机器人旋转机构光学触觉、视觉感知信号旁轴旋转耦合方法的研究

The high-precision environment sensing technology is the cornerstone of intelligence for the rotation structure of robot. In this project, a new optical tactile and visual sensing technology and their sensing signal off-axis rotating coupling mechanism are investigated to solve the problems that are the limitation of sensing precision and sensitivity in existing electrical sensors and the bottleneck problem of signal coupling bandwidth of these sensors. When off-axis optical sensing signals rotating coupling mechanism is investigated based on planar optical interconnection, a tactile sensor based on the mode-interference and visual sensing method on the basis of all-solid-state laser radar are studied, and the fusion sensing methods of various optical sensors in the robot is proposed, the key problems of the project will be solved, which include the problem of low-efficiency for off-axis optical signals coupling, the difficulty of phase demodulation algorithm for laser array reflected light and problem of low robustness of multi-sensor arrays. Based on the mentioned-above theoretical studies, a fusion method and anti-jamming method of optical tactile and visual sensors and off-axis fiber optic rotary joint on rotation structure will also be studied in order to continuously and reliably couple the rotating sensing signal at rotation structure of robot and realize the close interaction between the robot and the external environment. We will propose a rotation coupling mechanism of single channel or multi-channel off-axis optical signal, a 3-D composition method for all-solid-state laser radar and a mathematical model for evaluating the robustness of optical sensor arrays. Through these studies, a theoretical foundation for the sensing and signal rotary coupling technology of rotation structure of robot will be established in order to enhance the sensing ability of robot rotation structure and the level of sensing signal transmission.

高精度环境感知技术是机器人旋转机构智能化的基石。由于存在感知信号传输带宽受限及受干扰测量精度下降的问题，现有电学传感器难以满足旋转机构精密运动、控制的需求。本项目通过研究基于平面光互连原理的旁轴旋转光耦合方法、基于模式干涉和全固态激光雷达的光学感知方法及多种光学传感器融合感知的方法，来解决旁轴光信号旋转耦合效率低、激光阵列反射光相位解调算法难和多传感器阵列鲁棒性低的问题, 并研究旋转机构感知和耦合器件在旋转机构上的融合方法和抗干扰方法，实现旋转感知信号在旋转机构处持续、可靠地耦合。基于上述研究，我们提出单路/多路旁轴光信号旋转耦合机制，光纤耦合全固态激光雷达3D构图方法和建立评价光学传感器阵列鲁棒性的数学模型，为机器人旋转机构中感知及其信号耦合技术研究奠定理论研究基础，以期提升机器人旋转机构的感知能力和感知信号传输水平。

本项目围绕着旋转机械爪中存在的感知信号传输带宽受限及因受干扰测量精度下降的科学问题，课题组完成了基于锥形波导结构的旁轴光信号耦合技术的设计，验证了旁轴光纤旋转连接器的性能；完成了光学传感器阵列鲁棒性的研究，并给出了鲁棒性评价的模型；完成了光纤触觉传感模型的建立，设计了对应的触觉传感器，将该传感器集成在机械爪上，实现外界物理量的感知；完成了高速激光雷达系统研究，将激光雷达集成在机械爪上，实现对外界距离信息的快速感知，并完成了高速测距信号经过旋转连接器后的信号鲁棒性研究；提出了基于光纤传感的机械手触觉信息感知方法，并选择光纤布拉格光栅作为触觉传感器，建立了柔性机械手爪受力与光纤布拉格反射波长的响应关系模型；经过研究，通过搭建的系统，验证了传感器对应力和距离的感知，实现了不同种类物体的精确抓取。

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