Design of digital modules for capacitive proximity sensing system applications

Design of an intelligent controlling module as well as the signal processing module for a novel capacitive proximity sensing system for robotic applications are proposed. The capacitive sensor is composed of a 4×4 matrix of electrodes. The intelligent controlling module is mapped on an FPGA device embedded in the robotic unit; and is utilized to realize various different sensing arrangements within the same electrode matrix. The signal processing module is realized on an external computer and is used to properly process and classify the results produced by the sensor. By involving these two digital components, a rough estimation of obstacles facing the robot unit carrying the sensor and relative accurate distance information from the obstacle can be obtained.