CN109623780B

CN109623780B - Camera robot for shooting multi-view continuum and using method thereof

Info

Publication number: CN109623780B
Application number: CN201811440116.1A
Authority: CN
Inventors: 王红红; 杜敬利; 段学超; 杨栋; 王霄仟
Original assignee: Xidian University
Current assignee: Xidian University
Priority date: 2018-11-28
Filing date: 2018-11-28
Publication date: 2022-02-11
Anticipated expiration: 2038-11-28
Also published as: CN109623780A

Abstract

The present invention pertains to photogrammetry or videography, e.g., stereography; the technical field of photogrammetry discloses a camera robot for shooting multi-view continuum and a use method thereof, and the camera robot mainly comprises: the crawler wheel, the base rolling disc, the integrated control board, the balancing weight, the driving motor, the partition board, the integrated box shell, the rope, the integrated box cover plate, the soft metal shell, the dispersion disc, the variable-rigidity framework, the camera, the target body, the sliding track and the like. The invention aims to solve the problem of multi-aspect shooting in film shooting, forest exploration, outdoor high-risk exploration and long-distance travel; the invention utilizes a novel continuum robot as a carrier, utilizes a mechanical variable-rigidity material as a framework, and obtains the working pose of the needed continuum camera robot under the combined coordination of the stretching of a flexible rope, a shape perception technology and a special sliding track so as to meet the different shooting visual angles required by the invention.

Description

Camera robot for shooting multi-view continuum and using method thereof

Technical Field

The present invention pertains to photogrammetry or videography, e.g., stereography; the technical field of photogrammetry, in particular to a camera robot for shooting multi-view continuum and a using method thereof.

Background

Currently, the current state of the art commonly used in the industry is such that: scientists are inspired by invertebrates in the nature, the exploration on a flexible continuum is stimulated, a novel robot-continuum robot is provided, the continuum robot is similar to the trunk of an elephant, the tentacles of octopus, snakes and the like, the continuum robot is flexible and flexible compared with the traditional robot, the continuum robot has high superiority in relatively crowded and complex environments, and has wide application prospects in medical treatment, bionics, aerospace, high-risk detection and outdoor/seabed exploration, and the continuum robot does not comprise a rigid connecting rod and a rotating rotary joint. Continuum robots are classified into three categories from the framework structure, the first category of continuum robots is a backbone mainly composed of a single spring, an elastic tube, a rod or a beam. The deformation of the entire skeleton is controlled by motor-driven ropes, wires, cables or tendons (hereinafter, they are all referred to as ropes or wires because they work in the same way); the second type of continuum robot mainly adopts a multi-framework structure, and a plurality of parallel springs, elastic tubes, rods or beams penetrate through the motion execution part of the whole robot. The deformation of the framework is controlled by the pushing and contraction of a spring, an elongated tube, a rod or a beam; the third type of continuum robot consists of a plurality of concentric tube nests with different curvatures. The concentric tube continuum robot motion is controlled by the telescoping and rotation of the tubes; the driving mode mainly adopts various driving modes such as temperature control memory alloy deformation/air pressure/hydraulic pressure/motor and the like, the movement of an external actuator is driven by a driving source, so that the external actuator extends, shortens or rotates, and the continuum robot completes corresponding work tasks; the method is similar to the first type of continuum robot with a single framework, and the driving mode is motor driving. The flexible structure of the continuous robot enables the continuous robot to have infinite redundancy, so that the continuous robot has strong flexibility and maneuverability. The infinite redundancy of the continuous robot is the most distinctive characteristic different from the traditional robot, the infinite redundancy and the small volume enable the continuous robot to be widely applied to the minimally invasive surgery, the continuous robot becomes a conventional surgery in the robot-assisted minimally invasive surgery at present, the continuous robot has a staged breakthrough in the minimally invasive surgery, the ultrahigh redundancy shows the characteristics of compliance and high adaptability, people in different fields attract attention, but the application of the continuous robot mainly stays in the fields of experimental research, bionics, Minimally Invasive Surgery (MIS) and the like because the size of the existing continuous robot is limited by flexible materials, and the large-size continuous robot is favored by a plurality of fields along with the research and development of intelligent integration technology, man-machine interaction technology, form perception technology, rheological materials and novel variable-stiffness materials in the future, the invention aims at the application of a continuum robot in photogrammetry or video measurement, takes the example that the film shooting adopts the arc-shaped fixed multi-camera shooting, the fixed shooting is flexible and has poor maneuverability, and in addition, the spatial solid angle of the film shooting has great limitation; the continuum camera robot can be various bionic robots (the invention is an example), and the multi-view continuum robot has wide application prospect in close-range observation of walking organisms and high-risk exploration shooting. Firstly, the height adjusting range of the camera platform is small, and pictures in different spatial directions are difficult to shoot; secondly, the flexibility of the shooting camera is poor, the camera needs to be fixed or installed on the shooting platform, so that the shooting camera needs to be re-angled or re-arranged when shooting different pictures, and the workload is invisibly increased for movie shooting; the shooting camera has poor flexibility when shooting the biological world and high-risk exploration shooting.

In summary, the problems of the prior art are as follows:

(1) the camera is fixed on the static platform, the height of the camera cannot be adjusted, and pictures with different spatial visual angles are difficult to shoot;

(2) the flexibility of the shooting camera is poor, and the camera needs to be fixed or installed on the shooting platform, so that when pictures with different visual angles are shot, the shooting camera is readjusted or rearranged, and the workload is increased for movie shooting invisibly;

(3) the film shooting adopts the installation of a plurality of rows of cameras on a fixed platform for shooting, the intelligent shooting of the film can not be realized according to visual sensing, and the adjustment is needed according to the real-time condition when different scenes are shot, wherein the installation visual angle and the shooting depend on the proficiency of a photographer to a certain extent;

(4) the camera placing platform is not provided with an intelligent control device (such as self-adaptive height adjustment and the like), and intelligent shooting can not be realized by machine vision tracking;

(5) the space pose of the camera cannot be flexibly adjusted when the biological world and high-risk exploration shooting are shot, and multi-view shooting is carried out.

The difficulty and significance for solving the technical problems are as follows: however, the flexible material limits the existing continuum robot to have smaller size, the application of the flexible continuum robot is mainly limited in the fields of laboratories, bionics (such as fingers and large arms of arms), MIS and the like, the application of the flexible continuum robot in the fields of medical treatment and the like is a trend of development of the continuum robot in the future in the open space service industry, the invention widens the application of the flexible continuum robot, the framework flexible material is the core of the application of the robot, and with the research and development of an intelligent integration technology, a man-machine interaction technology, a form perception technology, a rheological material and a novel variable-rigidity material, a large-size continuum robot can be favored in many fields in the future, and a flexible continuum robot can replace a traditional rigid connecting rod robot in a large range.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a camera robot for shooting a multi-view continuum and a using method thereof, so as to simplify a mechanical motion structure, improve shooting quality and increase tedious workload. Namely, the rope is used as a driving continuous framework, and shooting visual angles of different poses are obtained through a shape perception technology.

The method is realized by using a mechanical variable-rigidity material as a framework and obtaining the working pose of the needed continuum camera robot under the combined coordination of the stretching of a flexible rope, a shape perception technology and a special sliding track;

the framework is a spine of the continuous robot, and the framework adopted by the invention is mechanical variable in rigidity and has good compliance property;

the mechanical variable stiffness is a variable stiffness framework formed by materials with different stiffness through nesting combination or splicing technology in one step according to actual conditions.

Furthermore, the equidistant difference method adopted by the flexible rope layout controls the form change of different sections through the stretching of the rope, and the corresponding working pose is achieved through the shape perception and force sensing technology.

Furthermore, three ropes with 120-degree intervals are adopted in the differential layout of each section of ropes, each rope has one degree of freedom, and different postures can be achieved by pulling different ropes.

Further, the same force applied to the cords in different segments will cause different deformations, such as the mechanical stiffness changing material of the present invention.

Furthermore, the camera is installed on a sliding track of the continuum robot, and fine adjustment of the camera in a certain pose is achieved.

The sliding track is a small-stroke track reserved for installing a camera on the continuum robot, and the fine adjustment of the pose of the camera is mainly realized under the action of a position sensor.

Furthermore, the moving platform is a crawler wheel, translation and free rotation can be realized, the translation is realized by advancing and retreating of the crawler wheel, and the rotation is realized by a rotating shaft arranged in the moving chassis.

Furthermore, the moving platform is provided with a balancing weight, so that the purpose is to ensure that the whole machine is always in a balanced state under the condition that the skeleton continuum robot bends in different postures.

The counterweight block and the counterweight iron are processes of smelting metal into liquid meeting certain requirements, casting the liquid in a casting cavity, cooling, solidifying and clearing to obtain a casting with a preset shape, size and performance, and are used for increasing the weight of the counterweight block to keep balance.

Furthermore, the driving mechanical structure is a cuboid with a compact structure, and the crawler wheels can operate in complex environments such as multiple working conditions.

Furthermore, the driving mechanical structure is connected with the continuum framework through specially-made bolts, the modularization degree of each part is high, and the assembly and disassembly are convenient.

The modularization refers to parts such as control, driving, a continuum and a camera, and has the advantages of replacement and strong universality.

Furthermore, the continuum camera shooting robot realizes the work of the continuum camera shooting robot through a man-machine interaction module and through morphological perception and force sensing technologies;

the human-computer interaction means that a worker remotely controls the continuum robot through a visual interface;

the shape perception is an advanced control technology that a high-precision sensor is pasted on the continuum robot, the sensor obtains corresponding data, the displacement of the sensor is solved through an inverse finite element or a related algorithm to obtain deformation, and finally the real-time perception of the three-dimensional shape of the continuum robot is realized.

The following detailed description is provided to further illustrate the invention:

a robot for photographing a multi-view continuum camera, the robot for photographing a multi-view continuum camera mainly comprising: the device comprises crawler wheels, a base rotating disc, an integrated control board, a balancing weight, a driving motor, a partition board, an integrated box shell, a rope, an integrated box cover plate, a soft metal shell, a discrete disc, a variable-rigidity framework, a camera, an object body, a sliding track, an I/O interface, a rotating pulley, a lead hole, a first section of a continuous body, a second section of the continuous body, a third section of the continuous body, a fourth section of the continuous body, a control board device and the like.

The steps of the connection or installation of the invention are as follows: the movement is realized through crawler wheels, a base rotating disc is arranged at the upper position between two crawler wheels, a shell of an integrated box is fixedly connected with the base rotating disc through bolts, a balancing weight is installed on the shell of the integrated box in a threaded connection mode, an integrated control plate is fixed at the bottom of the shell of the integrated box through screws, the shell of the integrated box is divided into a control chamber and a power driving chamber (the control chamber is a control plate sensor and the like, the driving chamber is a motor and the like) through a partition plate, a driving motor is fixed on the driving chamber through bolts, ropes are connected to the driving motor through an integrated box cover plate and rotating pulleys, a continuum framework is installed at the upper part of the shell of the integrated box, the continuum structure is a spine with a variable stiffness framework (with variable stiffness), the discrete discs are equidistantly arranged on the variable stiffness framework, the ropes are uniformly distributed through lead holes of different continuum sections, and the continuum structure is wrapped by a soft metal shell, the camera is mounted on the guide rail of the soft metal shell.

Another object of the present invention is to provide a method for using the robot for photographing a multi-view continuum, the method comprising: after the staff sends an indication signal to the target body, the motion driver receives the corresponding sensor and sends an identification signal to the target body, the received control signal is transmitted to the controller, the controller sends a driving instruction, the power device starts to work, the continuum robot with the camera is arranged and moves to a specified position through the motion base, the rope is driven under the synergistic action of the motor and the speed reducer, the variable-rigidity frameworks in different sections are deformed, a plurality of cameras have different positions and postures in the space, multi-view shooting of the target body is achieved, the target body is tracked and shot in time through the sensing device, the shape of the flexible continuum robot is adjusted in time according to different environments, and the positions and postures of the cameras are controlled and adjusted in time.

Another object of the present invention is to provide a movie shooting control system using the multi-view continuum camera robot.

Another object of the present invention is to provide an information data processing terminal to which the photographing multi-view continuum photographing robot is applied.

In summary, the advantages and positive effects of the invention are: the existing camera is mainly fixed on a fixed platform or a movable platform, the camera moves on a plane by position adjustment, the continuum camera robot has multiple degrees of freedom, good flexibility and strong obstacle avoidance capability, can change the pose in space, selects different continuum robot sizes according to different working environments acquired by camera shooting, has unique advantages on narrow occasions, and is simple in structure, and the actuator consists of a rope, a variable-stiffness framework, a fixed disc, a flexible outer ring sliding rail, a camera and the like; the motion base comprises a crawler wheel, an integrated box shell, a driving motor, a speed reducer, a winding shaft, a radiator, an angle sensor, a position sensor, a control panel, various connecting wires, a steering pulley, an actuator fixing disc and the like; the two parts have simpler structures, are easy to process and assemble, and can be added with corresponding application and sensing devices for the continuum robot according to different application conditions.

The invention aims to solve the problem of multi-aspect shooting in film shooting, forest exploration, outdoor high-risk exploration and long-distance travel; the invention utilizes a novel continuum robot as a carrier, and a camera is arranged on the continuum robot, so that the camera utilizes the characteristic of the redundancy of the continuum robot, and the motor drives the continuum robot to convert the camera to different positions and postures so as to meet the requirements of the invention on pictures with different visual angles and improve the shooting quality of the camera.

TABLE 1 comparison of conventional and continuous volume camera performance

Drawings

Fig. 1 is a schematic structural diagram of a robot for photographing a multi-view continuum provided in an embodiment of the present invention;

FIG. 2 is a schematic view of a usage status of a robot for photographing a multi-view continuum according to an embodiment of the present invention;

FIG. 3 is a cross-sectional view of the internal structure of the motion base provided by an embodiment of the present invention;

FIG. 4 is a side view of a motion base provided by an embodiment of the present invention;

FIG. 5 is a front end view of the internal structure of a compliant continuum robot provided by an embodiment of the present invention;

FIG. 6 is a rear end view of the internal structure of a compliant continuum robot provided by an embodiment of the present invention;

FIG. 7 is a block diagram of the interior of a compliant continuum robot actuator provided by an embodiment of the invention.

In the figure: 1. a crawler wheel; 2. a base rotating disk; 3. an integrated control panel; 4. a balancing weight; 5. a drive motor; 6. a partition plate; 7. an integration box housing; 8. a rope; 9. an integrated box cover plate; 10. a soft metal housing; 11. a discrete tray; 12. a variable stiffness skeleton; 13. a camera; 14. a target body; 15. a sliding track; 16. an I/O interface; 17. rotating the pulley; 18. a wire hole; 19. a continuum first section; 20. a second section of continuum; 21. a third section of continuum; 22. a continuum fourth segment; 23. and controlling the board device.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly apparent, the present invention is further described in detail with reference to the following embodiments; it should be understood that the specific embodiments described herein are for purposes of illustration and are not intended to limit the invention.

It should be noted that, unless otherwise specified, a component is referred to as being connected to another component, either directly or indirectly connected to another component, and the directional terms used in the present application describe positions and are merely relative to each other in the following drawings. Unless otherwise indicated, all descriptive terms used herein are used in the same sense and are consistent with the terminology used in the present application for the purpose of describing particular embodiments better and are not intended to be exhaustive or to limit the scope of the invention to the precise forms disclosed.

Referring to fig. 1 to 7, which are perspective structural views of an initial state according to an embodiment of the present invention, a robot for photographing a multi-view continuum camera according to an embodiment of the present invention mainly includes: the device comprises a crawler wheel 1, a base rotating disc 2, an integrated control board 3, a balancing weight 4, a driving motor 5, a partition board 6, an integrated box shell 7, a rope 8, an integrated box cover plate 9, a soft metal shell 10, a discrete disc 11, a variable stiffness framework 12, a camera 13, an object body 14, a sliding track 15, an I/O interface 16, a rotating pulley 17, a lead hole 18, a first continuous body section 19, a second continuous body section 20, a third continuous body section 21, a fourth continuous body section 22 and a control board device 23.

The steps of the connection or installation of the present invention with reference to fig. 1 to 7 are as follows: the movement is carried out through the crawler wheels 1, the base rotating disc 2 is arranged at the upper position between the two crawler wheels 1, the shell 7 of the integration box is fixedly connected with the base rotating disc 2 through bolts, the balancing weight is installed on the shell 7 of the integration box in a threaded connection mode, the integrated control board 3 is fixed at the bottom of the shell 7 of the integration box through screws, the shell of the integration box is divided into a control chamber and a power driving chamber (the control chamber is a control board sensor and the like, the driving chamber is a motor and the like) through a partition plate 6, the driving motor 5 is fixed in the driving chamber through bolts, the ropes 8 are connected to the driving motor 5 through an integration box cover plate 9 and a rotating pulley 17, the framework of the continuum is installed at the upper part of the shell 7 of the integration box, the structure of the continuum is that a variable stiffness framework 12 (with variable stiffness) is a spine, the discrete discs 11 are equidistantly arranged on the variable stiffness framework (12), the ropes are uniformly distributed through lead holes 18 of different continuous body sections, the flexible metal housing 10 encloses the continuum structure and the camera 13 is mounted on a track of the flexible metal housing 10.

Referring to fig. 2, which is a perspective structure diagram of an operating state according to an embodiment of the present invention, a camera 13 in the present invention is a schematic structural diagram, mainly for convenience of expressing a manner in which the camera 13 is executed on a continuum robot, a variable rigid body execution section of the continuous body robot is divided into four parts, a first continuum section 19, a second continuum section 20, a third continuum section 21, and a fourth continuum section 22 have substantially similar structures, and the camera 13 is mainly operated on the first continuum section 19, the second continuum section 20, and the third continuum section 21, as shown in fig. 2: according to the invention, the pose of the continuum robot is closely related to the bending of the variable-stiffness framework 12, the camera 13 is installed on the sliding track 15 of the continuum robot, and by capturing the target body 14, the variable-stiffness framework 12 of the continuum robot can adjust the corresponding posture according to the target body 14, so that the camera 13 can accurately shoot the target body 14.

Referring to fig. 3 and 4, fig. 4 is a schematic structural diagram of a mechanical body of the continuum camera robot, the mechanical body of the continuum camera robot is divided into a control part and a driving part by a partition plate 6, and the control part mainly refers to an integrated control board 3 and the like mounted at the bottom of an integrated box shell 7; the drive part mainly refers to balancing weight 4, driving motor 5 and rotating pulley 17 etc. wherein balancing weight 4 and the bolted connection of collection box casing 7 adoption for balancing weight 4 high and the easy advantage of reorganization of modularization degree both can use different fields according to continuum camera robot, and then select for use different balancing weights 4.

Referring to fig. 5, 6 and 7, fig. 5 and 6 are structural diagrams of the tail end and the initial fixed end of the continuum camera robot, it can be clearly seen through the rope 8 and the dispersion disc 11 that the driving mode is an equidistant difference method (continuous motion of different sections of continuum is realized by the equal distance and interval difference rope method), the variable stiffness framework 12 is a hollow structure, the hollow part is mainly a part position for installing cables and sensors, fig. 7 is a side view of the executive part of the continuum camera robot, and referring to fig. 7, the driving mode of the wires or the wires of the equidistant difference method can be more intuitively understood.

The driving module and the flexible arm can be quickly separated and connected, so that the driving module and the flexible arm can be quickly replaced, and the operation is more convenient and quick.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A use method of a camera robot for shooting a multi-view continuum is characterized by comprising the following steps: when a worker sends an indication signal to a target body, a motion driver receives a corresponding sensor and sends an identification signal to the target body, the received control signal is transmitted to a controller, the controller sends a driving instruction, a power device starts to work, the robot with the camera continuum moves to a specified position through a motion base, a rope is driven under the synergistic action of a motor and a speed reducer, elastic frameworks in different sections are deformed, a plurality of cameras are respectively positioned at different spatial angles, multi-angle shooting of the target body is achieved, real-time tracking shooting of the target body is achieved through a sensing device, the shape of the flexible continuum robot is adjusted in time according to different environments, and the posture of the cameras is controlled and adjusted in time;

the robot for photographing a multi-view continuum camera includes: the device comprises crawler wheels, a base rotating disc, an integrated control board, a balancing weight, a driving motor, a partition plate, an integrated box shell, a rope, an integrated box cover plate, a soft metal shell, a discrete disc, a variable-rigidity framework, a camera, an object body, a sliding track, an I/O interface, a rotating pulley, a lead hole, a first section of a continuous body, a second section of the continuous body, a third section of the continuous body, a fourth section of the continuous body and a control board device;

the variable-rigidity framework is formed at one time by nesting combination or splicing technology;

the sliding track comprises: a small travel track which is arranged on the framework continuum robot and is used for reserving a camera is used for realizing fine adjustment of the pose of the camera under the action of a position sensor;

the motion base is composed of a crawler wheel, an integrated box shell, a driving motor, a speed reducer, a winding shaft, a radiator, an angle sensor, a position sensor, a control panel, various connecting wires, a fixed pulley and an actuator fixed disc;

the elastic framework penetrates through the partition plate, the rope penetrates through each hole of the partition plate, a specially-made elastic material is added on the periphery of the partition plate, a specially-made sliding track is arranged on the elastic material, different cameras are installed on the fixed running track, and different control lines are connected with each camera through the inner hole of the elastic framework;

the integrated box shell is fixed on the crawler wheel, the driving motor, the speed reducer, the winding shaft, the radiator, the angle sensor, the position sensor, the control panel, various connecting wires, the fixed pulley and the actuator fixing disc are arranged on the integrated box shell, and the connected actuator is connected with the moving base through the fixing disc.

2. The method of claim 1, wherein the integrated box is moved by the crawler wheels, the base rotating plate is located at a position above the middle of the two crawler wheels, the integrated box is fixedly connected to the base rotating plate by bolts, the weight is installed on the integrated box by a screw connection, the integrated control board is fixed to the bottom of the integrated box by screws, the integrated box is divided into a control chamber and a power driving chamber by a partition plate, the driving motor is fixed to the power driving chamber by bolts, the rope is connected to the driving motor by the integrated box cover plate and the rotating pulley, the variable-stiffness framework is installed on the upper portion of the integrated box, the continuous structure is a spine with the variable-stiffness framework, the discrete discs are equidistantly arranged on the variable-stiffness framework, and the rope is uniformly distributed through lead holes of different continuous sections, the continuous body structure is wrapped by the soft metal shell, and the soft metal shell is characterized in that the variable rigidity of the continuous body flexible arm is increased, so that the continuous body flexible arm is ensured to have enough rigidity; the camera is arranged on the sliding track of the soft metal shell, and is characterized in that the camera arranged on the soft metal can realize different positions of the camera according to the movement of the continuous flexible arm.

3. A movie shooting control system using the method for shooting the multi-view continuum camera robot as claimed in any one of claims 1-2.

4. An information data processing terminal using the method for photographing multi-view continuum camera robot according to any one of claims 1 to 2.