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Three-dimensional tactile force detection method based on micro-vision

A detection method and three-dimensional force technology, applied in neural learning methods, image data processing, instruments, etc., can solve problems such as inability to detect tangential force

Active Publication Date: 2016-12-07
TSINGHUA UNIV
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Problems solved by technology

Most of the common tactile detection methods are based on piezoresistive, capacitive, photoelectric and other sensors. The physical quantities collected by these sensors can only detect the vertical force in the tactile contact area, and cannot detect the tangential force. Slip detection has great limitations when waiting for operations

Method used

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  • Three-dimensional tactile force detection method based on micro-vision
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Embodiment Construction

[0054] The micro-vision-based tactile three-dimensional force detection method proposed by the present invention has a flow chart as shown in figure 1 shown, including the following steps:

[0055] (1) In the initial static collection of the deformed image of the elastic body with marked points in the tactile detection area, the deformed image is sequentially processed in gray scale and binarized to obtain the binarized image of the deformed image, as shown in figure 2 As shown in (a), the value of the pixel in the binarized image is 0 or 1, 0 represents a white point, 1 represents a black point, and the binarized image is recorded as X;

[0056] (2) Set a matrix unit Y with a structural element of 5x5, the value of the matrix unit Y is 0, and the center point of the matrix unit Y overlaps with the pixel point a on the above-mentioned binarized image X, if the binarization All the pixels in the overlapping part of the image X and the matrix unit Y are 0, then the value of th...

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Abstract

The invention relates to a three-dimensional tactile force detection method based on micro-vision, and belongs to the technical field of intellisense of robot dexterous hand executing tail ends. The three-dimensional force detection technology method for verification is designed on the basis of an independently-designed tactile sensor, a good effect is achieved in the gripping process, and the method belongs to the technical field of robot perception. When the sensor directly makes contact with an object, an elastomer can be subjected to force to generate deformation, marking points can correspondingly generate displacement, and image information generated before and after the marking points generate displacement is captured by an image collecting camera. Deviation information of the marking points is calculated through comparison of the image information generated before and after the force is applied, and then a regressed three-dimensional force prediction vector is obtained through neural network training and predicting. According to the three-dimensional tactile force detection method based on micro-vision, three-dimensional force tactile sense information, three-dimensional force slip sense information and the like in the dexterous hand gripping process can be detected, and the method can be applied to the field of tactile perception of robot dexterous hands.

Description

technical field [0001] The invention relates to a tactile three-dimensional force detection method based on micro vision, and belongs to the technical field of intelligent perception of robot dexterous hand execution ends. Background technique [0002] The dexterous hand of the robot needs to be able to perform various operations such as grasping, moving, pinching or fixing objects. During the operation, the tactile feedback of the dexterous hand must be used to achieve precise control of the operating force and avoid damage to the manipulated object. Delicate manipulation of dexterous hands. Most of the common tactile detection methods are based on piezoresistive, capacitive, photoelectric and other sensors. The physical quantities collected by these sensors can only detect the vertical force in the tactile contact area, and cannot detect the tangential force. Slip detection has great limitations when waiting for operations. Contents of the invention [0003] The purpos...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06N3/08B25J19/00G01C11/02
CPCB25J19/0095G01C11/02G06N3/08G06T2207/20061G06T2207/20081G06T2207/20084
Inventor 孙富春杨超方斌刘华平张春郭峰
Owner TSINGHUA UNIV
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