A novel sensor for micro-magnetic field detection is proposed based on the physical characteristics and giant magneto-impedance (GMI) effect of Fe-Co-Si-B amorphous wires. The sensor circuit ensures high sensitivity,h...A novel sensor for micro-magnetic field detection is proposed based on the physical characteristics and giant magneto-impedance (GMI) effect of Fe-Co-Si-B amorphous wires. The sensor circuit ensures high sensitivity,high detection precision,fast response and small power consumption. The signal processing circuit taking complex programmable logic device (CPLD) as core chip not only improves the identification ability for pseudo ferromagnetic objects,but also ensures the real-rime response. It is the foundation for the proposed sensor to serve widely in military and civil. By using its high sensitivity for geomagnetism variation,as an application example,the sensor is used to compare and analyze different cars.展开更多
目前水果采摘存在劳动力短缺、采摘效率低和作业环境复杂等问题,亟须发展具备高精度感知与自主作业能力的智能化采摘装备,以全面提升果实采摘的效率和质量。传感器技术在水果采摘机器人中的应用包括路径规划、果实识别、定位及抓取控制...目前水果采摘存在劳动力短缺、采摘效率低和作业环境复杂等问题,亟须发展具备高精度感知与自主作业能力的智能化采摘装备,以全面提升果实采摘的效率和质量。传感器技术在水果采摘机器人中的应用包括路径规划、果实识别、定位及抓取控制等关键任务环节。针对非结构化果园环境,视觉、触觉与激光传感器的协同应用可实现目标识别、位置感知与避障控制,显著提升了采摘机器人对复杂环境的适应能力与作业精度,但是现有传感器仍然存在一些技术短板,如视觉传感器易受阳光干扰、枝叶遮挡和果实密集分布等因素影响,导致目标检测困难;触觉传感器易受温湿度影响,难以量化复杂的力学反馈,因而细微抓取力控制困难;由于非结构化环境下的路径优化困难,且激光传感器成本高昂,限制了其大规模应用。同时,单一传感器存在感知维度单一、环境适应性不足和果实特征感知不足等局限,难以适应非结构化果园环境。为此,针对多传感器融合技术面临的数据异构性、时序同步性和计算复杂性等挑战,对传感器技术在水果采摘机器人的未来应用进行了展望,指出融合红外、紫外等多波段成像技术和高动态范围(high dynamic range imaging,HDR)成像技术,柔性电子皮肤结合仿生结构设计的多传感器融合技术有望得到广泛应用。展开更多
基金Sponsored by National Natural Science Foundation of China (60874100)China Aerospace Science and Technology Innovation Funds (CAST200834)Weapons Advanced Research Funds (9140A01010109BQ0116)
文摘A novel sensor for micro-magnetic field detection is proposed based on the physical characteristics and giant magneto-impedance (GMI) effect of Fe-Co-Si-B amorphous wires. The sensor circuit ensures high sensitivity,high detection precision,fast response and small power consumption. The signal processing circuit taking complex programmable logic device (CPLD) as core chip not only improves the identification ability for pseudo ferromagnetic objects,but also ensures the real-rime response. It is the foundation for the proposed sensor to serve widely in military and civil. By using its high sensitivity for geomagnetism variation,as an application example,the sensor is used to compare and analyze different cars.
文摘目前水果采摘存在劳动力短缺、采摘效率低和作业环境复杂等问题,亟须发展具备高精度感知与自主作业能力的智能化采摘装备,以全面提升果实采摘的效率和质量。传感器技术在水果采摘机器人中的应用包括路径规划、果实识别、定位及抓取控制等关键任务环节。针对非结构化果园环境,视觉、触觉与激光传感器的协同应用可实现目标识别、位置感知与避障控制,显著提升了采摘机器人对复杂环境的适应能力与作业精度,但是现有传感器仍然存在一些技术短板,如视觉传感器易受阳光干扰、枝叶遮挡和果实密集分布等因素影响,导致目标检测困难;触觉传感器易受温湿度影响,难以量化复杂的力学反馈,因而细微抓取力控制困难;由于非结构化环境下的路径优化困难,且激光传感器成本高昂,限制了其大规模应用。同时,单一传感器存在感知维度单一、环境适应性不足和果实特征感知不足等局限,难以适应非结构化果园环境。为此,针对多传感器融合技术面临的数据异构性、时序同步性和计算复杂性等挑战,对传感器技术在水果采摘机器人的未来应用进行了展望,指出融合红外、紫外等多波段成像技术和高动态范围(high dynamic range imaging,HDR)成像技术,柔性电子皮肤结合仿生结构设计的多传感器融合技术有望得到广泛应用。
