CN111970502A - Humanoid binocular follow-up virtual reality system suitable for teleoperation of robot - Google Patents

Abstract

The invention relates to the technical field of robot teleoperation, in particular to a humanoid binocular follow-up virtual reality system suitable for robot teleoperation, comprising: a two-dimensional platform, wherein the two-dimensional platform is arranged on the robot body, and the two-dimensional The platform is provided with a follow-up mechanism; a binocular camera, which is set on the two-dimensional platform; a VR helmet, which is worn on the operator's head, and a gyroscope is set in the VR helmet, so The gyroscope is used to detect head movement information; a control module, the control module is connected with the gyroscope and the follow-up mechanism, and the control module is used to control the head movement information according to the head movement information detected by the gyroscope. The follow-up mechanism drives the binocular camera to move.

Description

A humanoid binocular follow-up virtual reality system suitable for robot teleoperation

technical field

The invention relates to the technical field of robot teleoperation, in particular to a humanoid binocular follow-up virtual reality system suitable for robot teleoperation.

Background technique

At present, the robot's environmental perception mainly uses a visible light camera or lidar with a fixed position relative to the body, which limits the robot's field of view to a certain extent, and also makes it difficult for the robot to aim at the target object when it is disturbed by vibration or shaking, especially when using master-slave The case where the robot is teleoperated by the joystick. The robot teleoperation system usually uses a camera to collect image information, and displays the image information through a monitor or a virtual reality helmet, so that the operator can observe the working environment of the robot in real time and achieve the purpose of visual feedback. However, most of the cameras in the traditional method are monocular cameras, and the viewing angle is relatively fixed, which is difficult to bring a three-dimensional sense to the operator.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a humanoid binocular follow-up virtual reality system suitable for robot teleoperation. The binocular camera is placed on a two-dimensional head, and the binocular camera is controlled by the follow-up mechanism to follow the operator's head. The motion synchronizes the pitch and rotation, thereby changing the viewing angle of the binocular camera, so as to solve the problems raised in the above-mentioned background art.

To achieve the above object, the present invention provides the following technical solutions:

A humanoid binocular follow-up virtual reality system suitable for robot teleoperation, comprising:

a two-dimensional platform, the two-dimensional platform is arranged on the robot body, and the two-dimensional platform is arranged with a follow-up mechanism;

A binocular camera, the binocular camera is arranged on the two-dimensional platform;

VR helmet, a gyroscope is set in the VR helmet, and the gyroscope is used to detect head motion information;

a control module, the control module is connected with the gyroscope and the follow-up mechanism, and the control module is used for controlling the follow-up mechanism to drive the binocular camera to move according to the head movement information detected by the gyroscope .

Preferably, the humanoid binocular follow-up virtual reality system further includes a communication module, the communication module is connected with the binocular camera and the VR helmet, and the communication module is used for photographing the binocular camera to The image information is transmitted to the VR headset.

Preferably, the two-dimensional platform further includes an upper support frame and a lower support frame, the upper support frame is arranged on the lower support frame, and the binocular camera is arranged on the upper support frame.

Preferably, the follow-up mechanism includes a pitch motor for driving the upper support frame and a rotation motor for driving the lower support frame.

Preferably, the control module generates a pitch rotation instruction and a pan rotation instruction after receiving the head motion information detected by the gyroscope, and the pitch motor and the rotation motor drive the pitch rotation instruction and the pan rotation instruction respectively according to the pitch rotation instruction and the pan rotation instruction. The upper support frame and the lower support frame rotate.

Preferably, a first encoder is provided in the pitch motor, and a second encoder is provided in the rotary motor, and the first encoder and the second encoder are used to detect the pitch angle and the pan angle and calculate the feedback to the control module.

Preferably, the VR helmet further includes a detection lens, the detection lens is used to detect the interpupillary distance of the operator, the binocular camera is provided with two camera lenses, and the control module is further configured to detect according to the detection lens The interpupillary distance of the operator adjusts the distance between the two camera lenses.

Preferably, the binocular camera further includes an electric sliding rail connected with the control module, and the electric sliding rail is used to drive the two camera lenses to approach or move away.

Compared with the prior art, the beneficial effects of the present invention are:

(1) The humanoid binocular follow-up virtual reality system suitable for robot teleoperation provided by the embodiment of the present invention places the binocular camera on the two-dimensional head, and controls the binocular through the pitch motor and the rotation motor of the follower mechanism The camera follows the operator's head movement synchronously to pitch and rotate, thereby changing the binocular camera angle of view and changing the field of view, so that a binocular stereo vision similar to the human eye can be obtained. Immersion can be better presented;

(2) The binocular camera of the humanoid binocular follow-up virtual reality system suitable for robot teleoperation provided by the embodiment of the present invention is provided with two camera lenses, and the distance between the two camera lenses can be adjusted through the electric sliding rail, thereby Matching with the interpupillary distance of the operator's eyes, the VR helmet image is clear, and at the same time conforms to the human visual habits, reduces the operator's dizziness, and is more suitable for the operator to watch.

Description of drawings

1 is one of the structural block diagrams of a humanoid binocular follow-up virtual reality system suitable for robot teleoperation provided by an embodiment of the present invention;

2 is the second structural block diagram of a humanoid binocular follow-up virtual reality system suitable for robot teleoperation provided by an embodiment of the present invention;

3 is a schematic structural diagram of a two-dimensional platform of a humanoid binocular follow-up virtual reality system suitable for robot teleoperation provided by an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a binocular camera of a humanoid binocular follow-up virtual reality system suitable for robot teleoperation according to an embodiment of the present invention.

In the figure: 1. Two-dimensional platform; 11. Upper support frame; 12, Lower support frame; 13, Tilt motor; 14, Rotation motor; 15, First encoder; 16, Second encoder; 2, Binocular camera ; 21, camera lens; 22, electric slide rail; 3, VR helmet; 31, gyroscope; 32, detection lens; 4, communication module; 5, control module.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

FIG. 1 is one of the structural block diagrams of a humanoid binocular follow-up virtual reality system suitable for robot teleoperation provided by an embodiment of the present invention. As shown in FIG. 1 , an embodiment of the present invention provides a humanoid binocular follow-up virtual reality system suitable for robot teleoperation. The humanoid binocular follow-up virtual reality system suitable for robot teleoperation may include:

Two-dimensional platform 1, the two-dimensional platform 1 can be set on the robot body;

The binocular camera 2, the binocular camera 2 can be arranged on the two-dimensional platform 1;

VR helmet 3, VR helmet 3 is worn on the operator's head;

Communication module 4, the communication module 4 is connected with the binocular camera 2 and the VR helmet 3, and the communication module 4 can be used to transmit the image information captured by the binocular camera 2 to the VR helmet 3;

When the humanoid binocular follow-up virtual reality system suitable for robot teleoperation provided by the embodiment of the present invention is used, the operator performs teleoperation on the robot body, and the binocular camera 2 on the two-dimensional platform 1 of the robot body takes pictures. The obtained image information is transmitted to the VR helmet 3 worn by the operator through the communication module 4, so that the operator can view the working environment of the robot body in real time and achieve the purpose of visual feedback.

In the embodiment of the present invention, examples of the communication module 4 may include, but are not limited to, Bluetooth, WiFi, or serial bus, etc. known to those skilled in the art.

FIG. 2 is the second structural block diagram of a humanoid binocular follow-up virtual reality system suitable for robot teleoperation provided by an embodiment of the present invention. As shown in FIG. 2 , in one embodiment of the present invention, the two-dimensional platform 1 of the humanoid binocular follow-up virtual reality system suitable for robot teleoperation is provided with a follow-up mechanism, and the VR helmet 3 is provided with a gyroscope 31. The gyroscope 31 is used to detect head motion information. The humanoid binocular follow-up virtual reality system suitable for robot teleoperation also includes a control module 5. The control module 5 is connected with the gyroscope 31 and the follow-up mechanism. The control module 5 is used to control the follow-up mechanism to drive the binocular camera 2 to move according to the head movement information detected by the gyroscope 31 . Through the above technical solution, the binocular camera 2 can be controlled to follow the operator's head movement synchronously through the follow-up mechanism of the two-dimensional platform 1, thereby changing the viewing angle of the binocular camera and changing the field of view, so that a human-eye-like image can be obtained. The binocular stereo vision, the distance, stereo and immersion of objects in three-dimensional space can be better presented.

FIG. 3 is a schematic structural diagram of a two-dimensional platform of a humanoid binocular follow-up virtual reality system suitable for robot teleoperation provided by an embodiment of the present invention. Specifically, in an embodiment of the present invention, as shown in FIG. 3 , the two-dimensional platform 1 of the humanoid binocular follow-up virtual reality system suitable for robot teleoperation may further include an upper support frame 11 and a lower support The frame 12 , the upper support frame 11 can be arranged on the lower support frame 12 , and the binocular camera 2 can be arranged on the upper support frame 11 .

Further, as shown in FIG. 3 , the follow-up mechanism of the two-dimensional platform 1 includes a pitch motor 13 for driving the upper support frame 11 and a rotation motor 14 for driving the lower support frame 12 .

As shown in FIG. 2 , the control module 5 of the humanoid binocular follow-up virtual reality system suitable for robot teleoperation generates a pitch rotation instruction and a horizontal rotation instruction after receiving the head motion information detected by the gyroscope 31 of the VR helmet 3 , the pitch motor 13 and the rotation motor 14 respectively drive the upper support frame 11 and the lower support frame 12 to rotate according to the pitch rotation command and the horizontal rotation command. Through the above technical solution, when the operator's head moves, the control module 5 obtains the pitch angle and rotation angle of the operator's head by calculating the posture of the VR helmet 3 after receiving the head movement information detected by the gyroscope 31 . , so as to generate a pitch rotation command and a horizontal rotation command, and synchronously or respectively control the rotation of the pitch motor 13 and the rotation motor 14 of the 2D gimbal 1 to change the viewing angle of the binocular camera 2 and enhance the teleoperation sense of presence.

In embodiments of the present invention, examples of control module 5 may include, but are not limited to, general purpose processors, special purpose processors, conventional processors, digital signal processors (DSPs), multiple microprocessors, processors associated with DSP cores One or more microprocessors, controllers, microcontrollers, application specific integrated circuits (ASICs), field programmable gate array (FPGA) circuits, any other type of integrated circuit (IC), state machine, system-on-chip (SOC) )Wait.

As shown in FIG. 2 , in an embodiment of the present invention, the pitch motor 13 of the humanoid binocular follow-up virtual reality system suitable for robot teleoperation may be provided with a first encoder 15 , and the rotation motor 14 may be provided with a first encoder 15 . A second encoder 16 may be provided, and the first encoder 15 and the second encoder 16 are used to detect the pitch angle and the pan angle and feed them back to the control module 5 . Through the detection and feedback of the pitch angle and the pan angle by the first encoder 15 and the second encoder 16, the control module 5 can control the angle of view of the binocular camera 2 more accurately, so as to keep it consistent with the angle of view of the operator , which is conducive to the operator to obtain the on-site information accurately and timely.

FIG. 4 is a schematic structural diagram of a binocular camera of a humanoid binocular follow-up virtual reality system suitable for robot teleoperation according to an embodiment of the present invention. As shown in FIG. 4, in an embodiment of the present invention, the VR helmet 3 of the humanoid binocular follow-up virtual reality system suitable for robot teleoperation may further include a detection lens 32, and the detection lens 32 may be used for detection For the interpupillary distance of the operator, the binocular camera 2 is provided with two imaging lenses 21 , and the control module 5 can also be used to adjust the distance between the two imaging lenses 21 according to the interpupillary distance of the operator detected by the detection lens 32 . Through the above technical solution, the distance between the two camera lenses 21 of the binocular camera 2 can be adjusted to match the interpupillary distance of the operator's eyes, so that the VR helmet 3 has a clear image, and at the same time conforms to the visual habits of the human body, reducing the operator's dizziness It is more suitable for operators to watch.

Specifically, as shown in FIG. 2 and FIG. 4 , the binocular camera 2 of the humanoid binocular follow-up virtual reality system suitable for robot teleoperation may also include an electric sliding rail 22 connected to the control module 5 . The electric sliding rail 22 can be used to drive the two camera lenses 21 to approach or move away. Through the above technical solution, the control module 5 controls the two camera lenses 21 of the electric slide rail 22 to approach or move away according to the interpupillary distance of the operator detected by the detection lens 32, so as to realize the adjustment of the distance between the two camera lenses 21, so as to be consistent with the distance between the operator's eyes. Interpupillary distance matching.

Instructions:

When the humanoid binocular follow-up virtual reality system suitable for robot teleoperation provided by the embodiment of the present invention is in use, after the operator wears the VR helmet 3, the detection lens 32 in the VR helmet 3 detects the interpupillary distance of the operator , the control module 5 controls the two camera lenses 21 of the electric slide rail 22 to approach or move away according to the interpupillary distance of the operator, so as to realize the adjustment of the distance between the two camera lenses 21, so as to match the interpupillary distance of the operator's eyes; For remote operation, the image information captured by the binocular camera 2 on the two-dimensional platform 1 of the robot body is transmitted to the VR helmet 3 worn by the operator through the communication module 4, so that the operator can view the working environment of the robot body in real time, and achieve The purpose of visual feedback; when the operator's head moves, the control module 5 receives the head movement information detected by the gyroscope 31, and obtains the pitch angle and rotation angle of the operator's head by calculating the posture of the VR helmet 3 , thereby generating a pitch rotation command and a horizontal rotation command, synchronously or separately controlling the rotation of the pitch motor 13 and the rotation motor 14 of the two-dimensional pan/tilt 1 to change the viewing angle of the binocular camera 2 and the field of view range, thereby obtaining a human-like The binocular stereo vision of the eyes, the distance, stereo and immersion of objects in three-dimensional space can be better presented.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (8)

1. a kind of humanoid binocular follow-up virtual reality system that is applicable to robot teleoperation, is characterized in that, comprises: a two-dimensional platform (1), the two-dimensional platform (1) is arranged on the robot body, and the two-dimensional platform (1) is provided with a follow-up mechanism; A binocular camera (2), the binocular camera (2) is arranged on the two-dimensional platform (1); VR helmet (3), a gyroscope (31) is provided in the VR helmet, and the gyroscope (31) is used for detecting head motion information; a control module (5), the control module (5) is connected with the gyroscope (31) and the follow-up mechanism, and the control module (5) is used for the head detected according to the gyroscope (31) The motion information controls the follow-up mechanism to drive the binocular camera (2) to move. 2. a kind of humanoid binocular follow-up virtual reality system suitable for robot teleoperation according to claim 1, is characterized in that, described humanoid binocular follow-up virtual reality system also comprises a communication module (4), The communication module (4) is connected to the binocular camera (2) and the VR helmet (3), and the communication module (4) is used for transmitting image information captured by the binocular camera (2) to the VR headset (3). 3. a kind of humanoid binocular follow-up virtual reality system suitable for robot teleoperation according to claim 1, is characterized in that, described two-dimensional platform (1) also comprises upper support frame (11) and lower support A frame (12), the upper support frame (11) is arranged on the lower support frame (12), and the binocular camera (2) is arranged on the upper support frame (11). 4. A humanoid binocular follow-up virtual reality system suitable for robot teleoperation according to claim 3, wherein the follow-up mechanism comprises a pitch for driving the upper support frame (11) A motor (13) and a rotary motor (14) for driving the lower support frame (12). 5. a kind of humanoid binocular follow-up virtual reality system suitable for robot teleoperation according to claim 4, is characterized in that, described control module (5) receives the head detected by described gyroscope (31) The pitch rotation command and the horizontal rotation command are generated after the partial motion information is obtained, and the pitch motor (13) and the rotation motor (14) respectively drive the upper support frame (11) and the lower support frame according to the pitch rotation command and the horizontal rotation command. The support frame (12) rotates. 6. A humanoid binocular follow-up virtual reality system suitable for robot teleoperation according to claim 5, wherein the pitch motor (13) is provided with a first encoder (15), so The rotating electrical machine (14) is provided with a second encoder (16), and the first encoder (15) and the second encoder (16) are used to detect the pitch angle and the pan angle and feed them back to the the control module. 7. A humanoid binocular follow-up virtual reality system suitable for robot teleoperation according to any one of claims 1 to 6, wherein the VR helmet (3) further comprises a detection lens (32) ), the detection lens (32) is used to detect the interpupillary distance of the operator, the binocular camera (2) is provided with two imaging lenses (21), and the control module (5) is also used to detect the The interpupillary distance of the operator detected by the lens (32) adjusts the distance between the two imaging lenses (21). 8. A humanoid binocular follow-up virtual reality system suitable for robot teleoperation according to any one of claims 7, wherein the binocular camera (2) further comprises a control module with the control module (5) A connected electric sliding rail (22), the electric sliding rail (22) is used to drive the two camera lenses (21) to approach or move away.

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