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发表时间：2020-01-01

发表刊物：Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition)

所属单位：机械工程学院

卷号：48

期号：10

页面范围：14-19

ISSN号：1671-4512

摘要：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. © 2020, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.

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