level is high more.
Be provided with a plurality of sensors same object is measured, an observation of sensor generally should satisfy normal distribution.If introduce confidence interval from estimating d
IjRepresent two deviation sizes between the sensor, promptly represent the mutual degree of support between them, then confidence interval is approaching more from the more little then measured value of the value of estimating, if the identical value of sensor d
IjBe 0.All confidence intervals are from estimating the formation distance matrix.In the ordinary course of things, artificially determine a threshold values ε, when confidence interval thinks that when estimating less than ε two sensors support that mutually value is 1 (r
Ij=1); Otherwise be 0.So just constituted relational matrix, promptly
R in the formula
IjRepresent the degree of support of j sensor to i sensor.Threshold values is rule of thumb selected generally speaking, and threshold values gets 1/2.The comprehensive degree of support of each sensor, this correlation between to a certain extent more can response sensor.The testing result range averaging value that sensor provides is near more, and this result will be high more with other results' confidence level ratio.
According to these notions, the step below using solves the problem of data fusion:
(1) at first, comprehensively those sensing units of supporting fully mutually form a new sensing unit data A.The A value representation has the data of high confidence level, and these data are become by other a lot of aggregation of data, therefore is known as preferential sensing data.Remaining sensing unit merges according to the aforementioned principles method, and then forms new sensing data.
(2) also be correct by the data of the sensing unit of preferential sensing data support, will be integrated in the preferential sensing data.
(3) any one supports the sensing unit of preferential sensing data all to depart from actual value a little, will can not be noted as mistake or error is arranged.
(4) sensing unit of any one separation will cause being noted as mistake or error being arranged with its sensor associated, and wrong and sensing data error will be carried out mistake recovery and correction.
Sensed image is handled and sensed image shows: sensed image processing section and image displaying part mainly are exactly that the data of handling well are shown with the two and three dimensions image.The tactile sensing data visualization is utilization computer graphics and image processing techniques, the data that tactile sensing is obtained are changed to figure or image shows on screen, and carry out interaction process and provide as the intuition of human eye, mutual and sensitive visible environment.The data that sensor array collects are fixing two-dimensional matrixs, and the line number of matrix and columns are exactly the line number and the columns of sensor array, and the distance between row and row, column and the row is fixing and known.Selected good coordinate system, each sensor unit just corresponding the point of a fixed position, each data item is as single pel element representation in the tactile sensing data, according to result's mapping of binaryzation, lot of data collection composition data image just can recover entire image on the respective point of coordinate plane.Simultaneously each property value of data is represented with the form of multidimensional data, can be from different dimension observed data, thus data are carried out more deep observation and analysis.The data that obtain are shown with the mode that two-dimensional coordinate system adds gray scale, thereby the appearance profile and the interface pressure that obtain contactant distribute.
Fig. 3 is a tactile sensing data display structure schematic diagram.Touch sensor is visual with the three-dimensional coordinate that collects and the characteristic value under this coordinate (pressure).The corresponding value of coordinate, by handling, the corresponding different color of different sensing data (referring to force value) shows at the program form, thereby obtains these information accurately, intuitively.Data have been read in (x, y, z) coordinate figure and this characteristic value and every group of data 4 values, by routine processes, the three-dimensional coordinate point that reads in is successively connected into triangle, and the color relation of each point is the color of characteristic of correspondence value then.Like this, as long as compare, just can know the concrete characteristic value of each point, thereby accomplish the tactile sensing visualization of data with the standard color framework.
The data visualization procedure for displaying is as follows,
(1) reads in computer through the voltage signal and the spatial data of data processing touch sensor, draw out the fundamental figure unit, set up the scenery model according to the fundamental figure unit, and to the model set up in carrying out mathematical description OpenGL point, line, polygon, image and bitmap all as the fundamental figure unit.
(2) the scenery model is placed on suitable position in the three dimensions, and viewpoint (viewpoint) is set with the interested view of observation post.
(3) determine the color of object, determine illumination condition, texture bonding method etc. simultaneously.
(4) mathematical description of scenery model and color information thereof are converted to pixel on the computer screen, this process is rasterisation (rasterization) just.
In order to show the tactile data of handling well, realize the recovery of sense of touch static state and dynamic image, use the VC language to work out Three-dimensional Display software.In the sensed image display module, at first set up a simple machine people's three-dimensional body, the three dimensions walking that this body can set.Shirtfront and back in robot are arranged the clothes sensor array that can show respectively, the size of representing institute's reading numerical values with the shade of sensing point, sensing data just can carry out the haptic data demonstration and the sense of touch image shows by calling at last, thereby the appearance profile and the interface pressure that obtain contactant distribute.
Obtain lot of data by tactile sensing, in a large amount of data after treatment behind, under cover many important information will provide as the intuition of human eye, mutual and sensitive visible environment.Sensing data is shown with image, curve, X-Y scheme, said three-dimensional body and animation, and can carry out visual analyzing its pattern and correlation.Data visualization can be accelerated processing speed of data greatly, and the mass data of real-time generation is utilized effectively; Can be in people and data, realize Image Communication between men, thereby make people can observe phenomenon implicit in the data, provide strong instrument for finding and understanding scientific law; Can realize guiding and control, change the condition of process institute foundation by interactive means, and observe its influence calculating and programming process.
Claims (4)
1, data processing method for robot tactile sensing information syncretizing is characterized in that: it comprises the steps:
1. at first in computer, set up robot clothes haptic data storehouse, this database comprise at least each sensor physical location, obtain the needed time of data, recover error compensation coefficient from each sensor from the characterisitic parameter of each sensor fetched data, each sensor;
2. data are obtained: data collecting card is gathered the data that all the sensors sends on the robot clothes, and the sensing data that collects is delivered in the computer sensor buffer;
3. the data in the sensor buffer are carried out preliminary treatment: each sensing data in the sensor buffer is taken out successively and chronologically transducing signal is carried out filtering and compensation deals, simultaneously according to the timing control signal of sensor and in conjunction with the information in the robot clothes haptic data storehouse, determine the physical address information of this data corresponding sensor, this physical address and robot clothes sensing unit are that correspondence mappings concerns one by one, all data dispose and form the output of sensor template, and this template is the above-mentioned physical address of sensor, the quantity of data format and sensor;
4. sensing data compensation: the data after the processing of last step are carried out compensation data and correction in conjunction with characterisitic parameter in the robot clothes haptic data storehouse and penalty coefficient again;
5. heat transfer agent merges: all are comprehensively become an inherent data cell through compensation with revised sensing data, come the characteristic functions of analyte sensors by the probability density formula curve, use statistical theory to define the error detection standard, and definition spacing standard of measurement is used as the standard of acquisition sensor error, all sensing datas are merged one by one according to above-mentioned physical address relevance, simultaneously sensing data is carried out error compensation and wrong detection;
Thereby 6. will go up the data of step after fusion treatment and show appearance profile and the interface pressure distribution that obtains contactant with the two and three dimensions image.
2, data processing method for robot tactile sensing information syncretizing according to claim 1, it is characterized in that: described 2. the method for step data capture card image data be: whole sense of touch clothes sensor is divided into several array blocks, the ranks lead-out wire of sensor in each array block is inserted the sampled scan circuit, carry out the piece choosing by the sampled scan circuit, the sampled scan circuit block selects signal to be produced by the computer that data collecting card has been installed, the voltage signal of each sensing unit is sent into signal conditioning circuit successively in the piece sensor that then will select, again by computer-controlled data collecting card will be conditioned signals collecting in computer, and with the deposit data that collects in computer sensor buffer.
3, data processing method for robot tactile sensing information syncretizing according to claim 1 and 2, it is characterized in that: 6. described go on foot method for displaying image is: the 3-D view of at first setting up a robot corresponding with the entity robot in computer, all sensor correspondences the coordinate points in the 3-D view on the entity robot clothes, step 5. the data after fusion treatment as the characteristic value of sensor, described characteristic value shows on the coordinate points of this sensor correspondence in 3-D view, the size of characteristic value is represented with shade, sensing data just can carry out the haptic data demonstration and the sense of touch image shows by calling at last, thereby the appearance profile and the interface pressure that obtain contactant distribute.
4, data processing method for robot tactile sensing information syncretizing according to claim 1 and 2 is characterized in that: three numerical value of the same sensor that the data collecting card continuous acquisition is obtained are averaged as this sensor compensation and revised actual output in the sensing data compensation with after revising.
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| EP2538385B1 (en) * | 2010-02-19 | 2018-07-18 | Team Lab Inc. | Digital signage system |
| TW201317848A (en) * | 2011-10-24 | 2013-05-01 | Rich Ip Technology Inc | Control system for integrating plural sets of sensing plane data |
| CN102331838B (en) * | 2011-11-18 | 2014-04-16 | 东南大学 | Method for expressing vibration tactility of image based on depth contour |
| CN102657400B (en) * | 2012-04-27 | 2014-03-12 | 厦门理工学院 | Positioned combined garment sewing template and preparation method thereof |
| CN103048069B (en) * | 2013-01-15 | 2015-01-07 | 中国人民解放军总后勤部军需装备研究所 | Testing and evaluation system for wear comfortableness of helmet |
| CN104507180B (en) * | 2014-12-29 | 2019-04-02 | 中山大学 | Wireless sensor network data fusion method based on the packing density degree of correlation |
| CN105653021B (en) * | 2015-08-31 | 2018-09-07 | 宇龙计算机通信科技(深圳)有限公司 | A kind of data collaborative processing method and processing device |
| CN106980523A (en) * | 2017-04-06 | 2017-07-25 | 裴克铭管理咨询（上海）有限公司 | Visualization tool automates update mechanism |
| CN108471176B (en) * | 2018-05-02 | 2021-08-06 | 罗忠惠 | Self-alignment wireless charger baby for mobile equipment and alignment method |
| CN110443879B (en) * | 2019-07-24 | 2021-06-11 | 华中科技大学 | Perspective error compensation method based on neural network |
| CN111000538A (en) * | 2019-12-30 | 2020-04-14 | 北京丰顺科技发展有限公司 | Pulse condition acquisition and pulse diagnosis device and method capable of exceeding human touch spatial resolution |
| CN111000539A (en) * | 2019-12-30 | 2020-04-14 | 北京丰顺科技发展有限公司 | Pulse condition acquisition and pulse diagnosis device and pulse condition acquisition data processing method |
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