Material Identification Method And Application Based On Electrostatic Measurement

With the development of intelligent robot technology,the intelligent robot has put forward the urgent demand for autonomous environment perception technology.As the two important content of environmental perception,material identification and ground recognition are significant bases for autonomous decision-making and autonomous control of intelligent robot,and also an important criterion for measuring robot intelligence,Therefore,the research of material identification technology is of great significance to enhance the autonomous environment perception ability of intelligent robot.In this paper,a material identification method based on electrostatic measurement technology is presented to obtain the discharge characteristics of material surface and to extract and classify the signal features.Through the analysis of the surface charge of different materials,the material surface electric field distribution is obtained.A measurement model of surface electrostatic discharge is established with metal electrode and measuring material.And the discharge factor is defined to measure the discharge degree of material surface.According to the contrasting results of simulation and experiment signals,the contact and separation frequency of the measured process is selected.On this basis,an electrostatic measurement system is designed and built to measure electrostatic discharge signal of material surface in real time.Five typical indoor materials: glass,paper,wood,aluminum and PTFE are analyzed and selected.The electrostatic discharge signals of five kinds of materials are collected,and the signal characteristics are analyzed.The discharge factor,the number of effective negative peaks and the sum of the positive and negative peak variance of the time window are selected as characteristic quantities.The k nearest neighbor algorithm is selected to classify five kinds of materials.The results show that the average correct recognition rate of five materials is 86% with appropriate k value,and the recognition effect is very good.Considering the actual needs of the robot in the outdoor environment,the proposed identification algorithm is applied to four typical outdoor ground environments(tile,sand,grassland and asphalt)classification.By designing the measurement system and using the real ground material,the electrostatic discharge signal is classified and identified.The experimental results show that the average correct recognition rate is 86.3%.Further environmental adaptability tests show that this method can effectively distinguish wet pavement and various types of dry ground,and provide important reference for outdoor environment identification of robot.A material identification method based on material electrostatic discharge signal measurement is presented in this paper,which has been used for a preliminary study and exploration of indoor material identification and outdoor ground material classification,and a good classification result is achieved.The method has the advantages of novel principle,simple measurement structure and no dependence on ambient light,and can be conveniently applied to the hands and feet of intelligent robots to achieve the goal of automatic classification and identification of materials and ground environment.