High-resolution visual tactile sensor based on binocular vision and point cloud generation method

Abstract

The invention belongs to the field of tactile sensors, particularly relates to a high-resolution visual tactile sensor based on binocular vision and a point cloud generation method, and aims to solve the problems of high structural requirement, low positioning precision and low resolution of the conventional visual tactile sensor. The sensor comprises a contact gel layer composed of a first gel layer and a second gel layer with a mark point array and a contact layer, the contact gel layer and a supporting frame form a hollow cavity, a binocular camera is arranged in the hollow cavity, the shared vision field is the area, located in the hollow cavity, of the contact gel layer, and a light source provides illumination for the hollow cavity. Based on the visual tactile sensor, high-resolution tactile point cloud generation is performed, including image preprocessing, mark point detection and tracking, structure-based mark point stereo matching and tactile point cloud calculation. The structure requirement is low, the positioning precision is high, the high-resolution (higher than 1 mm) tactile point cloud can be obtained, and the potential application value is achieved for the flexible and precise operation task of the robot.

Description

Technical field [0001] The present invention belongs to the field of haptic sensors, and specifically, a high resolution visual sensor and method based on bicomputer visual. Background technique [0002] Tactile sensing is an important part of the robot to obtain external information, which gives robot tactics to the robot's operational skill learning is very important. Many different haptic sensing and perceptual systems are designed at home and abroad, for robots perception and operation tasks, such as object characteristics identification, sliding detection, grab stability assessment, robotical operation, etc. Depending on the principle and shape of the sensor, the haptic sensor used on the fingertips can be roughly divided into three classes: tactile arrays, bionic fingertips, and visual sensors. Due to the limited spatial resolution, the haptic array and the bionic fingertips are difficult to achieve high-precision positioning of small objects; while the visual sensor can ob...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the above-mentioned problems in the prior art, that is, the existing visual and tactile sensors require high structure or low resolution, the present invention provides a high-resolution visual and tactile sensor based on binocular vision, the visual and tactile sensor includes contact Gel layer, support frame, binocular camera and light source;

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