A shape detection system and method for a flexible tentacle

Abstract

A shape detection system and method for a flexible tentacle, relating to the technical field of shape detection. The purpose of the present invention is to perform real-time shape detection on one segment and multiple segments of flexible tentacles. The detection system includes an industrial control host computer, nine pull-wire displacement sensors, three controllers, a wireless Bluetooth communication module, a DC stabilized power supply, two step-down chips and a controller; inflates the flexible tentacles; master and slave control The device STM32 decodes and counts the pulse signal; through the wireless Bluetooth module, the length data of the nine pneumatic muscles are wirelessly transmitted to the industrial control host computer; in the industrial control host computer, GUIDE in the MATLAB software is used to create a serial port assistant interface to complete a flexible tentacle movement The establishment of the physical model and the establishment of the kinematics model of the multi-segment flexible tentacle simulate the three-dimensional space shape of the flexible tentacle. The invention can meet the requirement of detecting the three-dimensional shape of the flexible tentacle in real time.

Description

technical field [0001] The patent of the present invention relates to the technical field of shape detection, in particular to a shape detection system and method based on flexible tentacles. Background technique [0002] With the rapid development of automation technology, flexible tentacles have penetrated into every aspect of people's daily life. Traditional rigid flexible tentacles have been widely used in manufacturing, and can efficiently perform a single task through specific programming. However, due to the structural nature of their rigid joints, maneuvering in cramped, unstructured environments can be difficult. Therefore, the traditional rigid flexible tentacles can no longer meet the growing needs of human beings. [0003] In order to solve the structural drawbacks of rigid flexible tentacles, the researchers found the answer in nature. Similar to octopuses and elephant trunks, there is a "muscular hydrostatic skeleton" soft tissue, which perfectly compensates...

AI Technical Summary

Problems solved by technology

[0007] The first is to choose a centralized sensor such as an end camera, which can only feed back local visual information, and cannot detect the three-dimensional shape of the entire flexible tentacle by obtaining local feedback information.

In addition, visual inspection has high requirements for the environment, and it cannot be used in narrow and dark environments. Moreover, this method needs to collect and process image data, and there are a lot of numerical calculations, which is also unrealistic for real-time control.

[0008] The second is to choose an internal sensor such as a fiber Bragg grating (FBG) sensor. The internal sensor cannot detect the surrounding environment sensitively in real time, resulting in the flexible tentacles being unable to adapt to the dynamic changes in the surrounding environment, which greatly affects the modeling of the flexible tentacles. Precision and control strategies greatly reduce the level of automation and intelligence of the flexible tentacles

In addition, due to the fragility of the optical fiber, the propagation loss of the FBG sensor occurs when the flexible tentacle is bent

Therefore, strain measurements are not valid when the curvature rises above the critical curvature

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