CN114979440B - High-precision optical navigation equipment and thermal influence precision compensation method thereof - Google Patents
High-precision optical navigation equipment and thermal influence precision compensation method thereof Download PDFInfo
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- CN114979440B CN114979440B CN202210567125.7A CN202210567125A CN114979440B CN 114979440 B CN114979440 B CN 114979440B CN 202210567125 A CN202210567125 A CN 202210567125A CN 114979440 B CN114979440 B CN 114979440B
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- 230000003287 optical effect Effects 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000000463 material Substances 0.000 claims description 9
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
- 229910021392 nanocarbon Inorganic materials 0.000 claims description 5
- 229910000975 Carbon steel Inorganic materials 0.000 claims description 4
- 239000010962 carbon steel Substances 0.000 claims description 4
- 239000003575 carbonaceous material Substances 0.000 claims description 3
- 239000013589 supplement Substances 0.000 claims description 2
- 230000017525 heat dissipation Effects 0.000 abstract description 11
- 238000010438 heat treatment Methods 0.000 description 5
- 230000001502 supplementing effect Effects 0.000 description 3
- 125000004432 carbon atom Chemical group C* 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000011343 solid material Substances 0.000 description 2
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/51—Housings
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
Abstract
The invention provides high-precision optical navigation equipment and a thermal influence precision compensation method thereof, wherein the equipment comprises a shell, and a main control board, a power panel, a keel, photographing equipment, a laser lamp indication lamp panel, a sensor panel, a light-sensitive sensor, a lens and a light-supplementing lamp assembly which are arranged in the shell; the main control board adopts an FPGA chip, and heat dissipation design and temperature algorithm compensation are added, so that the use temperature of the navigation equipment is expanded to +5 ℃ to +35 ℃, and the high-precision requirement can be met at each temperature point.
Description
Technical Field
The invention relates to the technical field of navigation equipment, in particular to high-precision optical navigation equipment and a thermal influence precision compensation method thereof.
Background
In recent years, the surgical robot provides a brand new choice for various surgical, orthopaedics and dental operations due to the advantages of accuracy and safety. Over time, the related technology of surgical robots has matured and its clinical use has increased year by year.
The optical positioning and electromagnetic positioning method is widely applied to the positioning mode, wherein the optical navigation type surgical robot widely uses the binocular infrared positioning tracker to identify the optical marker, so that the tracking and positioning of the surgical target are realized, and the optical positioning method has the advantages of high precision, convenience in use, no electromagnetic environment interference and the like.
The image frame rate of the optical navigation equipment on the market at present is low, the self heating value is low, the maximum limit working temperature of the optical navigation equipment on the market at present can only reach +10 ℃ to +30 ℃, the optical navigation equipment is limited to the temperature of an operating room, temperature compensation processing is not generally carried out, and the precision is greatly influenced by the temperature. If an FPGA chip with high image frame rate and high instantaneity is adopted, the heating value of the FPGA chip far exceeds that of the traditional chip, and the chip heating can seriously interfere the navigation precision.
Disclosure of Invention
The invention aims to solve the problems of the prior art, and provides high-precision optical navigation equipment and a thermal influence precision compensation method thereof, wherein the equipment adopts an FPGA chip, has high image frame rate and high instantaneity, and increases heat dissipation design and temperature algorithm compensation, so that the use temperature of the navigation equipment is expanded to +5 ℃ to +35 ℃, and the high-precision requirement can be met at each temperature point.
The invention provides high-precision optical navigation equipment, which comprises a shell, a main control board, a power panel, a keel, photographing equipment and a laser lamp indication lamp panel, wherein the main control board, the power panel, the keel, the photographing equipment and the laser lamp indication lamp panel are arranged in the shell; the main control board adopts an FPGA chip, and is attached to the inner surface of the shell, and a temperature sensor is arranged on the main control board.
Further improved, the shell comprises a front shell and a rear shell, wherein the front shell and the rear shell are made of aluminum alloy, and the heat conductivity coefficient is 201W/(m.times.K).
Further improved, the rear shell is externally provided with radiating teeth, the inner surface of the rear shell is uniformly coated with nano carbon material with micron-sized thickness, and the FPGA chip is arranged at the corresponding position of the rear shell radiating teeth.
Further improved, the keel has thermal expansion coefficient not greater than 11.4X10 -6 (1/. Degree.C.) carbon steel material.
The invention also provides a thermal influence precision compensation method of the high-precision optical navigation equipment, which comprises the following steps:
1) The main control board detects the temperature in the equipment cavity to be T in real time through the temperature detection sensor 0 ；
2) The optical navigation equipment starts preheating at room temperature, calibrates the reflective ball, and detects the temperature T in the equipment cavity in real time by the temperature sensor t Wen Sheng t=t t -T 0 The temperature rises to a positive value and falls to a negative value;
3) Let the original physical center distance between two sensor boards at two ends of the keel be L 0 The thermal expansion coefficient of the keel material is a l The expansion E of the keel is: e=l 0 ×a l ×ΔT；
3) Calculating the distance L of the center of the sensor board in real time through an algorithm t ,L t ＝L 0 +E, the depth Z of the reflective sphere is calculated by the following formula:
where f is the lens focal length, d is the pixel disparity of the two camera images, d x Is the pixel size, i.e., the pixel size;
4) And the distance between the centers of the sensor plates is calculated in real time through a real-time feedback compensation algorithm for the temperature, so that the influence of the temperature on the equipment precision is reduced.
The invention has the beneficial effects that:
1. the high-precision optical navigation equipment adopts an FPGA chip, has high image frame rate and high instantaneity, and has wider application environment temperature range.
2. The temperature in the cavity is reduced through the heat dissipation design, and then the influence of the temperature on the precision of the navigation equipment is reduced.
3. The temperature algorithm compensation is added to the navigation equipment, so that the use temperature of the navigation equipment is expanded to +5 ℃ to +35 ℃, and the high-precision requirement can be met at each temperature point.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an exploded front schematic view of an optical navigation device;
FIG. 2 is an exploded view of an optical navigation device from the back;
FIG. 3 is a flow chart of a heat dissipation and precision compensation method;
in the figure: 01. rear shell, main control board, power panel, temperature sensor, sensor panel, lens, keel, light supplementing lamp assembly, laser lamp indication lamp panel and front shell.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides high-precision optical navigation equipment, which comprises a shell, and a main control board 02, a power panel 03, a keel 07, photographing equipment and a laser lamp indication lamp panel 09 which are arranged in the shell, wherein the photographing equipment is provided with two groups and is respectively arranged at two ends of the keel 07 and comprises a sensor board 05, a light-sensing sensor, a lens 06 and a light-supplementing lamp assembly 08, the two photographing equipment are respectively connected with the main control board, the light-supplementing lamp assembly is controlled by the main control board to photograph and supplement light, then the light-sensing sensor and the lens fixed on the keel photograph, the captured photo of a reflecting ball is uploaded to the main control board, and the specific position of the reflecting ball in space is calculated; the main control board 02 adopts an FPGA chip, the main control board 02 is attached to the inner surface of the shell, and the main control board is provided with a temperature sensor 04.
The optical navigation device works as follows: the main control board is used for controlling the light supplementing lamp assembly to conduct photographing and light supplementing, then a photosensitive sensor and a lens fixed on the keel are used for photographing, the captured photo of the reflecting ball is uploaded to the main control board, the specific position of the reflecting ball in space can be calculated through arithmetic operation, and then specific three-dimensional coordinate information of the reflecting ball is transmitted to the operation equipment control center.
The image frame rate of the optical navigation equipment is high, and the average frame rate can reach 100 frames/second, so that the heating value of the FPGA chip is large, and the chip heat consumption reaches 12W. The device needs to be subjected to heat dissipation design to reduce the temperature in the cavity, so that the influence of the temperature on the precision of the navigation device is reduced. The shell comprises a front shell 10 and a rear shell 01, wherein the front shell 10 and the rear shell 01 are made of aluminum alloy, the marks are 6063-T6, the heat conductivity coefficient is 201W/(m.times.K), and heat dissipation teeth are arranged outside the rear shell 01 to increase the heat dissipation area. It is known that the heat conduction resistance is in a proportional relation with the distance, so that the heat dissipation effect is poor at a position far from the center of the chip; the inner surface of the rear shell 01 is provided with a layer of nano carbon coating material, the nano carbon material with the micron-sized thickness is uniformly coated on the aluminum alloy shell, heat conduction is carried out by utilizing the high heat conduction performance among carbon atoms (5300W/(m.times.K)), and then the heat energy is converted into infrared radio frequency by the high heat radiation efficiency of the carbon atoms, so that the soaking and heat dissipation capacity is enhanced. The FPGA chip with the largest heating on the main control board 02 is designed and attached to the corresponding position of the heat dissipation teeth of the rear shell 01, and the heat of the FPGA chip is rapidly guided to the outer surface of the rear shell through the nano carbon coating material of the rear shell 01 and the rear shell aluminum alloy material and dissipated in the air, so that the temperature in the cavity of the equipment is finally reduced, and the influence of the temperature on the precision is reduced.
However, the above heat dissipation measures cannot eliminate the temperature change in the cavity, and as long as the use environment temperature changes, the temperature influence is always present and needs to add a compensation algorithm to reduce the influence.
The coefficient of thermal expansion is a physical quantity that measures the degree of thermal expansion of a solid material. Is the relative change of the length or volume of an object with a unit length and a unit volume when the temperature is increased by 1 ℃. Can be expressed in terms of an average linear expansion coefficient α or an average volumetric expansion coefficient β:
or->
Wherein L, V is the original length (mm) and original volume (mm. Times.3) of the sample, respectively, and DeltaL and DeltaV are the relative elongation and volume change amounts of the sample when the temperature is increased from t1 (. Degree. C.) to t2 (. Degree. C.). In general, β is approximately equal to 3α, and therefore the linear expansion coefficient α is practically used l To represent. It varies with the composition and temperature of the material and is a physical parameter that reflects the change in properties of a solid material when it is impacted by heat.
The main control board 02 is provided with a temperature detection sensor 04 which can detect the temperature in the equipment cavity in real time; two sensor boards 05 are fixed on the keel 07, the physical center of the two sensor boards is originally at a distance L 0 To reduce the temperature versus distance L 0 The keel 07 is made of a common metal material, namely a carbon steel material with a small thermal expansion coefficient, wherein the linear expansion coefficient of the carbon steel material is 11.4 multiplied by 10 -6 (1/°c), the expansion of the keel is;
e (expansion amount) =l 0 (Length). Times.a l (coefficient). Times.DeltaT (temperature rise)
The optical navigation equipment starts preheating at room temperature, then calibrates the reflective ball, and the temperature sensor 04 on the main control board 02 detects that the temperature in the equipment cavity is T when calibrating 0 The method comprises the steps of carrying out a first treatment on the surface of the Before the equipment is used, the equipment is started and preheated, and in the using process, the temperature sensor 04 on the main control board 02 detects the temperature T in the cavity of the equipment in real time t Wen Sheng t=t t -T 0 The temperature rises to a positive value and falls to a negative value; expansion amount e=a l X delta T, calculating the distance L of the center of the sensor board in real time by an algorithm t ,L t ＝L 0 +E, the depth Z of the reflective sphere is calculated by the following formula:
wherein L is t For the center distance of the sensor plate, f is the lens focal length, d is the pixel parallax of the two camera images, d x Is the pixel size, i.e. the picture element size.
The real-time feedback compensation algorithm for the temperature is used for calculating the distance between the centers of the sensor plates in real time, so that the influence of the temperature on the precision of the equipment is reduced, the equipment can be used in the range of +5 ℃ to +35 ℃, and the application range of products is improved.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the equipment examples, what has been described above is merely a preferred embodiment of the invention, which, since it is substantially similar to the method examples, is described relatively simply, as relevant to the description of the method examples. The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, since modifications and substitutions will be readily made by those skilled in the art without departing from the spirit of the invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (4)
1. A thermal influence precision compensation method of high-precision optical navigation equipment is characterized in that: the high-precision optical navigation equipment comprises a shell, a main control board, a power panel, a keel, photographing equipment and a laser lamp indication lamp panel, wherein the main control board, the power panel, the keel, the photographing equipment and the laser lamp indication lamp panel are arranged in the shell, the photographing equipment is provided with two groups and is respectively arranged at two ends of the keel, the photographing equipment comprises a sensor board, a light-sensitive sensor, a lens and a light-supplementing lamp assembly, the two groups of photographing equipment are respectively connected with the main control board, the main control board controls the light-supplementing lamp assembly to photograph and supplement light, the light-sensitive sensor and the lens fixed on the keel photograph, the captured photo of the reflecting ball is uploaded to the main control board, and the specific position of the reflecting ball in space is calculated; the main control board is an FPGA chip and is attached to the inner surface of the shell, and a temperature sensor is arranged on the main control board;
the compensation method calculates the thermal expansion amount of the keels caused by temperature change, calculates and compensates the center distance of the two sensor plates in real time based on the thermal expansion amount, and comprises the following specific steps:
1) The main control board detects that the temperature in the room temperature cavity of the equipment is T through the temperature sensor 0 ；
2) The optical navigation equipment starts preheating at room temperature, calibrates the reflective ball, and detects the temperature T in the equipment cavity in real time by the temperature sensor t Wen Sheng t=t t -T 0 The temperature rises to a positive value and falls to a negative value;
3) Let the original physical center distance between two sensor boards at two ends of the keel be L 0 The thermal expansion coefficient of the keel material is a l The expansion E of the keel is: e=l 0 ×a l ×ΔT；
4) Calculating the distance L of the center of the sensor board in real time through an algorithm t ,L t ＝L 0 +E, the depth Z of the reflective sphere is calculated by the following formula:
where f is the lens focal length, d is the pixel disparity of the two camera images, d x Is the pixel size, i.e., the pixel size;
5) And calculating the distance between the centers of the sensor plates in real time through a real-time feedback compensation algorithm for the temperature.
2. The method for compensating for the accuracy of the thermal influence of a high-accuracy optical navigation apparatus according to claim 1, wherein: the shell comprises a front shell and a rear shell, wherein the front shell and the rear shell are made of aluminum alloy, and the heat conductivity coefficient is 201W/(m.times.K).
3. The method for compensating for the accuracy of the thermal influence of a high-accuracy optical navigation apparatus according to claim 2, wherein: the rear shell is externally provided with radiating teeth, the inner surface of the rear shell is uniformly coated with nano carbon material with micron-sized thickness, and the FPGA chip is arranged at the corresponding position of the rear shell radiating teeth.
4. A thermal influence accuracy compensation method of a high accuracy optical navigation device according to claim 2 or 3, characterized in that: the keel has a thermal expansion coefficient of not more than 11.4X10 -6 (1/. Degree.C.) carbon steel material.
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| CN202210567125.7A CN114979440B (en) | 2022-05-23 | 2022-05-23 | High-precision optical navigation equipment and thermal influence precision compensation method thereof |
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| CN202210567125.7A CN114979440B (en) | 2022-05-23 | 2022-05-23 | High-precision optical navigation equipment and thermal influence precision compensation method thereof |
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| JPH07110423A (en) * | 1993-10-14 | 1995-04-25 | Minolta Co Ltd | Temperature correction device |
| CN101303442A (en) * | 2007-05-08 | 2008-11-12 | 鸿富锦精密工业（深圳）有限公司 | Lens module with temperature compensation mechanism |
| WO2009101928A1 (en) * | 2008-02-12 | 2009-08-20 | Konica Minolta Opto, Inc. | Lens unit, image capturing lens, image capturing device, and portable terminal |
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