CN112781521A - Software operator shape recognition method based on visual markers - Google Patents
Software operator shape recognition method based on visual markers Download PDFInfo
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- CN112781521A CN112781521A CN202011456499.9A CN202011456499A CN112781521A CN 112781521 A CN112781521 A CN 112781521A CN 202011456499 A CN202011456499 A CN 202011456499A CN 112781521 A CN112781521 A CN 112781521A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000000007 visual effect Effects 0.000 title claims description 12
- 238000001514 detection method Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 10
- 239000003550 marker Substances 0.000 claims description 9
- 230000003068 static effect Effects 0.000 claims description 5
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000009530 blood pressure measurement Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000014616 translation Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The soft manipulator is made of flexible materials, so that the soft manipulator can be transformed to any complex shape, joints of a traditional rigid robot are not provided, and the motion of the soft manipulator is mainly completed through self deformation, so that data collected by most sensors may be insufficient in the process of effectively reconstructing the shape of the soft manipulator.
Description
Technical Field
The invention belongs to the field of medical instruments, vision measurement and robots, and particularly relates to a software manipulator shape recognition method based on visual markers.
Background
The soft robot is a popular and leading subject in the robot field, the manipulator adopts innovative soft materials, can be safely contacted with external objects, and can reach positions which cannot be reached by a plurality of traditional robots by changing the shape of the manipulator, and the characteristic enables the soft manipulator to be widely applied to minimally invasive surgery and soft object operation.
From a control point of view, the difference between soft manipulators and traditional rigid manipulators lies in their continuous movement pattern, which, when moving, not only results in complex deformations of the operating structure but also in rotations or translations of some operating parts. Any deformation can be immediately registered by an encoder embedded in the joint and since it can easily be enclosed, the task of shape detection becomes very complicated since every external force applied to the operator will cause it to deform. Furthermore, there are no reliable sensors available to correctly detect its deformation, so that the resulting data is not effectively supported for efficient reconstruction.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a software operator shape recognition method based on visual marks, a static measurement system of a single camera can ensure that the camera can shoot a marked target point from different angles and different distances, and the obtained data can be ensured to have high precision and small error and the applicability of the device can be improved through multiple times of shooting in different forms and related visual measurement calculation.
In order to solve the technical problems, the invention adopts the technical scheme that: a software operator shape recognition method based on visual markers, the method comprising the steps of: step a, modeling a software operator to determine the shape of the software operator; b, marking the software operator through a positioning system based on a two-dimensional graph; c, acquiring the marked points of the marks through a camera and a static measurement system of the camera to position the software operator; and d, carrying out precision detection and inspection on the mark points to obtain the optimal mark size.
Preferably, in the shape recognition of the soft manipulator, a pressure supply system is provided in the method, the pressure supply system comprising a compressor, a solenoid valve and a pressure regulator.
Preferably, the positioning system is a visual marking and measuring system, the markings being made up of black and white squares that can be grouped to form peduncle-like monochromatic areas.
Preferably, the positioning the software operator in step c comprises the steps of:
step c1, identifying the code of the mark, obtaining the ID corresponding to the code through shooting detection, and identifying and presenting the ID through a calculator programming library; step c2, attaching the marker around the top of the bottom of the soft manipulator; c3, connecting a camera and a computer, wherein the camera shoots the software operator to obtain an image; and c4, the computer detects the two-dimensional marks on the image and calculates the direction and the position in a coordinate system, and the computer outputs data to obtain the global position and the direction of the software operator.
Preferably, the quality of detection of a single said marker is dependent primarily on the size, distance from the camera and orientation of the marker.
Preferably, the best imaging is achieved when the mark is 0.5cm and the camera distance is 15 cm.
Compared with the prior art, the invention has the beneficial effects that:
1. the requirement on hardware is low, and only a single camera is selected to be combined with a software operator;
2. the static measurement system of the single camera can ensure that the camera can shoot the marked target point from different angles and different distances, and can ensure high accuracy and small error of the obtained data through multiple shooting in different forms and related vision measurement calculation;
3. the software manipulator can be ensured to be better applied to the field of minimally invasive surgery through further and accurate confirmation of the real-time posture of the software manipulator.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
Further objects, features and advantages of the present invention will become apparent from the following description of embodiments of the invention, with reference to the accompanying drawings, in which:
FIG. 1 schematically illustrates an overall system diagram of the inventive arrangement;
FIG. 2 is a schematic diagram of the software manipulator for marking two-dimensional mark points according to the present invention.
Detailed Description
The objects and functions of the present invention and methods for accomplishing the same will be apparent by reference to the exemplary embodiments. However, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in different forms. The nature of the description is merely to assist those skilled in the relevant art in a comprehensive understanding of the specific details of the invention.
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.
The invention provides a software operator shape recognition method based on visual markers, which combines the existing software operator with an external single-camera positioning system to provide complete robot shape reconstruction, and the specific equation process of the invention is as follows:
the method mainly comprises the steps of modeling a software operator to determine the shape of the software operator, marking the software operator through an external positioning system based on two-dimensional graphic marks, achieving the positioning effect of the acquired mark points on the software operator through a camera and a camera which are equipped in the system, and finally ensuring the mark to be the optimal mark size through the precision detection and verification of the mark, so as to achieve the purpose of identifying the shape of the software operator better.
The present invention proposes a complete system for implementing this solution, including pressure supply, visual marking and measurement, and shape reconstruction, as shown in fig. 1.
The pressure supply system includes a compressor, solenoid valves, pressure regulators, etc. to provide pressure to the soft body operator and pressure measurements for shape reconstruction. The soft-body operator is then modeled so that its shape can be better rendered.
Visual marking and measuring systems are mainly based on two-dimensional graphical marking. The markers are composed of black and white squares and can be grouped to form a multi-color region, wherein the identifiable codes of the markers can be detected by shooting the codes of the markers to detect the corresponding IDs, then the markers can be identified and presented through a calculator programming library, the markers are attached to the periphery of the top of the bottom of the soft manipulator and shot by a camera, so that a computer can detect two-dimensional markers on an image and calculate the directions and the positions of the two-dimensional markers in a coordinate system, then the output data is the global positions and the directions of the soft manipulator, and the position change and the rotation of each marker are related to the displacement and the rotation of the corresponding soft manipulator, and the marker graph is shown in figure 2.
Finally, the accuracy of the detection of the marks is ensured, the quality of the detection of a single mark mainly depends on the size, the distance from a camera and the direction of the mark, so that the wrong mark can cause errors in subsequent calculation, in order to select the optimal mark, not only different repeated experiments are carried out on the size of the mark, but also the influence of different shooting distances after the mark is shot and imaged is detected, according to the experiments, the imaging effect achieved when the mark is 0.5cm and the distance from the camera is 15cm is the best, and the shape recognition of the software operator is realized.
The invention has the beneficial effects that: the requirement on hardware is low, and only a single camera is selected to be combined with a software operator; the static measurement system of the single camera can ensure that the camera can shoot the marked target point from different angles and different distances, and can ensure high accuracy and small error of the obtained data through multiple shooting in different forms and related vision measurement calculation; the software manipulator can be ensured to be better applied to the field of minimally invasive surgery through further and accurate confirmation of the real-time posture of the software manipulator.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (6)
1. A software operator shape recognition method based on visual markers is characterized by comprising the following steps:
step a, modeling a software operator to determine the shape of the software operator;
b, marking the software operator through a positioning system based on a two-dimensional graph;
c, acquiring the marked points of the marks through a camera and a static measurement system of the camera to position the software operator;
and d, carrying out precision detection and inspection on the mark points to obtain the optimal mark size.
2. The method of claim 1, wherein in shape recognition of the soft-body manipulator, a pressure supply system is provided in the method, the pressure supply system comprising a compressor, a solenoid valve and a pressure regulator.
3. The method of claim 1, wherein the positioning system is a visual marking and measuring system, the markings being made up of black and white squares that can be grouped to form peduncle-multiple monochromatic areas.
4. The method of claim 1, wherein the step c of positioning the soft-body manipulator comprises the steps of:
step c1, identifying the code of the mark, obtaining the ID corresponding to the code through shooting detection, and identifying and presenting the ID through a calculator programming library;
step c2, attaching the marker around the top of the bottom of the soft manipulator;
c3, connecting a camera and a computer, wherein the camera shoots the software operator to obtain an image;
and c4, the computer detects the two-dimensional marks on the image and calculates the direction and the position in a coordinate system, and the computer outputs data to obtain the global position and the direction of the software operator.
5. The method of claim 1, wherein the quality of detection of a single said marker depends primarily on the size, distance from the camera, and orientation of the marker.
6. The method of claim 1, wherein the best imaging is achieved when the marker is 0.5cm and the camera distance is 15 cm.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115847430A (en) * | 2023-02-27 | 2023-03-28 | 中国人民解放军国防科技大学 | Model-free prediction all-dimensional control method and system for soft mechanical arm |
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