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Contour recognition method of Hall-effect-based whisker sensor

This paper introduces a novel Hall-effect-based whisker sensor and proposes a contour recognition algorithm for distinguishing and recognizing objects. The mechanical arm drives the sensor to move according to the contour recognition algorithm in the experiments, and the object contour is distinguished and recognized by processing the detected spatial magnetic field data. The results of identifying the measured object with harder carbon fiber and softer ABS whiskers were compared and analyzed, and a new design was proposed based on the advantages of soft and hard materials. The newly designed whisker with glass fiber and stainless steel rod nested reduced the contour recognition error to 4.1%. The experimental results showed that the sensor could distinguish the contour of the straight line and circular objects, and the glass fiber and stainless steel rod nested sensor had a better recognition effect.