CN104406575A - High-precision novel biomimetic eye device and use method - Google Patents

Abstract

The invention discloses a high-precision novel bionic eye device, which is composed of a rotating and pitching platform, a two-way ball screw slide table, two tricept bionic eyes and a computer. The rotating and tilting head can realize the rotation and pitching motion of the two bionic eyes around the axis of the rotating motor, which is used for target search and tracking in a wide range of space. The two-way ball screw slide table is fixed on the pitch seat of the rotary pitch head, which is used to adjust the distance between the two bionic eyes according to the typical animal vision model. The two tricept mechanisms can imitate the eye muscles of animals to realize the saccade action of the eyeball. The tricept mechanism is driven by three electric cylinders with position feedback, which is used for high-precision adjustment of the camera pose. This device has a wide detection range, high precision, and high rigidity. It can adaptively adjust the position and posture of the two "eyes" according to the detection mechanism of various animal visual systems, thereby effectively ensuring the accuracy of the detection results. It is convenient for industrial, agricultural, and medical applications. , scientific research, military industry and other applications.

Description

A new type of high-precision bionic eye device and its application method

technical field

The invention relates to the field of robot bionic vision, in particular to a bionic eye device based on various animal vision mechanisms, especially a high-precision bionic eye device.

Background technique

With the development of electronic technology, control technology, sensing measurement technology, signal processing technology, computer technology and bionic technology, machine vision has been widely used in agriculture, service industry, medical treatment, scientific research and industrial production. Bionic vision is to imitate the superior visual characteristics of various animals by means of software and hardware control through the study of long-term evolution of animal vision mechanism, so as to better apply machine vision to production and life processes. The present invention proposes a bionic eye mechanism that can imitate the visual systems of various animals on the basis of the research on the visual systems of animals at different positions in the food chain in the animal kingdom. The detection mechanism of various animal visual systems adaptively adjusts the position and posture of the two "eyes", and utilizes the advantages of long-term evolution of animals to effectively ensure the rapidity and accuracy of detection. It can bring great convenience to scientific research and industrial production, and has very important research value and practical significance.

Contents of the invention

The purpose of the invention of the present invention is:

Provide a bionic eye device with a wide detection range, fast response speed, high precision, high rigidity, which can imitate a variety of animal visual systems, and can independently select the optimal visual mode according to the actual situation.

To achieve the above object, the present invention takes the following technical solutions;

Option 1: A new type of bionic eye device based on a tricept mechanism, including: a tricept mechanism, a camera, and a gyroscope; wherein: the tricept mechanism is mainly composed of an upper platform, a lower platform, and three active branch chains. One end of the chain is connected to the upper platform, and the other end is connected to the lower platform to realize the three-degree-of-freedom movement of the upper platform; the camera and gyroscope are installed on the upper platform.

Further, each of the above three active branch chains is composed of a universal hinge, an electric cylinder, a ball hinge and a ball hinge fixture.

Further, a passive branch chain is also included, and the passive branch chain is composed of a universal hinge, a guide rod and a guide sleeve, and plays the role of constraining the movement and guiding of the mechanism.

Further, the camera is connected to a computer through a coaxial cable, and the computer is also connected to a control chip STM32F104ZET, the input end of the control chip STM32F104ZET is connected to a gyroscope, and the output end is respectively connected to the first servo motor driver, the second servo motor driver and the second servo motor driver. Three servo motor drivers, the other end of the first servo motor driver, the second servo motor driver and the third servo motor driver are respectively connected with the first servo motor, the second servo motor and the third servo motor. The corresponding electric cylinders are connected to control the movement of the electric cylinders of the three active branch chains.

Scheme 2: A binocular bionic eye device for high-precision self-adaptive target detection, including: a rotating and tilting head, a two-way ball screw slide table, two tricept bionic eyes and a computer; wherein: the two-way ball screw slide table There are two sliders, and a tricept bionic eye is fixed on each slider; the tricept bionic eye includes: a tricept mechanism, a camera, and a gyroscope; the tricept mechanism is mainly composed of an upper platform, a lower platform, and three active branch chains One end of three active branch chains is connected to the upper platform, and the other end is connected to the lower platform to realize the three-degree-of-freedom movement of the upper platform. The camera and gyroscope are installed on the upper platform; The screw slide table is fixedly connected to realize the two-way ball screw mechanism and the 360-degree rotation and pitching motion of the two tricept bionic eyes around the rotation axis;

Further, the two-way ball screw mechanism is mainly composed of a ball screw base, a two-way ball screw and a screw drive motor. A fixing plate is provided at each end of the base, and the two-way ball screw is installed between the two fixing plates. , the screw drive motor is installed on the outside of one of the fixing plates, and the screw drive motor is connected with the bidirectional ball screw through a coupling.

Further, between the two fixed plates of the bidirectional ball screw mechanism, a linear optical axis is also provided on both sides of the bidirectional ball screw, and the two sliders pass through the optical axis and are connected to the rotating shaft of the rotating motor. Symmetrical distribution.

Further, each of the three active branch chains is composed of a universal hinge, an electric cylinder, a ball hinge and a ball hinge fixing piece.

Further, a passive branch chain is also included, and the passive branch chain is composed of a universal hinge, a guide rod and a guide sleeve, and plays the role of constraining the movement and guiding of the mechanism.

Further, the two digital cameras are respectively connected to the computer through coaxial cables, and the computer is also connected with three control chips STM32F104ZET, one of which is used to control the rotating motor on the rotating and pitching platform, the pitching motor and the two-way ball screw on the slide table. The screw drives the motor, and the other two input terminals are connected to gyroscopes, and the output terminals are connected to three servo motor drivers. The servo motors are connected to their corresponding electric cylinders through synchronous belts, and are used to control the electric cylinders of the three active branch chains. exercise.

Based on the schemes 1 and 2 mentioned above, the camera adopts a high-definition digital camera model of MR-130USB/W7; the model of the gyroscope is MPU6050.

The beneficial effects of the present invention are: 1. From the perspective of bionics, the present invention proposes a novel bionic eye device with wide detection range, fast response speed, high precision, high rigidity, and the ability to imitate the visual characteristics of various animals. The imitation of the superior features retained by long-term evolution, thus effectively ensuring the accuracy of the detection results; 2. The device of the present invention realizes the flexible rotation and certain translation of the "machine eye" through the rotating pitch head and the bidirectional ball screw mechanism, It greatly expands the search range and flexibility of the "machine eye", which is suitable for various occasions using machine vision such as industry, agriculture, medical treatment, scientific research, military industry, etc., and provides a new idea for the follow-up research of bionic machine vision. Very important research value and practical significance.

Description of drawings

The present invention will be described in further detail below in conjunction with the accompanying drawings and preferred embodiments.

Figure 1 is the front view of the tricept bionic eye device;

Figure 2 is an axonometric view of the tricept bionic eye device;

Figure 3 is a control signal flow chart of the new bionic eye device based on the tricept mechanism;

Figure 4 is the motion control flow chart of the new bionic eye device based on the tricept mechanism;

Figure 5 is a schematic diagram of the structure of a binocular bionic eye device for adaptive target detection;

Figure 6 is a schematic diagram of the rotating and tilting head;

Figure 7 is a schematic diagram of a two-way ball screw slide table;

Figure 8 is a schematic block diagram of the control circuit of the bionic eye device;

Figure 9 is a flow chart of the motion control of the bionic eye device;

The specific meanings of the labels in the figure are: 1. Rotating and tilting head, 2. Bi-directional ball screw mechanism, 3. Right tricept bionic eye, 4. Left tricept bionic eye, 5. Rotating motor, 6. Rotating base, 7. Pitching Motor, 8. Pitch seat, 9. Screw drive motor, 10. Fixed plate, 11. Coupling, 12. Bidirectional ball screw, 13. Linear optical axis, 14. Slider, 15. Ball screw base , 16. Camera, 17. Upper platform, 18. The first ball hinge fixture, 19. The first ball hinge, 20. Guide sleeve, 21. The first electric cylinder, 22. Guide rod, 23. The second electric cylinder, 24. The second servo motor, 25. The first servo motor, 26. The second universal hinge, 27. The first universal hinge, 28. The fourth universal hinge, 29. Lower platform, 30. The second ball hinge is fixed Parts, 31. The second ball hinge, 32. The third ball hinge fixing part, 33. The third ball hinge, 34. Gyroscope, 35. The third electric cylinder, 36. The third servo motor, 37. The third universal Hinge.

Detailed ways

Embodiment 1, referring to Fig. 1 to Fig. 4, shown in the figure is a kind of high-precision novel bionic eye device based on tricept mechanism, including tricept mechanism and camera 16 and gyroscope 34 installed on the tricept mechanism, wherein, tricept The mechanism consists of an upper platform 17, a lower platform 29, three active branch chains and a passive branch chain. The first active branch chain consists of the first ball hinge fixture 18, the first ball hinge 19, the first electric cylinder 21 and the first The universal hinge 27 is formed; the second active branch chain is composed of the second ball hinge fixture 30, the second ball hinge 31, the second electric cylinder 23 and the second universal hinge 26; the third active branch chain is composed of the third The ball hinge fixing part 32, the third ball hinge 33, the third electric cylinder 35 and the third universal hinge 37 are formed; the passive branch chain is composed of the guide sleeve 20, the guide rod 22 and the fourth universal hinge 28, and acts as a restraint mechanism to move and guiding role. One end of these three active branch chains is connected to the upper platform 17, and the other end is connected to the lower platform 29 to realize the three-degree-of-freedom movement of the upper platform; the camera 16 and the gyroscope 34 are installed on the upper platform 17, and the electric cylinder is passed by the servo motor. Synchronous belt is driven, and further, camera 16 is connected with computer by coaxial cable, and computer is also connected with control chip STM32F104ZET, and the input end of control chip STM32F104ZET is connected with gyroscope, and output end is respectively connected with the first servo motor driver, the second servo motor driver. Motor driver and the 3rd servomotor driver, the other end of the first servomotor driver, the 2nd servomotor driver and the 3rd servomotor driver are also respectively connected with the first servomotor 25, the second servomotor 24 and the 3rd servomotor 36 , the servo motors are connected to their corresponding electric cylinders through synchronous belts, and are used to control the movement of the electric cylinders of the three active branch chains. In this embodiment, the camera adopts a high-definition digital camera model of MR-130USB/W7; the model of the gyroscope is MPU6050.

When the device is in use, it first needs to complete the calibration work. Calibration is to obtain more accurate internal parameters such as focal length and distortion parameters of the camera to reduce recognition errors; secondly, search for the target within the current field of view. If the target is in the current field of view You only need to fine-tune the tricept mechanism to make the target fall near the center of the field of view. If the target is not in the current field of view, you need to continuously adjust the pitch angle of the tricept mechanism (you can also stretch the "eye" if necessary) until the target falls near the center of the field of view; Finally, the control board reads the current measurement value of the gyroscope so that the robot or other industrial equipment can operate accordingly.

Embodiment 2, referring to Fig. 1, Fig. 2 and Fig. 5 to Fig. 9, a binocular bionic eye device for high-precision self-adaptive target detection is shown in the figure, including: rotating and tilting head 1, two-way ball screw mechanism 2. Two tricept bionic eyes (left tricept bionic eye 4, right tricept bionic eye 3) and a computer; wherein: the bidirectional ball screw mechanism of the bidirectional ball screw mechanism is provided with two sliders 14, each slider 14 A tricept bionic eye is fixed on the top; the tricept bionic eye is composed of a tricept mechanism, a camera 16 and a gyroscope 34 installed on the tricept mechanism, wherein the tricept mechanism consists of an upper platform 17, a lower platform 29, three active branch chains and a passive branch chain. The first active branch chain is composed of the first ball hinge fixing part 18, the first ball hinge 19, the first electric cylinder 21 and the first universal hinge 27; the second active branch chain is fixed by the second ball hinge Part 30, the second ball hinge 31, the second electric cylinder 23 and the second universal hinge 26; The third universal hinge 37 is formed; the passive branch is formed by the guide sleeve 20, the guide rod 22 and the fourth universal hinge 28, which play the role of restricting the movement and guiding of the mechanism. One end of these three active branch chains is connected with the upper platform 17, and the other end is connected with the lower platform 29 to realize the three-degree-of-freedom movement of the upper platform; the camera 16 and the gyroscope 34 are installed on the upper platform 17, and the two-way ball screw mechanism mainly It is composed of a ball screw base 15, a bidirectional ball screw 12 and a screw drive motor 9. A fixing plate 10 is provided at each end of the ball screw base 15, and the bidirectional ball screw 12 is installed between the two fixing plates. , the screw drive motor 9 is installed on the outside of one of the fixed plates, the screw drive motor 9 is connected with the bidirectional ball screw 12 through the coupling 11, between the two fixed plates of the bidirectional ball screw mechanism, the bidirectional ball screw Both sides are also respectively provided with a linear optical axis 13, two sliders 14 pass through the optical axis, and are symmetrically distributed about the rotation axis of the rotary motor 5, and the cameras on the left tricept bionic eye 4 and the right tricept bionic eye 3 respectively pass through the coaxial The cable is connected to the computer, and the computer is also connected with three control cores STM32F104ZET, one of which is used to control the rotation motor on the pan tilt head, the pitch motor and the screw drive motor on the two-way ball screw slide table, and the other two inputs are A gyroscope is connected, and the output ends are all connected to three servo motor drivers, and the servo motors are connected to their corresponding electric cylinders through a synchronous belt, and are used to control the movement of the electric cylinders of the three active branch chains.

When the device is in use, it first needs to complete the calibration work. The calibration is to obtain more accurate internal parameters such as focal length and distortion parameters of the camera to reduce recognition errors; secondly, when the program is initialized, it follows the visual characteristics of typical prey animals. The left and right tricept bionic eyes are arranged symmetrically with respect to the rotation axis of the rotating motor of the rotating tilt head, the optical axes of the two cameras are in the same plane as the line connecting the centers of the two sliders, and the optical axes of the two cameras are connected The lines are all inclined upward at an angle of 45°; again, at the initialization position, first check whether the two cameras have searched for the target, if one of them has already searched for the target, then follow the visual characteristics of a typical intermediate predator while ensuring that the target is not lost. , adjust the rotation motor, pitch motor and two tricept mechanisms of the rotating tilt head so that the target is located in the field of view of the two cameras at the same time. Rotate the motor at a constant speed until the target appears in the field of view of one of the cameras, and then adjust the mechanism so that the target is in the field of view of the two cameras at the same time according to the previous steps; The distance between the two tricept mechanisms and the attitude of the two tricept mechanisms make the target to be measured in the center of the field of view of the two cameras, so as to facilitate high-precision measurement of the target's orientation; finally, the orientation of the target to be measured relative to the bionic eye device is obtained according to the principle of binocular measurement. Provide relevant parameters for subsequent control.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: the present invention can still be Modifications to the specific implementation of the invention or equivalent replacement of some technical features; without departing from the spirit of the technical solution of the present invention, should be included in the scope of the technical solution claimed in the present invention.

Claims (10)

1. A high-precision novel bionic eye device is characterized in that it comprises: a tricept mechanism, a camera, and a gyroscope; wherein: The tricept mechanism is mainly composed of an upper platform, a lower platform and three active branch chains. Each of the three active branch chains is composed of a universal hinge, an electric cylinder, a ball hinge and a ball hinge fixture. The three One end of the active branch chain is connected to the upper platform, and the other end is connected to the lower platform to realize the three-degree-of-freedom movement of the upper platform; The camera and gyroscope are installed on the upper platform. 2. A binocular bionic eye device for high-precision self-adaptive target detection, characterized in that it includes: a rotating and pitching head, a two-way ball screw mechanism, two tricept bionic eyes and a computer; wherein: The tricept bionic eye includes: a tricept mechanism, a camera, and a gyroscope; the tricept mechanism is mainly composed of an upper platform, a lower platform, and three active branch chains, and each of the three active branch chains is composed of ten thousand active branch chains. One end of the three active branch chains is connected to the upper platform, and the other end is connected to the lower platform to realize the three-degree-of-freedom movement of the upper platform. The camera and gyro The instruments are all installed on the upper platform, and the camera is connected to the computer through a coaxial cable; The ball screw of the two-way ball screw mechanism is provided with two sliders, and a tricept bionic eye is fixed on each slider; The rotating and tilting head is fixedly connected with a two-way ball screw mechanism to realize 360-degree rotation and pitching motion of the two-way ball screw mechanism and two tricept bionic eyes. 3. The binocular bionic eye device of high-precision self-adaptive target detection as claimed in claim 2, is characterized in that: described rotating pitch head is made of rotating motor, swivel seat, pitching motor and pitching seat, two-way ball screw The mechanism is fixed on the pitch seat of the rotating pitch head. 4. The binocular bionic eye device of high precision self-adaptive target detection as claimed in claim 3, is characterized in that: described two-way ball screw mechanism is mainly made up of ball screw base, two-way ball screw and leading screw drive motor There is a fixed plate at both ends of the ball screw base, the two-way ball screw is installed between the two fixed plates, the screw drive motor is installed outside one of the fixed plates, and the screw drive motor is connected to the Bi-directional ball screw connection. 5. The binocular bionic eye device of high-precision self-adaptive target detection as claimed in claim 4 is characterized in that: between the two fixed plates of the two-way ball screw mechanism, two sides of the two-way ball screw are also respectively provided with A linear optical axis, the two sliders pass through the optical axis, and are symmetrically distributed with respect to the rotation axis of the rotary motor. 6. The high-precision novel bionic eye device as claimed in claim 1, characterized in that: the camera is connected to a computer through a coaxial cable, and the computer is also connected with a control chip STM32F104ZET, and the input terminal of the control chip STM32F104ZET is connected with a gyroscope, and the output The first servo motor driver, the second servo motor driver and the third servo motor driver are respectively connected at one end, and the other ends of the first servo motor driver, the second servo motor driver and the third servo motor driver are respectively connected with the first servo motor , the second servo motor and the third servo motor, the servo motors are connected with their corresponding electric cylinders through synchronous belts, and are used to control the movement of the electric cylinders of the three active branch chains. 7. The bionic eye device of high-precision adaptive target detection as claimed in claim 5 is characterized in that: the computer is also connected with three control chips STM32F104ZET, one of which is used to control the rotating motor, pitching motor and The screw drive motor on the two-way ball screw slide table, the other two input ends are connected to gyroscopes, and the output ends are connected to three servo motor drivers. The servo motors are connected to their corresponding electric cylinders through synchronous belts for Controls the movement of electric cylinders with three active branches. 8. The bionic eye device according to any one of claims 1 to 7, characterized in that it further comprises a passive branch chain consisting of a universal hinge, a guide rod and a guide sleeve. 9. The bionic eye device based on tricept mechanism as claimed in claim 8, characterized in that: the camera adopts a high-definition digital camera model MR-130USB/W7; the gyroscope model is MPU6050. 10. The method for using the bionic eye device for high-precision adaptive target detection as claimed in claim 7, is characterized in that it mainly includes the following steps: firstly complete the calibration work, and obtain relatively accurate internal parameters such as focal length and distortion parameters of the camera , in order to reduce the recognition error; secondly, when the program is initialized, imitating the visual characteristics of typical prey animals, the left and right tricept bionic eyes are symmetrically arranged with respect to the rotation axis of the rotating motor of the rotating and tilting head, and the optical axes of the two cameras are in line with the The line connecting the centers of the two sliders is in the same plane, and the optical axes of the two cameras and the line connecting the centers of the two sliders are both obliquely upward at an angle of 45°; again, at the initialization position, first check whether the two cameras have found the target, if If a target has been searched, and the target is not lost, follow the visual characteristics of a typical intermediate predator, adjust the rotation motor, pitch motor and two tricept mechanisms of the pan-tilt head so that the target is located in the field of view of the two cameras at the same time, if At the initial position, there is no target to be measured in the field of view of the two cameras, keep the two tricept mechanisms still, and rotate the rotating motor at a constant speed until the target appears in the field of view of one of the cameras, and then adjust the mechanism to the target according to the steps described above It is located in the field of view of the two cameras at the same time; then, according to the visual characteristics of a typical predator, adjust the distance between the two sliders and the attitude of the two tricept mechanisms, so that the target to be measured is located in the center of the field of view of the two cameras, so that the target to be measured can be easily adjusted. High-precision measurement; finally, according to the principle of binocular measurement, the orientation of the target to be measured relative to the bionic eye device is obtained, and relevant parameters are provided for subsequent control.