Extensible material three-dimensional configuration evolution real-time pose reconstruction equipment and method thereof

Abstract

The invention relates to the technical field of extensible material three-dimensional configuration evolution detection, in particular to extensible material three-dimensional configuration evolution real-time pose reconstruction equipment and a method thereof.The extensible material three-dimensional configuration evolution real-time pose reconstruction equipment comprises a detection platform composed of a lower rack and an upper rack, and a micro-displacement sensing array is arranged in the upper rack; at least four linear cooperative positioning modules are further arranged on the working platform of the lower rack, and the linear cooperative positioning modules are distributed on the periphery of the working platform; the linear cooperative positioning module is provided with a linear driving end, and the linear driving end is provided with a three-dimensional configuration evolution multi-degree-of-freedom actuator; a controller and an environment temperature regulator are arranged in the lower machine frame, the micro-displacement sensing array is used for collecting the evolutionary process of the three-dimensional configuration of the extensible material, and the advantages of contact type tracking based on a sensor and non-contact type tracking based on vision in the prior art are integrated; interference on the three-dimensional configuration evolution process of the extensible material can be reduced in the collection process, meanwhile, the collection process is not prone to external interference, and collected data are more accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional configuration evolution detection of ductile materials, and in particular to a real-time posture reconstruction device and method for the three-dimensional configuration evolution of ductile materials. Background Art

[0002] Due to their unique three-dimensional configuration evolution capabilities and adaptability, stretchable materials have shown broad application potential in soft robotics, wearable devices, biomedical engineering, aerospace, and other fields. For example, in soft robotics, the three-dimensional configuration evolution trajectory of stretchable materials directly determines their motion path and operational accuracy. In the medical field, stretchable sensors can monitor the three-dimensional configuration evolution of joints or tissues to assist in rehabilitation assessment. In wearable devices, real-time tracking of the three-dimensional configuration evolution of stretchable materials is key to achieving human-computer interaction. However, the three-dimensional configuration evolution of stretchable materials exhibits nonlinearity, large deformation, and multi-degree-of-freedom coupling, making accurate tracking of their three-dimensional configuration evolution trajectory a significant challenge.

[0003] The current real-time pose reconstruction technology for the three-dimensional configuration evolution of stretchable materials is mainly divided into three categories: sensor-based contact tracking, vision-based non-contact tracking, and physical model-based predictive tracking.

[0004] Sensor-based contact tracking captures the three-dimensional configuration evolution process by embedding or attaching sensors. However, since sensors are introduced into stretchable materials, the three-dimensional configuration evolution process will be affected by the sensors, resulting in certain errors in the final captured data.

[0005] Vision-based non-contact tracking uses a camera or depth camera to capture surface markers or texture changes on the material, and calculates the three-dimensional configuration evolution trajectory through image processing (such as optical flow method and three-dimensional reconstruction). Although this method does not contact the stretchable material and will not affect its three-dimensional configuration evolution process, it will cause tracking failure due to lighting changes, occlusion or transparent materials, resulting in certain errors in the final captured data.

[0006] Predictive tracking based on physical models uses finite element analysis (FEA) or machine learning to establish a mapping relationship between the three-dimensional configuration evolution of the material and the external force / boundary conditions to achieve trajectory prediction. Although this method is not affected by the external environment, the nonlinearity of actual materials (such as viscoelasticity and anisotropy) is difficult to fully model, and the difference between training data and real scenarios leads to prediction deviations, resulting in certain errors in the final data. Summary of the Invention

[0007] An embodiment of the present invention provides a real-time posture reconstruction device and method for the three-dimensional configuration evolution of a ductile material, which uses a micro-displacement sensor array to collect the three-dimensional configuration evolution process of the ductile material, effectively solving the problem of collecting the three-dimensional configuration evolution process of the ductile material in the existing technology.

[0008] Real-time pose reconstruction equipment for the three-dimensional configuration evolution of ductile materials, including:

[0009] A lower frame, wherein the top of the lower frame is provided with a working platform, the top of the lower frame is provided with an upper frame, and the upper frame is provided with a micro-displacement sensor array;

[0010] At least four linear co-positioning modules are also provided on the working platform of the lower frame, wherein the linear co-positioning modules are distributed around the working platform;

[0011] The linear collaborative positioning module has a linear driving end, and a three-dimensional configuration evolution multi-degree-of-freedom actuator is provided on the linear driving end;

[0012] A controller and an ambient temperature regulator are provided in the lower frame. The controller is respectively connected to the linear collaborative positioning module, the three-dimensional configuration evolution multi-degree-of-freedom actuator, the micro-displacement sensor array and the ambient temperature regulator. The controller is also connected to the display terminal.

[0013] Among them, the three-dimensional configuration evolution multi-degree-of-freedom actuator is used to fix the stretchable material and execute the three-dimensional configuration evolution instructions output by the execution controller, the micro-displacement sensor array is used to capture the parameters during the three-dimensional configuration evolution process of the stretchable material, and the ambient temperature regulator is used to control the temperature inside the upper frame.

[0014] Furthermore, the linear cooperative positioning module has at least two sub-motion modules, wherein the sub-motion modules have at least two linear displacement generators that can move freely linearly.

[0015] Furthermore, the linear displacement generator includes two foot plates, wherein the foot plates are vertically arranged on the working platform, and a cross plate is provided on the top of the two foot plates, and two fixed seats are provided on the top of the cross plate along the center line of its length direction, and a slide rail is provided along its length direction in the area deviating from the center line, and a screw rod is provided between the two fixed seats, wherein one end of the screw rod passes through the fixed seat and is connected to the output end of the reversing gear set, and the cross plate is provided with a driving motor a, and a slider is threaded on the screw rod, and the slider is also connected to the slide rail, and the output shaft of the driving motor a is connected to the input end of the reversing gear set, and the driving motor a drives the screw rod to rotate through the reversing gear set, driving the slider to move linearly along the length direction of the cross plate, wherein the top of the slider is defined as the linear driving end.

[0016] Furthermore, the three-dimensional configuration evolution multi-degree-of-freedom actuator includes a mounting base arranged on the top of the slider, a drive motor f is provided in the rotating base, a rotating base is provided on the top of the rotating base, and its axis is connected to the output shaft of the drive motor f. A hinged plate is provided on the top of the rotating base, and a drive motor b is provided on one side of the hinged plate. The output shaft of the drive motor b is connected to one end of the telescopic rod a to drive the telescopic rod a to rotate. A drive motor c is provided at one end of the telescopic rod b, and the output shaft of the drive motor c is connected to the other end of the telescopic rod a to drive the telescopic rod b to rotate. A drive motor d is provided at the other end of the telescopic rod b, and the output shaft of the drive motor d is connected to a clamp.

[0017] Furthermore, the clamping claw includes a claw body, which is provided with a clamping arm a and a clamping arm b that can approach or move away from each other, and a drive motor e is provided in the claw body. The parts of the clamping arm a and the clamping arm b located inside the claw body are staggered, and the side close to each other is provided with a tooth groove. The output shaft of the drive motor e is provided with a gear, and the gear is respectively engaged with the tooth grooves on the clamping arm a and the clamping arm b to drive the clamping arm a and the clamping arm b to perform opening and closing actions. The controller is respectively communicated with the drive motor a~drive motor f and the telescopic rod a~telescopic rod b.

[0018] Furthermore, the micro-displacement sensing array includes a fixed frame, which is connected to the upper frame. A plurality of topological field strength sensors distributed in an array are provided inside the fixed frame. The topological field strength sensors are in contact with the surface of the stretchable material to collect parameters of its three-dimensional configuration evolution process.

[0019] Furthermore, the topological field strength sensor includes a sleeve arranged on a fixed frame, and a field strength conduction rod that can move freely linearly within the length of the sleeve is provided inside the sleeve, wherein a sensor for detecting the moving distance of the field strength conduction rod is provided at the top of the sleeve, and an electromagnet is also provided at the top. At the same time, a magnetic ring is provided at a position corresponding to the electromagnet on the field strength conduction rod, and the sensor and the magnetic ring are respectively communicated with the controller.

[0020] Furthermore, a contact is provided at one end of the field strength conduction rod that contacts the surface of the ductile material, and a cavity structure is provided inside the field strength conduction rod and the contact.

[0021] Furthermore, the field strength conduction rod and the contact are made of any one of ceramics, carbon fiber composite materials, titanium alloy, and aluminum alloy, and the sleeve is made of anti-magnetic material.

[0022] A real-time pose reconstruction method for three-dimensional configuration evolution of a ductile material includes the following steps:

[0023] The controller adjusts the position of the corresponding three-dimensional configuration evolution multi-degree-of-freedom actuator by controlling the linear collaborative positioning module according to the size of the ductile material, so that it can fix the ductile material. At the same time, the position of the micro-displacement sensor array is adjusted to make the topological field intensity sensor fit the surface of the ductile material.

[0024] The controller generates corresponding three-dimensional configuration evolution actions according to the parameters of the ductile material, and drives the three-dimensional configuration evolution multi-degree-of-freedom actuator to execute in the form of control instructions;

[0025] During the three-dimensional configuration evolution multi-degree-of-freedom actuator's execution of the three-dimensional configuration evolution action, the topological field strength sensor generates corresponding signals following the three-dimensional configuration evolution process. The controller identifies the three-dimensional configuration evolution trajectory of the stretchable material based on the signal and displays it through the display terminal.

[0026] The beneficial effects of the above technical solutions provided by the embodiments of the present invention include at least:

[0027] 1. The linear collaborative positioning module can be used to adjust the position of the three-dimensional configuration evolution multi-degree-of-freedom actuator, which can realize the collection and tracking of the three-dimensional configuration evolution trajectory of ductile materials of various shapes and sizes.

[0028] 2. The three-dimensional configuration evolution multi-degree-of-freedom actuator can perform various types of actions based on the corresponding three-dimensional configuration evolution actions. The telescopic rods a and b set therein play the role of enhancing the action types, realizing more three-dimensional configuration evolution control modes and improving the accuracy of the collected data.

[0029] 3. The micro-displacement sensing array integrates the advantages of sensor-based contact tracking and vision-based non-contact tracking in existing technologies, which can reduce the interference with the three-dimensional configuration evolution process of the ductile material during the acquisition process. At the same time, the acquisition process is not easily affected by external interference, and the collected data is more accurate.

[0030] 4. Use the ambient temperature regulator to control the temperature of the space inside the upper rack to avoid the impact of temperature changes on the three-dimensional configuration evolution process of the ductile material.

[0031] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0032] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0034] Figure 1 Schematic diagram of the structure of the real-time posture reconstruction device for the three-dimensional configuration evolution of a ductile material disclosed in an embodiment of the present invention;

[0035] Figure 2 for Figure 1 The structural diagram after removing the upper rack;

[0036] Figure 3 A schematic diagram of the position structure of the connection between the sub-motion module and the three-dimensional configuration evolution multi-degree-of-freedom actuator disclosed in an embodiment of the present invention;

[0037] Figure 4 A schematic diagram of the structure of a topological field strength sensor disclosed in an embodiment of the present invention;

[0038] Figure 5 A schematic cross-sectional view of a topological field strength sensor disclosed in an embodiment of the present invention;

[0039] Figure 6 This is a communication block diagram of a device for real-time pose reconstruction of three-dimensional configuration evolution of ductile materials disclosed in an embodiment of the present invention;

[0040] Figure 7 This is a flow chart of the real-time pose reconstruction method for the three-dimensional configuration evolution of a ductile material disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0042] According to the parameters of the stretchable material, the corresponding three-dimensional configuration evolution action is generated to play the following roles: 1. Avoid invalid or harmful deformation evolution process to ensure operational feasibility; 2. Improve the efficiency of three-dimensional configuration evolution, that is, improve deformation efficiency and reduce energy consumption; 3. Match the needs of the tracking system and optimize data acquisition; 4. Realize "goal-oriented" three-dimensional configuration evolution design (goal-oriented is defined as the three-dimensional configuration evolution process of the stretchable material according to a specific trajectory after being driven by the three-dimensional configuration evolution multi-degree-of-freedom actuator 4).

[0043] To this end, the present invention adopts the following method:

[0044] Step 1: Select an appropriate material model, such as a linear elastic model, a hyperelastic model, or a viscoelastic model;

[0045] Step 2, measuring the elastic modulus, Poisson's ratio or superelastic coefficient of the ductile material through experiments such as tensile testing and dynamic mechanical analysis;

[0046] Step 3: Based on the material parameters and the geometric characteristics of the driving structure, a mechanical model is established to define the location and motion direction of the driving point, set boundary conditions, and associate the driving action with the evolution of the three-dimensional configuration of the material;

[0047] Step 4: Import material parameters and geometric models into the finite element model to simulate the 3D configuration evolution of the ductile material and predict its shape, stress distribution, and potential failure areas after 3D configuration evolution.

[0048] Step 5: Set the target 3D configuration evolution trajectory and use optimization algorithms (such as gradient descent and genetic algorithms) to infer the actions that the driving structure needs to perform to ensure that the simulated 3D configuration evolution results match the target trajectory and meet the material safety threshold;

[0049] Step 6: Output corresponding control instructions according to the actions to be performed by the reverse driving structure.

[0050] Figure 1 Schematic diagram of the structure of the real-time posture reconstruction device for the three-dimensional configuration evolution of a ductile material disclosed in an embodiment of the present invention. Figure 2 The schematic diagram of the structure of the real-time posture reconstruction device for the three-dimensional configuration evolution of a ductile material disclosed in an embodiment of the present invention is shown after the upper frame 2 is removed. It can be seen that the device includes a lower frame 1, wherein the lower frame 1 has a working platform 21 on the top, and an upper frame 2 is provided on the top thereof. A micro-displacement sensor array 5 is provided in the upper frame 2, and at least four linear collaborative positioning modules 3 are also provided on the working platform 21 of the lower frame 1, wherein the linear collaborative positioning modules 3 are distributed around the working platform 21, and the linear collaborative positioning modules 3 have a linear driving end, and a three-dimensional configuration evolution multi-automatic sensor is provided on the linear driving end. The controller 6 and the ambient temperature regulator 7 are respectively connected to the linear collaborative positioning module 3, the three-dimensional configuration evolution multi-degree-of-freedom actuator 4, the micro-displacement sensor array 5 and the ambient temperature regulator 7. The controller 6 is also connected to the display terminal 8. The three-dimensional configuration evolution multi-degree-of-freedom actuator 4 is used to fix the stretchable material and execute the three-dimensional configuration evolution instructions output by the controller 6. The micro-displacement sensor array 5 is used to capture the parameters of the three-dimensional configuration evolution process of the stretchable material. The ambient temperature regulator 7 is used to control the temperature inside the upper frame 2.

[0051] The temperature of the space in the upper frame 2 is controlled by the ambient temperature regulator 7 to avoid the influence of temperature changes on the three-dimensional configuration evolution process of the ductile material.

[0052] It should be noted that the ambient temperature regulator 7 adopts existing technologies, such as a temperature control module composed of a temperature control component, a heater and a cooling device, which can detect the temperature inside the upper rack 2 in real time and control the temperature inside the upper rack 2 according to the set temperature. It uses existing technologies, so the principle of its temperature control will not be described in detail.

[0053] like Figure 2 and 3 As shown, the three-dimensional configuration evolution multi-degree-of-freedom actuator 4 includes a mounting base 41 arranged on the top of the slider 311f, a driving motor f410 is provided in the rotating base 42, a rotating base 42 is provided on the top of the rotating base 42, and its axis is connected to the output shaft of the driving motor f410, a hinged plate 43 is provided on the top of the rotating base 42, a driving motor b46 is provided on one side of the hinged plate 43, the output shaft of the driving motor b46 is connected to one end of the telescopic rod a44 to drive the telescopic rod a44 to rotate, a driving motor c47 is provided at one end of the telescopic rod b45, the output shaft of the driving motor c47 is connected to the other end of the telescopic rod a44 to drive the telescopic rod b45 to rotate, a driving motor d48 is provided at the other end of the telescopic rod b45, and the output shaft of the driving motor d48 is connected to the clamp 49.

[0054] The three-dimensional configuration evolution multi-degree-of-freedom actuator 4 can perform various types of actions based on the corresponding three-dimensional configuration evolution actions. The telescopic rod a44 and telescopic rod b45 set therein play the role of enhancing the action type, realizing more three-dimensional configuration evolution control modes, and improving the accuracy of the collected data.

[0055] The specific process is as follows: after the clamping jaw 49 clamps the ductile material, when performing actions such as bending, the telescopic action of the telescopic rod a44 and the telescopic rod b45 is utilized to avoid applying additional load to the ductile material, and only apply the load required for bending, thereby avoiding affecting the three-dimensional configuration evolution process of the ductile material.

[0056] like Figure 3 As shown, the clamping claw 49 includes a claw body 491, and the claw body 491 is provided with a clamping arm a492 and a clamping arm b493 that can approach or move away from each other. A driving motor e494 is provided in the claw body 491. The clamping arms a492 and b493 are located inside the claw body 491 and are staggered in the parts, and teeth are provided on the side close to each other. The output shaft of the driving motor e494 is provided with gears, and the gears are respectively engaged with the teeth on the clamping arms a492 and b493 to drive the clamping arms a492 and b493 to perform opening and closing actions. The controller 6 is respectively communicated with the driving motor a311g to the driving motor f410 and the telescopic rods a44 to the telescopic rods b45.

[0057] The execution of the twisted three-dimensional configuration evolution action of the ductile material includes the overall twisted three-dimensional configuration evolution and the local twisted three-dimensional configuration evolution.

[0058] When performing the overall twisting three-dimensional configuration evolution action, a single clamping jaw 49 is used for clamping. Depending on the size and shape of the ductile material, an auxiliary clamping mechanism, such as an extension plate, can be used. The extension plate is used to extend the clamping range of the clamping arm a492 and the clamping arm b493, so that it can achieve single clamping of the ductile material and perform the overall twisting three-dimensional configuration evolution action.

[0059] When executing the local twisting three-dimensional configuration evolution action, multiple single clamps 49 are used for clamping, and the three-dimensional configuration evolution action is executed by the clamps 49 that execute the local twisting action.

[0060] The clamping jaw 49 is driven by the driving motor e494 to clamp and release the ductile material. At the same time, the driving motor d48 is used to drive the clamping jaw 49 to rotate, thereby performing a three-dimensional configuration evolution action of overall twisting or local twisting.

[0061] The three-dimensional configuration evolution multi-degree-of-freedom actuator 4 executes the action of rotating the three-dimensional configuration evolution multi-degree-of-freedom actuator 4 as a whole by driving the motor f410.

[0062] The three-dimensional configuration evolution multi-degree-of-freedom actuator 4 drives the motor b46 to rotate the telescopic rod a44 and the part connected to the telescopic rod a44.

[0063] The three-dimensional configuration evolution multi-degree-of-freedom actuator 4 drives the motor c47 to rotate the telescopic rod b45 and the part connected to the telescopic rod b45.

[0064] like Figure 2 and 3As shown, the linear collaborative positioning module 3 has at least two sub-motion modules 31, wherein the sub-motion module 31 has at least two linear displacement generators 311 that can move linearly freely. The linear displacement generator 311 includes two foot plates 311a, wherein the foot plates 311a are vertically arranged on the working platform 21, and a cross plate 311b is provided on the top of the two foot plates 311a. Two fixed seats 311c are provided on the top of the cross plate 311b along the center line of its length direction, and a slide rail 311e is provided along the length direction of the area deviating from the center line, and a screw rod 311d is provided between the two fixed seats 311c. One end of the screw rod 311d passes through the fixed seat 311c and is connected to the output end of the reversing gear set 311h. The horizontal plate 311b is provided with a driving motor a311g. A slider 311f is threadedly connected to the screw rod 311d. The slider 311f is also connected to the slide rail 311e. The output shaft of the driving motor a311g is connected to the input end of the reversing gear set 311h. The driving motor a311g drives the screw rod 311d to rotate through the reversing gear set 311h, and drives the slider 311f to move linearly along the length direction of the horizontal plate 311b. The top of the slider 311f is defined as the linear driving end.

[0065] The controller 6 controls the position of the slider 311f by controlling the drive motor a311g, thereby adjusting the position of the three-dimensional configuration evolution multi-degree-of-freedom actuator 4. The position of the three-dimensional configuration evolution multi-degree-of-freedom actuator 4 can be adjusted using the linear collaborative positioning module 3, and the three-dimensional configuration evolution trajectory of stretchable materials of various shapes and sizes can be collected and tracked.

[0066] like Figure 2 、 4 As shown in Figure 5, the micro-displacement sensing array 5 includes a fixing frame 51, which is connected to the upper frame 2. A plurality of topological field strength sensors 52 distributed in an array are provided inside the fixing frame 51. The topological field strength sensors 52 are in contact with the surface of the stretchable material to collect parameters of its three-dimensional configuration evolution process.

[0067] It should be noted that the fixing frame 51 is connected to the upper frame 2 through a telescopic cylinder, wherein the telescopic cylinder is not shown in the figure. The height of the fixing frame 51 can be adjusted by the telescopic cylinder to make it close to or away from the ductile material.

[0068] like Figure 5As shown, the topological field strength sensor 52 includes a sleeve 521 arranged on a fixed frame 51, and a field strength conduction rod 523 that can move freely linearly within the length of the sleeve 521 is provided in the sleeve 521, wherein a sensor 525 for detecting the moving distance of the field strength conduction rod 523 is provided on the top of the sleeve 521, and an electromagnet 522 is also provided on the top. At the same time, a magnetic ring 524 is provided at a position corresponding to the electromagnet 522 on the field strength conduction rod 523, and the sensor 525 and the magnetic ring 524 are respectively communicated with the controller 6, wherein a contact 53 is provided at the end of the field strength conduction rod 523 that contacts the surface of the extensible material, and the field strength conduction rod 523 and the contact 53 have a cavity structure.

[0069] Among them, a limiting structure is set between the sleeve 521 and the field strength conduction rod 523 to prevent the field strength conduction rod 523 from escaping from the sleeve 521. The limiting structure can use mutually contacting retaining rings for limiting. It adopts existing technology and will not be repeated here.

[0070] The surface of the sleeve 521 is also provided with air holes, which are used to maintain the internal and external air pressure balance during the extension and retraction of the field strength conduction rod 523 from the sleeve 521, so as to avoid the pressure difference that reduces the detection accuracy. At the same time, a lubricating layer, such as lubricating oil or Teflon coating, is also provided between the sleeve 521 and the field strength conduction rod 523. Among them, the magnetic ring 524 is a metal that can be attracted by the magnetic force of the electromagnet 522. In addition to being attracted by the magnetic force of the electromagnet 522, it is also used as a counterweight for the field strength conduction rod 523.

[0071] It should be noted that the material of the field strength conducting rod 523 and the contact 53 is any one of ceramics, carbon fiber composite materials, titanium alloy, and aluminum alloy, and the material of the sleeve 521 is diamagnetic material.

[0072] Since the field strength conduction rod 523 and the field strength conduction rod 523 adopt a hollow structure and the material used is a lightweight material, it will not cause excessive load on the surface of the stretchable material when it contacts the stretchable material. At the same time, it is not easily affected by the external environment, and its detection process will not interfere with the three-dimensional configuration evolution process of the stretchable material. Compared with the existing technology, the micro-displacement sensing array 5 integrates the advantages of the contact tracking based on sensor 525 and the vision-based non-contact tracking in the existing technology, which can reduce the interference with the three-dimensional configuration evolution process of the stretchable material during the collection process. At the same time, the collection process is not easily affected by external interference, and the collected data is more accurate.

[0073] The electromagnet 522 is used to fix the position of the field strength conduction rod 523. During the process of adjusting the height of the fixing frame 51, according to the signal captured by the sensor 525, the field strength conduction rod 523 in the topological field strength sensor 52 with no signal change (no extension and contraction movement of the field strength conduction rod 523) is adsorbed and retracted into the sleeve 521 through the electromagnet 522.

[0074] like Figure 5 As shown, it also includes the detection of the health status of 52 topological field strength sensors.

[0075] During the detection process, the controller 6 detects the signal captured by the sensor 525. When the sensor 525 detects abnormal movement of the field strength conduction rod 523, such as being stuck in the sleeve 521 after bending, or being broken, the field strength conduction rod 523 is fixed in position or has no displacement movement during the three-dimensional configuration evolution of the extensible material. At this time, the topological field strength sensor 52 is judged to be abnormal, its position is marked, and output to the display terminal 8 for easy maintenance.

[0076] like Figure 5 As shown, the optimization of the number of topological field strength sensors 52 is also included.

[0077] Step 1: construct a two-dimensional coordinate system and calibrate the coordinates of each topological field strength sensor 52 to form a two-dimensional coordinate map;

[0078] Step 2: construct a model for simulation, determine the coordinates of the removed topological field strength sensor 52 and mark them;

[0079] Step 3: Using the same ductile material to perform three-dimensional configuration evolution, and using the complete topological field intensity sensor 52 array and the topological field intensity sensor 52 array remaining after the topological field intensity sensor 52 with the markers removed to perform real-time pose reconstruction respectively;

[0080] According to the coordinates of the topological field strength sensor 52 marked for removal, the corresponding electromagnet 522 is turned on, and the field strength conducting rod 523 is retracted into the interior of the sleeve 521, thereby completing its recoverable removal.

[0081] Step 4: For each removed topology field strength sensor 52, take the average value of its four nearest neighboring retained topology field strength sensors 52 to fill the gap;

[0082] Step 5, comparing the data collected after the difference with the data collected by the complete topological field intensity sensor 52 array;

[0083] Step 6, repeating steps 3 to 5, wherein the ductile material is replaced by a change in size, shape, elastic modulus, Poisson's ratio, or superelastic coefficient;

[0084] Step 7: Analyze the comparison data. When the acquired data are consistent, it is determined that the marked topological field strength sensor 52 can be removed.

[0085] After the removable topology field strength sensor 52 is identified, the structure of the fixing frame 51 is further optimized according to the coordinates of the removable topology field strength sensor 52 .

[0086] like Figure 7 As shown, the real-time pose reconstruction method for the three-dimensional configuration evolution of a ductile material includes the following steps:

[0087] S1, the controller 6 adjusts the position of the corresponding three-dimensional configuration evolution multi-degree-of-freedom actuator 4 by controlling the linear cooperative positioning module 3 according to the size of the ductile material so that it can fix the ductile material, and simultaneously adjusts the position of the micro-displacement sensor array 5 so that the topological field intensity sensor 52 is in contact with the surface of the ductile material;

[0088] S2, the controller 6 generates a corresponding three-dimensional configuration evolution action according to the parameters of the ductile material, and drives the three-dimensional configuration evolution multi-degree-of-freedom actuator 4 to execute it in the form of control instructions;

[0089] S3, during the three-dimensional configuration evolution multi-degree-of-freedom actuator 4 performs the three-dimensional configuration evolution action, the topological field strength sensor 52 follows the three-dimensional configuration evolution process to generate a corresponding signal, and the controller 6 identifies the three-dimensional configuration evolution trajectory of the extensible material according to the signal and displays it through the display terminal 8.

[0090] During this process, the field strength conduction rod 523 is squeezed during the three-dimensional configuration evolution of the ductile material. The field strength conduction rod 523 extends and retracts in the sleeve 521 as the ductile material is squeezed. The sensor 525 captures the displacement of the field strength conduction rod 523 in the sleeve 521 to obtain the three-dimensional configuration evolution trajectory of the ductile material.

[0091] It should be noted that the specific models and specifications of the telescopic rod a44, telescopic rod b45, drive motor a311g, drive motor b46, drive motor c47, drive motor d48, drive motor e494, drive motor f410, electromagnet 522, sensor 525, display terminal 8, ambient temperature regulator 7 and controller 6 need to be selected and determined based on the actual specifications of the device. The specific selection calculation method adopts the existing technology in this field, so it will not be described in detail.

[0092] The power supply and principles of the telescopic rod a44, telescopic rod b45, drive motor a311g, drive motor b46, drive motor c47, drive motor d48, drive motor e494, drive motor f410, electromagnet 522, sensor 525, display terminal 8, ambient temperature regulator 7 and controller 6 are clear to those skilled in the art and will not be described in detail here.

[0093] Among them, three-dimensional configuration evolution is defined as the deformation process of ductile materials; real-time pose reconstruction is defined as the tracking of morphological changes in the deformation process of ductile materials.

[0094] It should be understood that the specific order or hierarchy of steps in the disclosed processes is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0095] In the foregoing detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that embodiments of the claimed subject matter require more features than are expressly recited in each claim. On the contrary, as reflected in the appended claims, the invention comprises less than all the features of any individual disclosed embodiment. The appended claims are therefore hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0096] Those skilled in the art will also appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein may be implemented as electronic hardware, computer software, or a combination thereof. In order to clearly illustrate the interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps described above are generally described around their functions. Whether such functions are implemented as hardware or software depends on the specific application and the design constraints imposed on the entire system. A skilled person may implement the described functions in an adaptable manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of this disclosure.

[0097] The steps of the methods or algorithms described in conjunction with the embodiments herein may be directly embodied as hardware, software modules executed by a processor, or a combination thereof. The software module may be located in a RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, register, hard disk, removable disk, CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and storage medium may be located in an ASIC. The ASIC may be located in a user terminal. Of course, the processor and storage medium may also be present in a user terminal as discrete components.

[0098] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or external to the processor. In the latter case, it is communicatively coupled to the processor via various means, which are well known in the art.

[0099] The foregoing description includes examples of one or more embodiments. Of course, it is not possible to describe all possible combinations of components or methods for the purposes of describing the above embodiments, but one of ordinary skill in the art will recognize that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "comprising" is used in the specification or claims, the term is intended to be encompassed in a manner similar to the term "including," as if "including" were used as a transitional word in the claims. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or."

Claims

1. Real-time pose reconstruction device for three-dimensional configuration evolution of ductile materials, characterized by: include: A lower frame, wherein the top of the lower frame has a working platform, the top of the upper frame is provided, the upper frame is provided with a micro-displacement sensor array, the micro-displacement sensor array includes a fixed frame connected to the upper frame, and a plurality of topological field strength sensors distributed in an array are provided inside the fixed frame; At least four linear co-positioning modules are also provided on the working platform of the lower frame, wherein the linear co-positioning modules are distributed around the working platform; The linear collaborative positioning module has a linear driving end, and a three-dimensional configuration evolution multi-degree-of-freedom actuator is provided on the linear driving end; A controller and an ambient temperature regulator are provided in the lower frame. The controller is respectively connected to the linear collaborative positioning module, the three-dimensional configuration evolution multi-degree-of-freedom actuator, the micro-displacement sensor array and the ambient temperature regulator. The controller is also connected to the display terminal. Among them, the three-dimensional configuration evolution multi-degree-of-freedom actuator is used to fix the stretchable material and execute the three-dimensional configuration evolution instructions output by the controller. The topological field strength sensor is used to contact the surface of the stretchable material and collect the morphological change parameters of its three-dimensional configuration evolution process. The ambient temperature regulator is used to control the temperature inside the upper rack.

2. The device according to claim 1, wherein The linear cooperative positioning module has at least two sub-motion modules, wherein the sub-motion modules have at least two linear displacement generators that can move freely linearly.

3. The device according to claim 2, characterized in that The linear displacement generator includes two foot plates, wherein the foot plates are vertically arranged on the working platform, and a cross plate is provided on the top of the two foot plates, and two fixed seats are provided on the top of the cross plate along the center line of its length direction, and a slide rail is provided along its length direction in the area deviating from the center line, and a screw rod is provided between the two fixed seats, wherein one end of the screw rod passes through the fixed seat and is connected to the output end of the reversing gear set, and the cross plate is provided with a driving motor a, and a slider is threaded on the screw rod, and the slider is also connected to the slide rail, and the output shaft of the driving motor a is connected to the input end of the reversing gear set, and the driving motor a drives the screw rod to rotate through the reversing gear set, driving the slider to move linearly along the length direction of the cross plate, wherein the top of the slider is defined as the linear driving end.

4. The device according to claim 3, characterized in that The three-dimensional configuration evolution multi-degree-of-freedom actuator includes a mounting base arranged on the top of the slider, a drive motor f is provided in the rotating base, a rotating base is provided on the top of the rotating base, and its axis is connected to the output shaft of the drive motor f. A hinged plate is provided on the top of the rotating base, and a drive motor b is provided on one side of the hinged plate. The output shaft of the drive motor b is connected to one end of the telescopic rod a to drive the telescopic rod a to rotate. A drive motor c is provided at one end of the telescopic rod b, and the output shaft of the drive motor c is connected to the other end of the telescopic rod a to drive the telescopic rod b to rotate. A drive motor d is provided at the other end of the telescopic rod b, and the output shaft of the drive motor d is connected to a clamp.

5. The device according to claim 4, characterized in that The clamping claw includes a claw body, which is provided with a clamping arm a and a clamping arm b that can approach or move away from each other. A drive motor e is provided in the claw body. The parts of the clamping arm a and the clamping arm b located inside the claw body are staggered, and a tooth groove is provided on the side close to each other. The output shaft of the drive motor e is provided with a gear, which is respectively engaged with the tooth grooves on the clamping arm a and the clamping arm b to drive the clamping arm a and the clamping arm b to perform opening and closing actions. The controller is respectively communicated with the drive motor a~drive motor f and the telescopic rod a~telescopic rod b.

6. The device according to claim 1, wherein The number of the topological field strength sensors matches the parameters of the stretchable material, and a topological field strength sensor array formed by multiple topological field strength sensors distributed in an array covers the surface of the stretchable material.

7. The device according to claim 6, characterized in that The topological field strength sensor includes a sleeve arranged on a fixed frame, and a field strength conduction rod that can move freely linearly within the length of the sleeve is provided inside the sleeve, wherein a sensor for detecting the moving distance of the field strength conduction rod is provided at the top of the sleeve, and an electromagnet is also provided at the top. At the same time, a magnetic ring is provided at a position corresponding to the electromagnet on the field strength conduction rod, and the sensor and the magnetic ring are respectively communicated with the controller.

8. The device according to claim 7, characterized in that A contact is provided at one end of the field strength conduction rod that contacts the surface of the ductile material, and a cavity structure is provided inside the field strength conduction rod and the contact.

9. The device according to claim 8, characterized in that The materials of the field strength conduction rod and the contact are any one of ceramics, carbon fiber composite materials, titanium alloy and aluminum alloy, and the material of the sleeve is anti-magnetic material.

10. A real-time pose reconstruction method for the three-dimensional configuration evolution of ductile materials, characterized in that: The following steps are involved: The controller adjusts the position of the corresponding three-dimensional configuration evolution multi-degree-of-freedom actuator by controlling the linear collaborative positioning module according to the size of the ductile material, so that it can fix the ductile material. At the same time, the position of the micro-displacement sensor array is adjusted to make the topological field intensity sensor fit the surface of the ductile material. The controller generates corresponding three-dimensional configuration evolution actions according to the parameters of the ductile material, and drives the three-dimensional configuration evolution multi-degree-of-freedom actuator to execute in the form of control instructions; During the three-dimensional configuration evolution multi-degree-of-freedom actuator's execution of the three-dimensional configuration evolution action, the topological field strength sensor generates corresponding signals following the three-dimensional configuration evolution process. The controller identifies the three-dimensional configuration evolution trajectory of the stretchable material based on the signal and displays it through the display terminal.

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