磁控双半球胶囊机器人姿态的图像检测方法  

Image detection method for posture of magnetically controlled dual hemisphere capsule robot

作　　者：张永顺[1] 王智博 刘旭 杨慧远[1] ZHANG Yongshun;WANG Zhibo;LIU Xu;YANG Huiyuan(Key Laboratory for Precision and Non-traditional Machining of Ministry of Education,Dalian University of Technology,Dalian 116024,Liaoning China)

机构地区：[1]大连理工大学精密与特种加工教育部重点实验室,大连116024

出　　处：《华中科技大学学报（自然科学版）》2020年第10期14-19,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61773084)。

摘　　要：提出一种双半球胶囊机器人轴线方位的姿态检测方法.以空间万向旋转磁矢量误差模型所确定最小误差方位为双半球胶囊机器人的初始图像标定位置,对初始位置胶囊自转角信息进行校正.通过内嵌相机获得胶囊初始位置与调姿后的胃肠内壁图像,对这两幅图像进行特征点识别与匹配,并结合对极几何约束,最终获得胃肠道等宽裕环境内双半球胶囊机器人轴线方位.设计了模拟实验平台,在体外猪大肠内进行试验验证了该方法的可行性,并且在双半球胶囊实际工作状态下进行试验,确定了该方法在机器人姿态检测上的实用性.A posture detection method for the axis orientation of the dual hemisphere capsule robot(DHCR)was proposed.The minimum error orientation was as the initial image calibration position of the DHCR,which was determined by the spatial universal rotating magnetic vector error model,and the capsule rotation angle information of the initial position was corrected.The images of gastrointestinal inner wall of initial calibration and posture adjustment were obtained by the embedded camera,and feature points of these two images were identified and matched.The epipolar geometric constraints were combined,and finally the axis orientation of the DHCR in the gastrointestinal tract and other ample environment was obtained.A simulation experiment platform was designed and tested in the vitro pig large intestine to verify the feasibility of the method,and the experiment was carried out in the actual working state of the DHCR.The practicability of the method on the robot was determined.

关 键 词：双半球胶囊机器人 姿态估计 空间万向旋转磁矢量 特征识别和匹配 对极几何 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]