Internal Structure Imaging Method, Device, System and Storage Medium

Abstract

Embodiments of the present application provide an internal structure imaging method, device, system, and storage medium, including: sending a preset driving instruction to the driver to cause the driver to drive the tactile sensor to move sequentially towards each measurement point of the object to be measured, the driving instruction being generated from the position information of the measurement point, and the object to be measured being made of a soft material; for any measurement point, receiving feedback information from the tactile sensor, the feedback information being used to determine the force information of the tactile sensor; for any measurement point, determining the displacement information of the tactile sensor according to the driving instruction, the displacement information corresponding to the force information; based on a preset imaging gradient and position information, performing imaging processing on the force information and the corresponding displacement information to determine an internal structure distribution image of the object to be measured. Embodiments of the present application can accurately measure the internal structure of an object made of a soft material, thereby ensuring the internal structure imaging effect inside the object.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of imaging detection technologies, and particularly relates to an internal structure imaging method, apparatus, system, and storage medium. Background Art

[0002] Currently, the main methods for measuring the internal structure of an object are X-ray computed tomography (CT), ultrasonic tomography, and optical CT; X-ray CT has high resolution and has been widely used in biomedical imaging and industrial inspections; ultrasonic tomography is less harmful to the human body than X-ray CT and has no ionizing radiation. Ultrasonic tomography reconstructs an image of the internal structure of an object based on the projection data information obtained from scanning the outside of the object; optical CT uses near-infrared radiation imaging and has the advantages of being non-invasive, continuous and real-time, and portable; however, X-ray CT, ultrasonic tomography, and optical CT all need to be measured in a working environment that meets the optical measurement standard. If the working environment does not meet the optical measurement standard, the measurement accuracy of the internal structure of the object is low, resulting in a poor imaging effect of the internal structure inside the object. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of protection of the claims.

[0004] Embodiments of this application provide an internal structure imaging method, apparatus, system, and storage medium, which can accurately measure the internal structure of an object made of a soft material, thereby ensuring the imaging effect of the internal structure inside the object.

[0005] To achieve the above objective, a first aspect of the embodiments of this application proposes an internal structure imaging method, which is applied to a controller of an internal structure imaging system. The internal structure imaging system includes a tactile sensor, a driver, and the controller. The tactile sensor and the driver are respectively electrically connected to the controller. The method includes: sending a preset driving instruction to the driver to cause the driver to drive the tactile sensor to move towards each measurement point of the object to be measured in sequence, where the driving instruction is generated based on the position information of the measurement point, and the object to be measured is made of a soft material; for any one of the measurement points, receiving feedback information from the tactile sensor, where the feedback information is used to determine the force information of the tactile sensor; for any one of the measurement points, determining the displacement information of the tactile sensor according to the driving instruction, where the displacement information corresponds to the force information; based on a preset imaging gradient and the position information, performing imaging processing on the force information and the corresponding displacement information to determine the internal structure distribution image of the object to be measured, where the imaging gradient is used to perform sampling processing on the force information or the displacement information.

[0006] In some embodiments, the imaging gradient includes a force gradient, and the internal structure distribution image includes a height distribution image; the step of performing imaging processing on the force information and the corresponding displacement information based on the preset imaging gradient and the position information to determine the internal structure distribution image of the object to be measured includes: for any one of the points to be measured, sampling the force information based on the force gradient to determine a plurality of first target force values, wherein the difference between any two adjacent first target force values is equal to the force gradient; determining a first target displacement value according to the first target force value and the displacement information, wherein the first target displacement value corresponds to the first target force value; and determining the height distribution image according to the position information, the first target force value, and the corresponding first target displacement value.

[0007] In some embodiments, the step of determining the height distribution image according to the position information, the first target force value, and the corresponding first target displacement value includes: for any one of the first target force values, determining a height single-layer image according to the position information and the first target displacement value; and performing a superimposing process on all the height single-layer images to obtain the height distribution image.

[0008] In some embodiments, the imaging gradient includes a displacement gradient, and the internal structure distribution image includes a force distribution image; the step of performing imaging processing on the force information and the corresponding displacement information based on the preset imaging gradient and the position information to determine the internal structure distribution image of the object to be measured includes: for any one of the points to be measured, sampling the displacement information based on the displacement gradient to determine a plurality of second target displacement values, wherein the difference between any two adjacent second target displacement values is equal to the displacement gradient; determining a second target force value according to the second target displacement value and the force information, wherein the second target force value corresponds to the second target displacement value; and determining the force distribution image according to the position information, the second target displacement value, and the corresponding second target force value.

[0009] In some embodiments, the step of determining the force distribution image according to the position information, the second target displacement value, and the corresponding second target force value includes: for any one of the second target displacement values, determining a force single-layer image according to the position information and the second target force value; and performing a superimposing process on all the force single-layer images to obtain the force distribution image.

[0010] In some embodiments, before the step of sending a preset driving instruction to the driver, the method further includes: obtaining the position information of each point to be measured and the moving speed information of the tactile sensor; and determining the driving instruction according to the position information and the moving speed information.

[0011] In some embodiments, for any one of the points to be measured, determining the displacement information of the tactile sensor according to the driving instruction includes: for any one of the points to be measured, determining the moving time of the tactile sensor according to the driving instruction; and determining the displacement information of the tactile sensor according to the moving time and the moving speed information.

[0012] To achieve the above object, a second aspect of the embodiments of the present application provides an internal structure imaging device, which is applied to a controller of an internal structure imaging system. The internal structure imaging system includes a tactile sensor, a driver, and the controller. The tactile sensor and the driver are respectively electrically connected to the controller. The device includes: a sending unit, configured to send a preset driving instruction to the driver, so that the driver drives the tactile sensor to move sequentially towards each point to be measured of the object to be measured, where the driving instruction is generated according to the position information of the point to be measured, and the object to be measured is made of a soft material; a receiving unit, configured to receive, for any one of the points to be measured, feedback information from the tactile sensor, where the feedback information is used to determine the force information of the tactile sensor; a determining unit, configured to determine, for any one of the points to be measured, the displacement information of the tactile sensor according to the driving instruction, where the displacement information corresponds to the force information; and an imaging unit, configured to perform imaging processing on the force information and the corresponding displacement information based on a preset imaging gradient and the position information, and determine an internal structure distribution image of the object to be measured, where the imaging gradient is used to sample the force information or the displacement information.

[0013] To achieve the above object, a third aspect of the embodiments of the present application provides an internal structure imaging system, which includes a tactile sensor, a driver, and a controller. The tactile sensor and the driver are respectively electrically connected to the controller; the controller includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the internal structure imaging method described in the first aspect is implemented.

[0014] To achieve the above object, a fourth aspect of the embodiments of the present application provides a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, the internal structure imaging method described in the first aspect is implemented.

[0015] The internal structure imaging method, device, system, and storage medium provided by this application. Embodiments of this application include: sending a preset driving instruction to the driver to cause the driver to drive the tactile sensor to move sequentially towards each measurement point of the object to be measured, where the driving instruction is generated based on the position information of the measurement point, and the object to be measured is made of a soft material; for any one of the measurement points, receiving feedback information from the tactile sensor, where the feedback information is used to determine the force information of the tactile sensor; for any one of the measurement points, determining the displacement information of the tactile sensor according to the driving instruction, where the displacement information corresponds to the force information; based on a preset imaging gradient and the position information, performing imaging processing on the force information and the corresponding displacement information to determine the internal structure distribution image of the object to be measured, where the imaging gradient is used to perform sampling processing on the force information or the displacement information. According to the solution provided by the embodiments of this application, under the action of the controller, the driver drives the tactile sensor to measure each measurement point of the object to be measured, and receives the feedback information of the tactile sensor in real time, thereby determining the force information and displacement information of the tactile sensor, and using the imaging gradient for sampling processing, generating the internal structure distribution image of the object to be measured through the force information and displacement information, and measuring the internal structure of the object to be measured using the tactile sensor, which is not affected by the optical measurement standard, and can accurately measure the internal structure of an object made of a soft material, thus ensuring the internal structure imaging effect of the object.

[0016] Other features and advantages of this application will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing this application. The objectives and other advantages of this application can be achieved and obtained by the structures specifically pointed out in the specification, claims, and drawings. Brief Description of the Drawings

[0017] The drawings are used to provide a further understanding of the technical solutions of this application, and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application, and do not constitute a limitation to the technical solutions of this application.

[0018] Figure 1 is a flowchart of an internal structure imaging method provided by an embodiment of this application;

[0019] Figure 2 is a flowchart of a method for determining a height distribution image provided by another embodiment of this application;

[0020] Figure 3 is a flowchart of a method for obtaining a height distribution image provided by another embodiment of this application;

[0021] Figure 4It is a flowchart of a method for determining a force distribution image provided by another embodiment of the present application;

[0022] Figure 5 It is a flowchart of a method for obtaining a force distribution image provided by another embodiment of the present application;

[0023] Figure 6 It is a flowchart of a method for determining a driving instruction provided by another embodiment of the present application;

[0024] Figure 7 It is a flowchart of a method for determining displacement information provided by another embodiment of the present application;

[0025] Figure 8 It is a schematic diagram of the internal structure distribution image of a test object provided by another embodiment of the present application;

[0026] Figure 9 It is a schematic structural diagram of an internal structure imaging device provided by another embodiment of the present application;

[0027] Figure 10 It is a system block diagram of an internal structure imaging system provided by another embodiment of the present application;

[0028] Figure 11 It is a hardware structure diagram of the controller of an internal structure imaging system provided by another embodiment of the present application. Detailed implementation manners

[0029] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0030] In the description of the present application, the meaning of several is one or more, the meaning of multiple is more than two, greater than, less than, exceeding, etc. are understood as not including the present number, and above, below, within, etc. are understood as including the present number.

[0031] It should be noted that although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the flowchart. Terms such as "first", "second", etc. in the description, claims or the above-mentioned drawings are used to distinguish similar objects and do not have to be used to describe a specific order or sequence.

[0032] At present, the main methods for measuring the internal structure of an object are X-ray computed tomography (CT), ultrasonic tomography, and optical CT. X-ray CT has high resolution and has been widely used in biomedical imaging and industrial inspection. Ultrasonic tomography causes less harm to the human body than X-ray CT and has no ionizing radiation. Ultrasonic tomography reconstructs the image of the internal structure of an object based on the projection data information obtained from scanning the outside of the object. Optical CT uses near-infrared radiation imaging and has the advantages of non-destructive, continuous real-time, and portability. However, X-ray CT, ultrasonic tomography, and optical CT all need to be measured in a working environment that meets the optical measurement standard. If the working environment does not meet the optical measurement standard, the measurement accuracy of the internal structure of the object is low, resulting in a poor imaging effect of the internal structure inside the object.

[0033] Aiming at the problem of low measurement accuracy of the internal structure of an object in a working environment that does not meet the optical measurement standard, the present application provides an internal structure imaging method, device, system, and storage medium. The method is applied to the controller of the internal structure imaging system. The internal structure imaging system includes a tactile sensor, a driver, and a controller. The tactile sensor and the driver are electrically connected to the controller respectively. The method includes: sending a preset driving instruction to the driver to make the driver drive the tactile sensor to move towards each measurement point of the object to be measured in turn, where the driving instruction is generated from the position information of the measurement point, and the object to be measured is made of a soft material; for any measurement point, receiving feedback information from the tactile sensor, where the feedback information is used to determine the force information of the tactile sensor; for any measurement point, determining the displacement information of the tactile sensor according to the driving instruction, where the displacement information corresponds to the force information; based on a preset imaging gradient and position information, performing imaging processing on the force information and the corresponding displacement information to determine the internal structure distribution image of the object to be measured, where the imaging gradient is used to perform sampling processing on the force information or displacement information. According to the solution provided by the embodiment of the present application, under the action of the controller, the driver drives the tactile sensor to measure each measurement point of the object to be measured, and receives the feedback information of the tactile sensor in real time, and then determines the force information and displacement information of the tactile sensor, and uses the imaging gradient for sampling processing, generates the internal structure distribution image of the object to be measured through the force information and displacement information, and measures the internal structure of the object to be measured by using the tactile sensor, which is not affected by the optical measurement standard, and can accurately measure the internal structure of an object made of a soft material, thereby ensuring the imaging effect of the internal structure inside the object.

[0034] The internal structure imaging method, device, system, and storage medium provided by the embodiments of the present application are specifically described through the following embodiments. First, the internal structure imaging method in the embodiments of the present application is described.

[0035] The internal structure imaging method provided by the embodiments of the present application relates to the field of imaging detection technology. The internal structure imaging method provided by the embodiments of the present application can be applied to a terminal, a server, or software running on a terminal or a server. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc.; the server side can be configured as an independent physical server, or as a cluster of multiple physical servers or a distributed system, or as a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements the internal structure imaging method, etc., but is not limited to the above forms.

[0036] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and so on. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0037] The following further elaborates on the embodiments of the present application with reference to the accompanying drawings.

[0038] As Figure 1 shown, Figure 1 is a flowchart of an internal structure imaging method provided by an embodiment of the present application. The internal structure imaging method can be applied to the controller of an internal structure imaging system. The internal structure imaging system includes a tactile sensor, a driver, and a controller. The tactile sensor and the driver are electrically connected to the controller respectively. The internal structure imaging method includes but is not limited to the following steps:

[0039] Step S110: Send a preset driving instruction to the driver so that the driver drives the tactile sensor to move sequentially towards each measurement point of the object to be measured. The driving instruction is generated from the position information of the measurement point, and the object to be measured is made of a soft material;

[0040] Step S120: For any point to be measured, receive feedback information from the tactile sensor, where the feedback information is used to determine the force information of the tactile sensor.

[0041] Step S130: For any point to be measured, determine the displacement information of the tactile sensor according to the driving instruction, where the displacement information corresponds to the force information.

[0042] Step S140: Based on the preset imaging gradient and position information, perform imaging processing on the force information and the corresponding displacement information to determine the internal structure distribution image of the object to be measured, where the imaging gradient is used to sample the force information or the displacement information.

[0043] It can be understood that, as an alternative or compensation for vision, tactile perception can be compatible with bio-robots and provide another strategy for obtaining information about the surface or interior of an object. When measuring a point to be measured, the force information of the tactile sensor is calculated in real time through the feedback information of the tactile sensor, and the corresponding displacement information is calculated in real time through the driving instruction. Then, the sampling interval of the force information or the displacement information is determined through the imaging gradient. Furthermore, by combining the sampling results of the force information and the corresponding displacement information, or by combining the sampling results of the displacement information and the corresponding force information, the internal structure distribution image is obtained. Based on this, under the action of the controller, the driver drives the tactile sensor to measure each point to be measured of the object to be measured, and receives the feedback information of the tactile sensor in real time, thereby determining the force information and displacement information of the tactile sensor, and performing sampling processing using the imaging gradient. The internal structure distribution image of the object to be measured is generated through the force information and the displacement information. Moreover, measuring the internal structure of the object to be measured using the tactile sensor is not affected by the optical measurement standard and can accurately measure the internal structure of an object made of soft materials, thus ensuring the imaging effect of the internal structure inside the object.

[0044] It can be understood that tactile perception is the basic interaction between bio-robots and the environment and can identify object contact and collect the characteristic information of the object. Due to the progress of tactile sensors, the surface characteristics of the object can be perceived through electronic skin, bionic fingers, and artificial hands. By setting the imaging gradient, it is equivalent to setting a series of increasing thresholds corresponding to the force value or the displacement value. By establishing a linear relationship between the force value or the displacement value and the threshold, the projection data under each layer of the object can be obtained, and a series of slice images of the object layer by layer can be generated. The combination of these slice images can reveal and reproduce the internal structure of an object with a soft surface layer; a tactile technology that can not only identify the surface characteristics of an object but also identify the underlying characteristics of the object is realized.

[0045] It should be noted that each point to be measured is located on the same side of the object to be measured.

[0046] It should be noted that when the tactile sensor applies pressure to the object to be measured, both the tactile sensor and the object to be measured will deform. However, the deformation amount of the object to be measured should be much larger than that of the tactile sensor to reduce the influence brought by the deformation of the tactile sensor.

[0047] It should be noted that after obtaining the force information and the corresponding displacement information of the tactile sensor, storing all the force information and displacement information, and then performing sampling processing on all the stored force information and displacement information can ensure the reliability of data processing.

[0048] It is worth noting that for any measurement point to be measured, a maximum displacement value can be set, or a maximum movement time can be set. When the tactile sensor is at the initial position, the timing is reset. When the tactile sensor starts to move, the movement time is recorded; the tactile sensor moves downward until the current displacement value is equal to the maximum displacement value, or until the current movement time is equal to the maximum movement time, indicating that the tactile sensor no longer needs to press the object to be measured downward. The tactile sensor can be reset to the initial position, and then the next measurement point to be measured can be measured, which can improve the work efficiency.

[0049] It is worth noting that the imaging gradient is obtained by user input or can be obtained through other means, which is not limited here.

[0050] It should be noted that the force information is used to characterize the force value of the tactile sensor. The calculation formula for the force value of the tactile sensor is as follows:

[0051] F = A * (exp(B * γ) - 1),

[0052] where F is the force value, both A and B are constants, and exp() refers to the exponential function with the natural constant e as the base.

[0053]

[0054] ΔR is the resistance change rate of the tactile sensor, and R0 is the initial resistance of the tactile sensor.

[0055] In specific practice, the object to be measured is set on the fixed object placement table of the three-axis motion platform. The driver is the driver of the three-axis motion platform, and the tactile sensor is set at the moving end of the three-axis motion platform. The three-axis motion platform can drive the tactile sensor to move along the X-axis, Y-axis, or Z-axis, so that the tactile sensor moves towards each measurement point of the object to be measured in turn. Among them, the X-axis and the Y-axis are perpendicular to each other, the X-axis and the Y-axis are located in the first horizontal plane, the Z-axis is perpendicular to the first horizontal plane, and the upper side of the object to be measured is parallel to the first horizontal plane; or, the object to be measured is set on the moving object placement table of the two-axis motion platform. The driver includes a first driver and a second driver. The first driver is used to drive the two-axis motion platform to move the moving object placement table, and the second driver is used to drive the tactile sensor. Under the action of the first driver, the two-axis motion platform drives the object to be measured to move along the X-axis or Y-axis, so that each measurement point is successively located directly below the tactile sensor. After the measurement point is located directly below the tactile sensor, under the action of the second driver, the second driver drives the tactile sensor to move vertically downward, and the tactile sensor moves towards the measurement point, realizing that the tactile sensor moves towards each measurement point of the object to be measured in turn.

[0056] In addition, referring to Figure 2 , in an embodiment, the imaging gradient includes a force gradient, and the internal structure distribution image includes a height distribution image; Figure 1 The step S140 in the embodiment shown includes, but is not limited to, the following steps:

[0057] Step S210, for any measurement point, based on the force gradient, sample and process the force information to determine a plurality of first target force values, where the difference between any two adjacent first target force values is equal to the force gradient;

[0058] Step S220, according to the first target force value and the displacement information, determine the first target displacement value, where the first target displacement value corresponds to the first target force value;

[0059] Step S230, according to the position information, the first target force value, and the corresponding first target displacement value, determine the height distribution image.

[0060] It can be understood that for any measurement point, by using a sampling method with uniform intervals and according to a constant force gradient, a plurality of first target force values are successively determined, and the first target force value and the first target displacement value correspond one by one; therefore, for each first target force value, through the numerical value of the first target displacement value of each measurement point and the position information of the measurement point, the first target displacement value is mapped to the corresponding position, and then an accurate height distribution image is obtained.

[0061] It should be noted that since the difference between any two adjacent first target force values is the same, the change of the internal structure distribution image is more regular, thus making the display effect of the height distribution image better.

[0062] In addition, referring to Figure 3 , in one embodiment, Figure 2 Step S230 in the illustrated embodiment includes, but is not limited to, the following steps:

[0063] Step S310, for any first target force value, determine the height single-layer image according to the position information and the first target displacement value;

[0064] Step S320, perform superposition processing on all height single-layer images to obtain the height distribution image.

[0065] It can be understood that for any first target force value, among the respective measurement points, the corresponding first target displacement value can be determined. Then, in combination with the position information of the measurement points, the first target displacement values of the respective measurement points are mapped to the corresponding positions, and further the height single-layer image corresponding to the first target force value is determined. This height single-layer image can accurately reflect the single-layer characteristics of the object to be measured. Then, the height single-layer images corresponding to the respective first target force values are subjected to superposition processing to obtain an accurate height distribution image.

[0066] It should be noted that the magnitude of the force gradient determines the number of height single-layer images. For example, if the force gradient is 0.5 N and the maximum force value that can be obtained during the measurement is 2 N, therefore, 4 first target force values, namely 0.5 N, 1 N, 1.5 N, and 2 N, can be obtained through sampling processing. Then, the height single-layer images corresponding to the 4 first target force values are respectively determined, and the height single-layer images corresponding to the 4 first target force values are subjected to superposition processing to obtain an accurate height distribution image; in the height distribution image, the 4 height single-layer images represent the internal structure morphology of the object to be measured from shallow to deep.

[0067] In addition, referring to Figure 4 , in one embodiment, the imaging gradient includes a displacement gradient, and the internal structure distribution image includes a force distribution image; Figure 1 Step S140 in the illustrated embodiment includes, but is not limited to, the following steps:

[0068] Step S410, for any measurement point, perform sampling processing on the displacement information based on the displacement gradient to determine a plurality of second target displacement values, wherein the difference between any two adjacent second target displacement values is equal to the displacement gradient;

[0069] Step S420, determine the second target force value according to the second target displacement value and the force information, wherein the second target force value corresponds to the second target displacement value;

[0070] Step S430: Determine the force distribution image according to the position information, the second target displacement value, and the corresponding second target force value.

[0071] It can be understood that for any point to be measured, a sampling method with uniform intervals is adopted, and multiple second target displacement values are sequentially determined according to a constant displacement gradient. The second target displacement values and the second target force values correspond one by one. Therefore, for each second target displacement value, through the numerical values of the second target force values of each point to be measured and the position information of the points to be measured, the second target force values are mapped to the corresponding positions, and then an accurate force distribution image is obtained.

[0072] It should be noted that since the difference between any two adjacent second target displacement values is the same, the change of the internal structure distribution image is more regular, so that the display effect of the force distribution image is better.

[0073] In addition, referring to Figure 5 , in an embodiment, Figure 4 Step S430 in the shown embodiment includes but is not limited to the following steps:

[0074] Step S510: For any second target displacement value, determine the force single-layer image according to the position information and the second target force value;

[0075] Step S520: Perform superposition processing on all the force single-layer images to obtain the force distribution image.

[0076] It can be understood that for any second target displacement value, among each point to be measured, the corresponding second target force value can be determined, and then combined with the position information of the points to be measured, each second target force value is mapped to the corresponding position, and then the force single-layer image corresponding to the second target force value is determined. This force single-layer image can accurately reflect the single-layer characteristics of the object to be measured, and then perform superposition processing on the force single-layer images corresponding to each second target displacement value to obtain an accurate force distribution image.

[0077] It should be noted that the magnitude of the displacement gradient determines the number of force single-layer images. For example, if the displacement gradient is 0.5 cm, during the measurement, the maximum displacement value that can be determined is 2 cm. Therefore, 4 second target displacement values can be obtained through sampling processing, which are 0.5 cm, 1 cm, 1.5 cm, and 2 cm respectively. Then, determine the force single-layer images corresponding to the 4 second target displacement values, and perform superposition processing on the force single-layer images corresponding to the 4 second target displacement values to obtain an accurate force distribution image; in the force distribution image, the 4 force single-layer images represent the internal structure morphology of the object to be measured from shallow to deep.

[0078] As Figure 6 shown, in an embodiment,Figure 1 Before step S110 in the illustrated embodiment, there are also steps including but not limited to the following:

[0079] Step S610, obtaining the position information of each measurement point and the moving speed information of the tactile sensor;

[0080] Step S620, determining a driving instruction according to the position information and the moving speed information.

[0081] It can be understood that the driving instruction needs to be determined by the position information of the measurement point and the moving speed information of the tactile sensor. For example, when placing a measurement object on a placement table and needing to measure the upper side of the measurement object, it is necessary to determine the coordinates of the X-axis and Y-axis on the corresponding two-dimensional plane of the upper side of the measurement object for each measurement point, and use this coordinate information as the position information of the measurement point.

[0082] Such as Figure 7 shown, in one embodiment Figure 1 Step S130 in the illustrated embodiment includes steps including but not limited to the following:

[0083] Step S710, for any measurement point, determining the moving time of the tactile sensor according to the driving instruction;

[0084] Step S720, determining the displacement information of the tactile sensor according to the moving time and the moving speed information.

[0085] It can be understood that the moving speed information of the tactile sensor is obtained by user input; after generating the driving instruction, send the driving instruction to the driver to make the tactile sensor move to directly above the measurement point and then move uniformly towards the measurement point at the moving speed. After determining all the measurement information of this measurement point, perform corresponding measurements on the next measurement point.

[0086] It should be noted that the moving speed information of the tactile sensor is determined through repeated experimental optimization.

[0087] In addition, referring to Figure 8 , Figure 8 is a schematic diagram of the internal structure distribution image of the measurement object provided by another embodiment of the present application;

[0088] It can be understood that there are a total of 8 internal structure distribution images in two rows. For the 4 internal structure distribution images in the first row, they are numbered as image a, image b, image c, and image d from left to right. For the 4 internal structure distribution images in the second row, they are numbered as image e, image f, image g, and image h from left to right; the maximum displacement values corresponding to images a to h increase in sequence.

[0089] It should be noted that for the same imaging gradient, the larger the maximum displacement value or the maximum movement time, the higher the highest level of the closed line, and the more accurate the internal structure of the object reflected by the internal structure distribution image, but the imaging time is longer; the smaller the imaging gradient, the higher the highest level of the closed line, and the more accurate the internal structure of the object reflected by the internal structure distribution image, but the imaging time is longer. Among them, the calculation process of the level of the closed line is as follows: for any closed line, if there is no lower-level closed line inside the closed line, the level of the closed line is 1; if there is a lower-level closed line inside the closed line, add 1 to the levels of all lower-level closed lines, and take the maximum value among the calculation results of the levels of all lower-level closed lines as the level of the closed line; the levels of the lower-level closed lines are calculated according to the above level calculation process.

[0090] In specific practice, the measurement process includes but is not limited to the following steps:

[0091] 810. Under the action of the driver, reset the tactile sensor to the initial position;

[0092] 820. Place the object to be measured on the placement table;

[0093] 830. Under the action of the driver, move the tactile sensor directly above a measurement point;

[0094] 840. Under the action of the driver, move the tactile sensor downward until it contacts the object to be measured;

[0095] 850. Under the action of the driver, continue to move the tactile sensor downward. During the process of the tactile sensor pressing down the object to be measured, the object to be measured deforms, and the tactile sensor generates feedback information;

[0096] 860. Calculate the force information through the feedback information of the tactile sensor, calculate the displacement information through the movement time and speed, and then store each force information and the corresponding displacement information;

[0097] 870. When the tactile sensor moves to the preset position, under the action of the driver, reset the tactile sensor to the initial position;

[0098] 880. Under the action of the driver, move the tactile sensor directly above the next measurement point, and repeat the steps from 840 to 870 until the measurement of all measurement points is completed;

[0099] 890. Based on the imaging gradient, sample the force information or displacement information of all measurement points stored, and generate an internal structure distribution image of the object to be measured according to the sampling results and the position information of each measurement point.

[0100] In addition, refer to Figure 9, this application also provides an internal structure imaging device 900. The internal structure imaging device 900 is applied to the controller of the internal structure imaging system. The internal structure imaging system includes a tactile sensor, a driver, and a controller. The tactile sensor and the driver are electrically connected to the controller respectively. The internal structure imaging device 900 includes:

[0101] A sending unit 910, configured to send a preset driving instruction to the driver, so that the driver drives the tactile sensor to move towards each measurement point of the object to be measured in turn. Among them, the driving instruction is generated according to the position information of the measurement point, and the object to be measured is made of a soft material;

[0102] A receiving unit 920, configured to receive feedback information from the tactile sensor for any measurement point. Among them, the feedback information is used to determine the force information of the tactile sensor;

[0103] A determining unit 930, configured to determine the displacement information of the tactile sensor according to the driving instruction for any measurement point. Among them, the displacement information corresponds to the force information;

[0104] An imaging unit 940, configured to perform imaging processing on the force information and the corresponding displacement information based on a preset imaging gradient and position information, and determine the internal structure distribution image of the object to be measured. Among them, the imaging gradient is used to sample the force information or the displacement information.

[0105] It can be understood that the specific implementation manner of the internal structure imaging device 900 is basically the same as the specific embodiment of the above internal structure imaging method, and will not be elaborated here. Based on this, under the action of the controller, the driver drives the tactile sensor to measure each measurement point of the object to be measured, and receives the feedback information of the tactile sensor in real time, and then determines the force information and displacement information of the tactile sensor, and uses the imaging gradient for sampling processing, generates the internal structure distribution image of the object to be measured through the force information and the displacement information, and moreover, measuring the internal structure of the object to be measured by using the tactile sensor is not affected by the optical measurement standard, and can accurately measure the internal structure of an object made of a soft material, thereby ensuring the internal structure imaging effect inside the object.

[0106] In addition, referring to Figure 10 and Figure 11 , Figure 10 schematically shows the system block diagram of an internal structure imaging system according to another embodiment. The internal structure imaging system includes a tactile sensor 1001, a driver 1002, and a controller 1003. The tactile sensor 1001 and the driver 1002 are electrically connected to the controller 1003 respectively;

[0107] Figure 11 schematically shows the hardware structure of the controller of an internal structure imaging system according to another embodiment. The controller includes:

[0108] The processor 1101 can be implemented in ways such as a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0109] The memory 1102 can be implemented in forms such as a Read Only Memory (ROM), a static storage device, a dynamic storage device, or a Random Access Memory (RAM). The memory 1102 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 1102 and are called by the processor 1101 to execute the internal structure imaging method of the embodiments of the present application. For example, to execute the Figure 1 method steps S110 to S140 described above, Figure 2 method steps S210 to S230 described above, Figure 3 method steps S310 to S320 described above, Figure 4 method steps S410 to S430 described above, Figure 5 method steps S510 to S520 described above, Figure 6 method steps S610 to S620 described above, Figure 7 method steps S710 to S720 described above;

[0110] The input / output interface 1103 is used to implement information input and output;

[0111] The communication interface 1104 is used to implement communication interaction between this device and other devices, and can achieve communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.);

[0112] The bus 1105 transmits information between the various components of the device (such as the processor 1101, the memory 1102, the input / output interface 1103, and the communication interface 1104);

[0113] Among them, the processor 1101, the memory 1102, the input / output interface 1103, and the communication interface 1104 achieve communication connections with each other inside the device through the bus 1105.

[0114] An embodiment of the present application also provides a storage medium, which is a computer-readable storage medium for computer-readable storage. The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the above internal structure imaging method. For example, execute the Figure 1 method steps S110 to S140 described above, Figure 2 method steps S210 to S230 described above, Figure 3 method steps S310 to S320 described above, Figure 4 method steps S410 to S430 described above, Figure 5 method steps S510 to S520 described above, Figure 6 method steps S610 to S620 described above, Figure 7 method steps S710 to S720 described above.

[0115] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above networks include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0116] The internal structure imaging method, device, system and storage medium provided by the embodiments of the present application send a preset driving instruction to a driver to make the driver drive a tactile sensor to move towards each measurement point of a to-be-measured object in sequence, where the driving instruction is generated from the position information of the measurement point, and the to-be-measured object is made of a soft material; for any measurement point, feedback information from the tactile sensor is received, where the feedback information is used to determine the force information of the tactile sensor; for any measurement point, the displacement information of the tactile sensor is determined according to the driving instruction, where the displacement information corresponds to the force information; based on a preset imaging gradient and position information, imaging processing is performed on the force information and the corresponding displacement information to determine the internal structure distribution image of the to-be-measured object, where the imaging gradient is used to perform sampling processing on the force information or displacement information; based on this, under the action of a controller, the driver drives the tactile sensor to measure each measurement point of the to-be-measured object, and in real time receives the feedback information of the tactile sensor, and then determines the force information and displacement information of the tactile sensor, and performs sampling processing using the imaging gradient, generates the internal structure distribution image of the to-be-measured object through the force information and displacement information, and moreover, measuring the internal structure of the to-be-measured object using the tactile sensor is not affected by the optical measurement standard, and can accurately measure the internal structure of an object made of a soft material, thereby ensuring the internal structure imaging effect inside the object.

[0117] The embodiments described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation to the technical solutions provided by the embodiments of the present application. Those skilled in the art know that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0118] Those skilled in the art can understand that Figures 1 to 7 the technical solutions shown do not constitute a limitation to the embodiments of the present application, and may include more or fewer steps than those shown in the figure, or combine certain steps, or different steps.

[0119] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0120] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices can be implemented as software, firmware, hardware and their appropriate combinations.

[0121] In the description of the present application and the above-mentioned drawings, the terms "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0122] It should be understood that in the present application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects and indicates that three relationships can exist. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or its similar expressions refer to any combination of these items, including any combination of single items (ones) or plural items (ones). For example, at least one (one) of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or plural.

[0123] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the above-mentioned division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in an electrical, mechanical or other form.

[0124] The units described above as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] In addition, in each embodiment of the present application, the functional units may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0126] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which may be a personal computer, a controller of an internal structure imaging system, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present application. The foregoing storage medium includes: various media that can store programs, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0127] The preferred embodiments of the embodiments of the present application have been described above with reference to the accompanying drawings. However, this does not limit the scope of the rights of the embodiments of the present application. Any modifications, equivalent replacements, and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall fall within the scope of the rights of the embodiments of the present application.

Claims

1. An internal structure imaging method, applied to a controller of an internal structure imaging system, characterized in that The internal structure imaging system includes a tactile sensor, a driver, and the controller. The tactile sensor and the driver are electrically connected to the controller respectively. The method includes: Sending a preset driving instruction to the driver to enable the driver to drive the tactile sensor to move towards each measurement point of the object to be measured in turn. Wherein, the driving instruction is generated from the position information of the measurement point, and the object to be measured is made of a soft material; For any one of the measurement points, receiving feedback information from the tactile sensor, wherein the feedback information is used to determine the force information of the tactile sensor; For any one of the measurement points, determining the displacement information of the tactile sensor according to the driving instruction, wherein the displacement information corresponds to the force information; Based on a preset imaging gradient and the position information, performing imaging processing on the force information and the corresponding displacement information to determine the internal structure distribution image of the object to be measured. Wherein, the imaging gradient is used to sample the force information or the displacement information, the imaging gradient includes a force gradient, and the internal structure distribution image includes a height distribution image; The performing imaging processing on the force information and the corresponding displacement information based on a preset imaging gradient and the position information to determine the internal structure distribution image of the object to be measured includes: For any one of the measurement points, based on the force gradient, sampling the force information to determine a plurality of first target force values, wherein the difference between any two adjacent first target force values is equal to the force gradient; Determining a first target displacement value according to the first target force value and the displacement information, wherein the first target displacement value corresponds to the first target force value; Determining the height distribution image according to the position information, the first target force value, and the corresponding first target displacement value.

2. The method according to claim 1, wherein The determining the height distribution image according to the position information, the first target force value, and the corresponding first target displacement value includes: For any one of the first target force values, determining a height single-layer image according to the position information and the first target displacement value; Performing superposition processing on all the height single-layer images to obtain the height distribution image.

3. The method according to claim 1, wherein The imaging gradient includes a displacement gradient, and the internal structure distribution image includes a force distribution image. The performing imaging processing on the force information and the corresponding displacement information based on a preset imaging gradient and the position information to determine the internal structure distribution image of the object to be measured includes: For any one of the measurement points, based on the displacement gradient, sampling the displacement information to determine a plurality of second target displacement values, wherein the difference between any two adjacent second target displacement values is equal to the displacement gradient; Determining a second target force value according to the second target displacement value and the force information, wherein the second target force value corresponds to the second target displacement value; Determining the force distribution image according to the position information, the second target displacement value, and the corresponding second target force value.

4. The method according to claim 3, wherein Determining the force distribution image according to the position information, the second target displacement value, and the corresponding second target force value includes: For any one of the second target displacement values, determining a single-layer force image according to the position information and the second target force value; Performing a superposition process on all the single-layer force images to obtain the force distribution image.

5. The method according to claim 1, characterized in that, Before the step of sending a preset driving instruction to the driver, it further includes: Obtaining the position information of each of the points to be measured and the moving speed information of the tactile sensor; Determining the driving instruction according to the position information and the moving speed information.

6. The method according to claim 5, wherein For any one of the points to be measured, determining the displacement information of the tactile sensor according to the driving instruction includes: For any one of the points to be measured, determining the moving time of the tactile sensor according to the driving instruction; Determining the displacement information of the tactile sensor according to the moving time and the moving speed information.

7. An internal structure imaging device, applied to a controller of an internal structure imaging system, characterized in that The internal structure imaging system includes a tactile sensor, a driver, and the controller. The tactile sensor and the driver are electrically connected to the controller respectively. The device includes: A sending unit, configured to send a preset driving instruction to the driver, so that the driver drives the tactile sensor to move towards each of the points to be measured of the object to be measured in sequence, where the driving instruction is generated according to the position information of the points to be measured, and the object to be measured is made of a soft material; A receiving unit, configured to receive feedback information from the tactile sensor for any one of the points to be measured, where the feedback information is used to determine the force information of the tactile sensor; A determining unit, configured to determine the displacement information of the tactile sensor according to the driving instruction for any one of the points to be measured, where the displacement information corresponds to the force information; An imaging unit, configured to perform imaging processing on the force information and the corresponding displacement information based on a preset imaging gradient and the position information to determine the internal structure distribution image of the object to be measured, where the imaging gradient is used to perform sampling processing on the force information or the displacement information, the imaging gradient includes a force gradient, and the internal structure distribution image includes a height distribution image; Performing imaging processing on the force information and the corresponding displacement information based on a preset imaging gradient and the position information to determine the internal structure distribution image of the object to be measured includes: For any one of the points to be measured, performing sampling processing on the force information based on the force gradient to determine a plurality of first target force values, where the difference between any two adjacent first target force values is equal to the force gradient; Determining a first target displacement value according to the first target force value and the displacement information, where the first target displacement value corresponds to the first target force value; Determining the height distribution image according to the position information, the first target force value, and the corresponding first target displacement value.

8. An internal structure imaging system, characterized in that, The internal structure imaging system includes a tactile sensor, a driver, and a controller. The tactile sensor and the driver are electrically connected to the controller respectively. The controller includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, it implements the internal structure imaging method according to any one of claims 1 to 6.

9. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the internal structure imaging method according to any one of claims 1 to 6.

Images