摘要 : This paper presents an obstacle contact sensor system that can detect both the contact state and the direction of contact parallel to the movement plane of a mobile system carrying the sensor. This sensor system is based on a regu... 展开 This paper presents an obstacle contact sensor system that can detect both the contact state and the direction of contact parallel to the movement plane of a mobile system carrying the sensor. This sensor system is based on a regular- or irregular-shaped ring surrounding the mobile system’s perimeter, connected to the mobile system’s body by a set of soft springs and also coupled mechanically to a set of four flex sensors measuring the relative displacement and direction of the ring when contacting an obstacle. The set of flex sensors is connected to a low-cost electronic module that implements a data acquisition block and a fuzzy processing block, delivering a value representing the estimated contact zone of the ring. Some experiments show how this detection system effectively reduces the sensor count needed for full coverage of the mobile system’s perimeter. Despite the kind of output implemented in the experiments, the contact force can also be estimated. 收起