CN113567282B - Object type judgment processing method and system based on shape memory alloy wire - Google Patents

Object type judgment processing method and system based on shape memory alloy wire Download PDF

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CN113567282B
CN113567282B CN202110620659.7A CN202110620659A CN113567282B CN 113567282 B CN113567282 B CN 113567282B CN 202110620659 A CN202110620659 A CN 202110620659A CN 113567282 B CN113567282 B CN 113567282B
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shape memory
memory alloy
probe
alloy wire
resistance value
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CN113567282A (en
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金明江
刘剑楠
蔡笑蓉
金学军
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Shanghai Jiaotong University
Ninth Peoples Hospital Shanghai Jiaotong University School of Medicine
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Shanghai Jiaotong University
Ninth Peoples Hospital Shanghai Jiaotong University School of Medicine
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N3/40—Investigating hardness or rebound hardness
    • G01N3/42—Investigating hardness or rebound hardness by performing impressions under a steady load by indentors, e.g. sphere, pyramid
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/02—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance
    • G01N27/04—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance
    • G01N27/041—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance of a solid body
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N3/02—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/003—Generation of the force
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/0058—Kind of property studied
    • G01N2203/0076—Hardness, compressibility or resistance to crushing
    • G01N2203/0078—Hardness, compressibility or resistance to crushing using indentation
    • G01N2203/0082—Indentation characteristics measured during load
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/02—Details not specific for a particular testing method
    • G01N2203/022—Environment of the test
    • G01N2203/0244—Tests performed "in situ" or after "in situ" use
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/02—Details not specific for a particular testing method
    • G01N2203/06—Indicating or recording means; Sensing means
    • G01N2203/0617—Electrical or magnetic indicating, recording or sensing means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/02—Details not specific for a particular testing method
    • G01N2203/06—Indicating or recording means; Sensing means
    • G01N2203/067—Parameter measured for estimating the property
    • G01N2203/0682—Spatial dimension, e.g. length, area, angle

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Abstract

The application discloses a method and a system for judging and processing object types based on shape memory alloy wires, wherein the method comprises the following steps: outputting a first predetermined current value to a driving telescopic member, wherein the driving telescopic member includes: the shape memory alloy wire is used for contracting under the condition that current passes through the shape memory alloy wire to drive the probe to move, and the probe is used for detecting the hardness degree of an object to be detected; acquiring a first resistance value of the shape memory alloy wire under the action of the first preset current value; and acquiring the object type corresponding to the first resistance value according to a preset corresponding relation, wherein the object type is the type of the object to be detected. By the method and the system, the corresponding object type can be found in the corresponding relation according to the resistance value of the read shape memory alloy wire, so that each object can be distinguished under the condition that hands do not contact the object.

Description

Object type judgment processing method and system based on shape memory alloy wire
Technical Field
The present application relates to the field of measurement, and more particularly, to a method and system for determining an object using shape memory alloy.
Background
The method for distinguishing the types of objects is important in some fields, for example, in the process of medical surgery, a plurality of tissues such as bones, muscles and skins of a human body are wrapped together, in the traditional open surgery, a doctor can distinguish the tissues by touching the affected part with fingers according to experience, however, with the increasing medical progress, the minimally invasive surgery is adopted, in the mode, the doctor cannot touch the affected part directly, and at the moment, the problem that how to distinguish each tissue accurately is quite troublesome is solved. In the prior art, there is no good way to distinguish the kind of object.
Disclosure of Invention
The embodiment of the application provides an object type judgment method based on a shape memory alloy wire, which at least solves the problem of object type judgment.
According to one aspect of the present application, there is provided a shape memory alloy wire-based object type determination processing method, including:
outputting a first predetermined current value to a driving telescoping piece, wherein the driving telescoping piece comprises: the shape memory alloy wire is used for contracting under the condition that current passes through the shape memory alloy wire to drive the probe to move, and the probe is used for detecting the hardness degree of an object to be detected;
acquiring a first resistance value of the shape memory alloy wire under the action of the first preset current value;
and acquiring the object type corresponding to the first resistance value according to a preset corresponding relation, wherein the object type is the type of the object to be detected.
According to another aspect of the present application, there is provided an object kind determination processing system including:
a power supply for outputting a first predetermined current value to the driving telescopic member;
the drive extension member includes: the shape memory alloy wire is used for contracting under the condition that current passes through to drive the probe to move, and the probe is used for detecting the hardness degree of an object to be detected;
software for performing the method of the first aspect.
Advantageous effects
In the embodiment of the application, the current is adopted to drive the shape memory alloy wire to drive the probe to detect the object to be detected, the process that a human hand touches the object to be detected is simulated, and under the condition that the preset corresponding relation is achieved, the corresponding object type can be found in the corresponding relation according to the reading of the resistance value of the shape memory alloy wire, so that the purpose that each object is distinguished under the condition that the human hand does not touch the object is achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 is a flowchart of object type determination in the embodiment of the present application;
FIG. 2 is a schematic view of the structure of the drive jack in the embodiment of the present application;
FIG. 3 is a graph showing the correspondence relationship obtained when modulus tests were performed on 4 different subjects in the example of the present application;
FIG. 4 is an example of determining the modulus of different objects based on the difference in travel of the probe at the same drive current;
FIG. 5 is an example of determining the modulus of different objects based on different drive current differences for the probe at the same stroke;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
In the figures, the reference symbols have the following meanings:
restraint member 1, telescoping section 11, fixed module 12, probe 2, probing stroke 21, driving telescoping member 3, power source 4, bus 300, receiver 301, processor 302, transmitter 303, memory 304, bus interface 306.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The method and the system are particularly suitable for distinguishing the objects which are wrapped or mixed together by using the embodiment of the invention when a plurality of objects to be detected are known.
In this embodiment, the characteristics of the memory alloy are used to distinguish the modulus, and then the object type is distinguished according to the difference of the modulus. Generally, after a metal material is acted by an external force, the metal material is firstly elastically deformed to reach a yield point, so that plastic deformation is generated, and permanent deformation is left after stress is eliminated. However, some materials, after undergoing plastic deformation, can return to their pre-deformed shape through a suitable thermal process, which is known as the Shape Memory Effect (SME). Metals having a shape memory effect are typically alloys of two or more metallic elements, known as Shape Memory Alloys (SMA).
The memory alloy can be applied in medicine. For example, micromanipulators with movable shoulders, elbows, wrists and fingers, made of memory alloy, are involved in the surgery, each shape memory alloy drive element being controlled by a pulse width adjustable current which is directly applied.
Shape memory alloys may be used in this embodiment to test the modulus of the object. The controllable thrust F is provided under the electric drive of the SMA, the SMA thrust F is related to the drive current I and is in a nonlinear positive correlation within a certain range; the resistance provided by using the SMA to resist the microwire or the spring as a return part is F ', and F' is a fixed value; probe resistance f: the modulus of the tested object, the shape of the probe tip and the pressing stroke are related; the respective forces satisfy F ═ F' + F, and the modulus of the object can be obtained from the relationship between the forces.
The embodiment provides a dynamic modulus monitoring and feedback system based on SMA, which comprises the following components: the restraint piece comprises a telescopic section and fixing modules positioned at two ends of the telescopic section; one end of the probe is connected with the fixing module at one end of the restraint piece, and the other end of the probe penetrates through the fixing module at the other end of the restraint piece; the two ends of the driving telescopic piece are respectively connected with the fixing modules at the two ends of the restraint piece, the driving telescopic piece is a shape memory alloy wire and is externally connected with a power supply, and the driving telescopic piece is used for driving the telescopic section to contract through contraction, so that the current peak value of the external power supply when the probe extends out to reach a set detection stroke is determined; the modulus of the object is then determined by the current peak.
Based on the above modulus acquisition technology, in the present embodiment, different corresponding relations satisfied by the moduli of the objects are provided in advance, and when the actual needs are resolved, the specific object type is identified according to the corresponding relation satisfied by the detected object.
In this embodiment, the shape memory alloy driving probe is to be used to detect the object based on the shape memory alloy having a driving action under the action of current and two sets of linear relations of current-force and resistance-stroke.
The process of sensing the hardness degree of an object by imitating the touch of a human finger on the object utilizes certain current provided for the shape memory alloy wire to form certain driving force, and the following rules are provided for the objects with different hardness degrees during detection: a softer object detection stroke is longer and a harder object detection stroke is shorter under the same force. For the same object, the detection stroke is longer when the force is larger, and the detection stroke is shorter when the force is smaller. FIG. 4 is an example of determining different object moduli based on a difference in stroke of the probe at the same driving current, and FIG. 5 is an example of determining different object moduli based on a difference in driving current of the probe at the same stroke; the above-mentioned rule is more clearly shown in fig. 4 and 5.
In the detection process, corresponding force and detection stroke corresponding relations can be formed for different objects, and the corresponding relation between the force and the detection stroke can be converted into the corresponding relation between the current and the resistance of the shape memory alloy wire under different detected objects by combining the corresponding relation between the current and the force and the resistance and the stroke of the shape memory alloy wire, so that the measurement is convenient, and the types of the objects can be identified.
Based on the above inventive concept, the embodiments of the present invention are as follows:
example 1
As shown in fig. 1, the method for determining and processing the type of an object based on a shape memory alloy wire comprises the following steps:
step S101, outputting a first predetermined current value to the driving telescopic member 3, wherein the driving telescopic member 3 includes: the shape memory alloy wire is used for contracting under the condition that current passes through to drive the probe 2 to move, and the probe 2 is used for detecting the hardness degree of an object to be detected.
And step S102, acquiring a first resistance value of the shape memory alloy wire under the action of the first preset current value.
Step S103, obtaining the object type corresponding to the first resistance value according to a preset corresponding relation, wherein the object type is the type of the object to be detected.
Through the step S101, the probe realizes the detection of the object to be detected under a certain force, the corresponding relationship between the current and the resistance representing the object to be detected in the step S102 is obtained in the detection process, and then the obtained corresponding relationship is compared with the corresponding relationship between the plurality of objects in the step S103, and the matched object is the corresponding object. Therefore, the purpose of distinguishing the known several wrapped or mixed objects is realized through the three steps.
In the above process, the pre-configured correspondence may be obtained in various ways. For example, the shape memory alloy wire is driven by current to deform, so that the probe 2 is driven to move, the magnitude of the current determines the magnitude of the force on the shape memory alloy wire, when the probe 2 detects an object, different hardness degrees influence the stroke of the probe 2 entering the object, the stroke is related to the deformation of the shape memory alloy wire, and the different deformation of the shape memory alloy wire causes the shape memory alloy wire to have different resistance values, so that the hardness degrees of the object can be reflected by recording the current and the resistance on the shape memory alloy wire, and when each object has a corresponding relationship of a plurality of currents and resistances, the corresponding relationship of the object can be formed.
Preferably, the preconfigured correspondence on which the above method is based is obtained before outputting the first predetermined current value to the driven telescopic element 3 by:
first, a second predetermined current is output to the driving telescopic member 3, wherein the second predetermined current is applied to the memory shape alloy wire, the object detected by the probe 2 is a known type of object, and the first predetermined current and the second predetermined current are the same or different.
Then, the resistance value of the shape memory alloy wire under the action of the second preset current value is obtained.
And finally, establishing a corresponding relation between the resistance value and the type of the object.
Referring to fig. 3, the air, the biodegradable material, the polydimethylsiloxane and the bakelite 4 objects with different hardness are detected for multiple times, that is, a plurality of second predetermined currents are respectively applied to form current-resistance corresponding relations of different objects. When the second preset current is less than 40mA, the discrimination of the 4 curves is not obvious, and when the second preset current is 50 mA-80 mA, different objects can be distinguished more obviously. As can be seen from FIG. 1, the shape memory alloy has a large driving strain stroke and a large driving output force, so that the embodiment of the invention can be applied to the detection of various objects with a large modulus span between KPa and GPa.
Although the effective range span of the first predetermined current for each object according to the correspondence is large in implementation, it is preferable to apply the first predetermined current in an interval in which the object is easily discriminated in order to quickly discriminate the kind of the object.
In order to obtain the type of the target object rapidly and accurately, in addition to applying the first predetermined current in the interval of the object which is easy to distinguish as mentioned above, multiple detections can be selected as required to improve the accuracy of distinguishing the object. For example, taking fig. 1 as an example, if the objects to be detected are two or more objects with a large difference between the relationship between bakelite and air, i.e. a large difference between moduli, the objects to be detected can be clearly distinguished by selecting the first predetermined current between 50mA and 80mA for one detection; if the objects to be detected are two or more objects with no obvious difference in the relation between bakelite and polydimethylsiloxane, namely the difference in the modulus is not large, the objects can be distinguished obviously by selecting the first preset current between 50mA and 80mA for one or more times of detection.
Therefore, in step S103, in order to obtain the first resistance value of the shape memory alloy wire by the first predetermined current value, the following method is specifically adopted:
and acquiring a graph of the change of the first resistance value of the shape memory alloy wire when the current applied to the shape memory alloy wire is increased to the first preset current value, wherein the graph is a graph with the current and the resistance value in a coordinate system, and the corresponding relation is the corresponding relation between the object type and the graph of the change of the resistance.
More specifically, in the above process, in step S103, in order to obtain the object type corresponding to the first resistance value according to the preset corresponding relationship, the following method is specifically adopted:
firstly, comparing the graph of the first resistance value change with the graph in the corresponding relation configured in advance one by one.
Then, a graph in which the similarity of the graph with the first resistance value change exceeds a threshold value in the correspondence relationship is obtained.
And finally, determining the type of the object to be detected as the type of the object corresponding to the graph with the similarity exceeding the threshold value.
One advantage of the above embodiment is that the present invention can be implemented with only 2 variables, i.e., probe ball dimensions and probe drive stroke, that need to be adjusted even in the face of objects with large modulus spans. In particular, the shape of the probe 2 and the stroke of the probe 2 are important influencing factors affecting the effectiveness and efficiency of the implementation process, such as: the ball head of the probe 2 is smaller, so that the pressure applied to the object under the condition of the same force is larger, and the available stroke is larger; on the contrary, if the ball head of the probe 2 is large, the pressure applied to the object under the same force is small, and only when the object with a small modulus is detected, the considerable effective stroke can be obtained. In addition, regarding the probe driving stroke, since the invention needs to obtain an effective resistance value in the implementation process, and the larger the resistance change is, the more obvious the resistance difference between the objects with different moduli is, and the higher the resolution precision is, the effective stroke needs to be ensured; however, the longer the stroke will affect the implementation efficiency, and the longer the time period required for each test is, the lower the test frequency will be, so it is necessary to control the range well to ensure both of them. Therefore, it is necessary to determine the shape of the probe 2 and the stroke of the probe 2 under application of the maximum current according to the modulus of the kind of the object in the correspondence relationship. Preferably, the diameter of the ball of the probe 2 is inversely proportional to the modulus of the test object and/or the stroke is inversely proportional to the modulus of the test object. Therefore, when the possible objects to be distinguished are known in advance, the proper ball head and/or stroke of the probe 2 are selected, and the implementation efficiency and the effect of the invention can be effectively improved.
The above embodiments are preferably applied in medical surgical scenes, for example, by testing the modulus of internal organs/skin, muscles and bones of living tissues to distinguish the above various tissues, so as to accurately select a target surgical object. The predetermined relationship diagram of the biological tissues and the 4 objects in fig. 1 are aligned, wherein bakelite is aligned to a target bone, polydimethylsiloxane is aligned to a target muscle, and biodegradable materials are aligned to a target viscera/skin, so that a target surgical object can be distinguished by implementing the method of the invention during minimally invasive surgery to improve the surgical accuracy.
The invention realizes the function of distinguishing objects on line in real time by using the SMA designed dynamic modulus testing method integrating driving and perception, can particularly and effectively distinguish wrapped and mixed objects, has the advantages of few adjusting parameters in the detection process, simple implementation process and wide application range of the objects, and is particularly suitable for the field of minimally invasive medicine.
Example 2
Based on the same inventive concept as that of embodiment 1, the present embodiment provides an object type determination processing system including:
and a power source 4 for outputting a first predetermined current value to the driving telescopic member 3. The power source 4 is for providing a second predetermined current value when the predetermined relationship is formed.
The drive jack 3 comprises: the probe comprises a probe 2 and shape memory alloy, wherein the shape memory alloy wire is used for shrinking under the condition that current passes through to drive the probe 2 to move, and the probe 2 is used for detecting the hardness degree of an object to be detected.
Software for carrying out the method described in embodiment 1 above.
Fig. 2 is a schematic diagram showing the configuration of the driving telescopic member 3 and the power source 4 in the present embodiment. Fig. 2 includes:
the restraint part 1 comprises a telescopic section 11 and fixing modules 2 positioned at two ends of the telescopic section 11. The telescopic section 11 is a spring wire or a spring plate in this embodiment, and a double-wire resisting structure of shape memory alloy can be preferably used to form a telescopic rebound effect.
And one end of the probe 2 is connected with the fixing module 2 at one end of the restraint piece 1, and the other end of the probe 2 penetrates through the fixing module 2 at the other end of the restraint piece 1. The probe 2 is preferably a high modulus, high strength material in this embodiment, including but not limited to an alloy or ceramic or silicon carbide material.
The driving telescopic piece 3 is characterized in that two ends of the driving telescopic piece 3 are respectively connected with the fixing modules 12 at two ends of the restraint piece 1, the driving telescopic piece 3 is a shape memory alloy wire and is externally connected with a power supply 4 and used for driving the telescopic section 11 to contract through contraction, and the shape memory alloy is preferably nickel titanium based shape memory alloy.
In the above system, the ball head shape of the probe 2 is preferably a circle, and the diameter range of the circle is: 0.2 mm to 2 mm; the detection stroke 21 is: 0.2 mm to 1.5 mm. In combination with the preferred method provided in example 1, the smaller the modulus of the object to be resolved, the closer to 2 mm the ball diameter of the probe 2 is selected, and the closer to 1.5 mm the detection stroke 21 is selected, whereas the larger the modulus of the object to be resolved, the closer to 0.2 mm the ball diameter of the probe 2 is selected, and the closer to 0.2 mm the detection stroke 21 is selected.
More specifically, in the present embodiment, for example, to ensure high frequency and high test accuracy, the diameter of the shape memory alloy wire is not higher than 50 μm.
Example 3
In this embodiment, referring to fig. 6, an electronic device is provided based on the inventive concept in embodiment 1, and includes a memory in which a computer program is stored and a processor configured to run the computer program to perform the method in embodiment 1 above.
Where in fig. 6 a bus architecture (represented by bus 300), bus 300 may include any number of interconnected buses and bridges, bus 300 linking together various circuits including one or more processors, represented by processor 302, and memory, represented by memory 304. The bus 300 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 306 provides an interface between the bus 300 and the receiver 301 and transmitter 303. The receiver 301 and the transmitter 303 may be the same element, i.e., a transceiver, providing a means for communicating with various other systems over a transmission medium. The processor 302 is responsible for managing the bus 300 and general processing, and the memory 304 may be used for storing data used by the processor 302 in performing operations.
The programs described above may be run on a processor or may also be stored in memory (or referred to as computer-readable media), which includes both non-transitory and non-transitory, removable and non-removable media, that implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims (10)

1. An object type judgment processing method based on shape memory alloy wires is characterized by comprising the following steps:
outputting a first predetermined current value to a driving telescopic member, wherein the driving telescopic member includes: the shape memory alloy wire is used for contracting under the condition that current passes through the shape memory alloy wire to drive the probe to move, and the probe is used for detecting the hardness degree of an object to be detected; one end of the probe is connected with the fixing module at one end of the restraint piece, and the other end of the probe penetrates through the fixing module at the other end of the restraint piece; the restraint piece comprises a telescopic section and fixing modules positioned at two ends of the telescopic section; two ends of the driving telescopic piece are respectively connected with the fixing modules at two ends of the restraint piece, and the driving telescopic piece is a shape memory alloy wire and is externally connected with a power supply and used for driving the telescopic section to contract through contraction;
acquiring a first resistance value of the shape memory alloy wire under the action of the first preset current value, wherein when the probe detects an object, different hardness degrees influence the stroke of the probe entering the object, the stroke is related to the deformation of the shape memory alloy wire, and the shape memory alloy wire has different resistance values due to different deformations;
and acquiring the object type corresponding to the first resistance value according to a preset corresponding relation, wherein the object type is the type of the object to be detected.
2. The method of claim 1, wherein prior to outputting the first predetermined current value to the drive jack, the method further comprises:
outputting a second predetermined current to the driving telescopic piece, wherein the second predetermined current is applied to the shape memory alloy wire, the object detected by the probe is an object of a known type, and the first predetermined current and the second predetermined current are the same or different;
acquiring the resistance value of the shape memory alloy wire under the action of the second preset current value;
and establishing a corresponding relation between the resistance value and the type of the object.
3. The method according to claim 1, wherein obtaining a first resistance value of the shape memory alloy wire at the first predetermined current value comprises:
acquiring a graph of the change of a first resistance value of the shape memory alloy wire when the current applied to the shape memory alloy wire is increased to the first preset current value, wherein the graph is a graph with the current and the resistance value as coordinate systems; the corresponding relation is the corresponding relation between the object type and the resistance change graph.
4. The method of claim 3, wherein obtaining the object type corresponding to the first resistance value according to a pre-configured correspondence comprises:
comparing the graph of the first resistance value change with the graph in the preset corresponding relation one by one;
obtaining a graph of which the similarity with the graph of the first resistance value change exceeds a threshold value in the corresponding relation;
and determining the type of the object to be detected as the type of the object corresponding to the graph with the similarity exceeding the threshold value.
5. The method of claim 2, wherein the known kind of object comprises at least one of: muscle, skin, fat, internal organs.
6. The method of claim 1, further comprising:
and determining the shape of the probe and the stroke of the probe under the condition of applying the maximum current according to the modulus of the type of the object in the corresponding relation.
7. An object type determination processing system, comprising:
a power supply for outputting a first predetermined current value to the driving telescopic member;
the drive bellows includes: the shape memory alloy wire is used for contracting under the condition that current passes through to drive the probe to move, and the probe is used for detecting the hardness degree of an object to be detected; one end of the probe is connected with the fixing module at one end of the restraint piece, and the other end of the probe penetrates through the fixing module at the other end of the restraint piece; the restraint piece comprises a telescopic section and fixing modules positioned at two ends of the telescopic section; two ends of the driving telescopic piece are respectively connected with the fixing modules at two ends of the restraint piece, and the driving telescopic piece is a shape memory alloy wire and is externally connected with a power supply and used for driving the telescopic section to contract through contraction;
software for performing the method according to any one of claims 1 to 6, wherein the different degrees of softness and hardness of the probe when probing the object influence the travel of the probe into the object, which is related to the deformation of the shape memory alloy wire, which different deformations result in different resistance values of the shape memory alloy wire.
8. The system of claim 7, wherein the probe is circular in shape.
9. The system of claim 8, wherein the circular shape has a diameter range of: 0.2 mm to 2 mm, and/or the probing stroke is: 0.2 mm to 1.5 mm.
10. The system of claim 7, wherein the shape memory alloy wire has a diameter of no more than 50 microns.
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