CN102263893A - Multi-axis linear motor-driven bionic imaging platform - Google Patents
Multi-axis linear motor-driven bionic imaging platform Download PDFInfo
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- CN102263893A CN102263893A CN2011101103590A CN201110110359A CN102263893A CN 102263893 A CN102263893 A CN 102263893A CN 2011101103590 A CN2011101103590 A CN 2011101103590A CN 201110110359 A CN201110110359 A CN 201110110359A CN 102263893 A CN102263893 A CN 102263893A
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Abstract
The invention provides a multi-axis linear motor-driven bionic imaging platform, which comprises a host, a motion control card, a motion mechanism, a video camera and an image acquisition card, wherein all the parts are sequentially connected in series to form a closed loop; the host controls the motion mechanism by the motion control card; the motion mechanism drives the video camera to rotate; the video camera acquires an image and outputs the image to the host by the image acquisition card; the motion control card controls the motions of vertical and horizontal linear motors; a rotor of the horizontal linear motor is vertically fixedly connected with a stator of the vertical linear motor; a connection block is connected with the rotor of the vertical linear motor; two connecting rods are arranged in parallel; and one end of each connecting rod is connected with the connection block, and the other end of each connecting rod is connected with the video camera. The platform controls the two degrees of freedom of bionic eyes by the two linear motors, ensures that the video camera can capture a dynamic object by the rapid movement of the two linear motors, and can well finish regulating various postures of the bionic eyes and meet working requirements in a complex environment.
Description
Technical field
The invention belongs to machine vision technique and linear electric motors control technology field, be specifically related to a kind of bionical vision platform of multiaxis linear motor driving.
Background technology
Machine vision is a complex art that comprises technology such as digital image processing techniques, mechanical engineering technology, control technology, electric source lighting technology, optical image technology, computer hardware technique and human-machine interface technology.Because Vision Builder for Automated Inspection can be obtained bulk information fast, and be easy to design information and machining control information integration, therefore, machine vision technique is as a kind of control device paid more and more attention and obtained application more and more widely in Industry Control that detects.
Linear electric motors are a kind of electric energy to be directly changed into rectilinear motion mechanical energy, and without any need for the transmission device of intermediate conversion mechanism.It can regard an electric rotating machine as by radially cutting open, and the generate plane forms.For a long time, when in various engineerings, needing linear drives power, mainly be to adopt electric rotating machine and obtain by transmission mechanisms such as crank connecting link, worm and gear or ball-screws.But this type of belt drive tends to bring complex structure, bulking value is big, the accuracy of mesh is poor.And shortcomings such as it is unreliable to work.And adopt linear electric motors not need the intermediate conversion device, can directly produce rectilinear motion.Compare electric rotating machine, that linear electric motors have is simple in structure, be fit to the high-speed straight-line motion, be easy to the advantage regulating and control, most importantly greatly improve the quick reaction capability and the control precision of feeding, and saved quick-wear parts such as brush, improved life-span and reliability.And the assembling flexibility is big, and adaptability is strong, and motion is steadily safeguarded simple.
In recent years, the development of robot vision technology is perfect day by day, and assembles automatically at mechanical hand, is widely used in unmanned and some complex scene operations (as resource detection, disaster assistance, excavation, moonfall).According to human eye movement's mechanism, not only the liquid lens technology is arisen at the historic moment, and the robot vision technology that is representative with bionical eye also develops rapidly in recent years.Because the human visual system makes the external object blur-free imaging on retina by constantly regulating and changing curvature of lens (particularly front end curvature), and rely on the control of external eyes muscle to goggle to make moving object image in retinal centre all the time, therefore in Wakamatsu eye movement mechanism model, by adopting servomotor and accelerometer to realize eyes muscle function and semicircular canal function respectively, and then select control law to realize the coordinated movement of various economic factors of eyes automatically with structurized neural net information processing system.Emerged in an endless stream about the kinetic control system of robot bionic eye and the research of application thereof both at home and abroad in recent years.But, a series of problems also come out in the complex scene application process, mainly contain the vibration problem of camera, testee causes out of focus because of high-speed mobile and flees from the problem in the visual field easily and testee influences focusing because of surface characteristics or adverse circumstances problem.Along with progressively the carrying out and go deep into of autonomous robot system research, the problems referred to above become increasingly conspicuous.
Summary of the invention
The object of the present invention is to provide a kind of bionical vision platform of multiaxis linear motor driving, this platform is by two degrees of freedom of two bionical eyes of linear electric motors control, and the fast moving by two linear electric motors guarantees that camera can capture the dynamic object target, and the high speed of linear electric motors, characteristics such as high-precision and high sensitivity can effectively guarantee the quick real-time tracing to moving target.
The invention provides a kind of bionical vision platform of multiaxis linear motor driving, comprise main frame, motion control card, motion, video camera and image pick-up card, each part mentioned above is contacted successively and is formed the closed-loop path, main frame is by motion control card controlled motion mechanism, motion drives video camera and rotates, the camera acquisition image exports main frame to by image pick-up card.
Further, described motion comprises first driver, second driver, horizontal linear motor, vertical linear electric motors, contiguous block and two connecting rods, motion control card control first driver and second driver, the vertical straight line motor movement of first driver drives, the second driver drives horizontal linear motor movement, the mover of horizontal linear motor and vertical vertical being connected of stator of linear electric motors, contiguous block is connected with the mover of vertical linear electric motors, two connecting rods be arranged in parallel, one end of two connecting rods all is connected with contiguous block, and the other end all is connected with video camera.
Further, two connecting rods are connected with contiguous block by two sphere-pin pairs, and the tie point of contiguous block and one of them sphere-pin pair is a circular hole, with the tie point of another sphere-pin pair be the slip elongated slot.
Further, described video camera has a bearing, and two connecting rods all are connected with the bearing of video camera by moving sets.
Further, it also comprises a pedestal, and the bearing of video camera is connected with pedestal by sphere-pin pair.
Further, described moving sets is the guide groove on the bearing, has a linear axis to hold in the guide groove, and connecting rod stretches in the guide groove and can be in axial sliding in linear bearing.
Further, be provided with the qualification groove in the contiguous block, in the qualification groove linear axis be housed and hold, a fixed slip bar passes linear bearing.
The present invention has following technical characterstic:
(1) bionical vision platform of the present invention adopts visual servo control, compares with the robot control based on traditional sensors, has apparent in view advantage, promptly has higher flexibility, and higher precision can have strong robustness to calibrated error.
(2) bionical vision platform of the present invention adopts the linear electric motors with characteristics such as high speed and super precisions, can be good at finishing the various attitude adjustment of bionical eye, also has the ability of the deviation that quick compensation external disturbance caused simultaneously.Vision follower under linear electric motors control its regulate the speed and tracking accuracy higher, the job requirement under the reply complex environment of having the ability.
(3) bionical vision platform of the present invention is under velocity mode, because the high responsiveness of linear electric motors is more suitable for following the trail of the object of fast moving, especially suddenly reverse moment can produce acceleration up to 10g, the 1g acceleration that produces far above general conventional motors in speed.Displacement model then has better stability, and anti-interference and precision are applicable to the object of accurate tracking easy motion.
(4) bionical vision platform of the present invention adopts high-resolution battle array industrial camera, and accurately change in displacement can sharply be caught in the localizing objects position.
Description of drawings
The general construction schematic diagram of the bionical vision platform of Fig. 1 multiaxis linear motor driving;
The principle schematic of Fig. 2 mechanical part;
Parts detailed structure figure around Fig. 3 contiguous block;
The structure chart of Fig. 4 contiguous block;
Fig. 5 control system structure chart;
The process chart of the bionical vision platform of Fig. 6.
Embodiment
The domestic and international at present research to bionical eye and vision platform emphasizes particularly on different fields and characteristic, research approach is based upon on the vision platform based on electric rotating machine mostly, the present invention then adopt have at a high speed, the linear electric motors of characteristics such as high-precision, high responsiveness are as driver element, and the structure of bionical eye movement platform are carried out new design.According to human eye movement's mechanism, can adopt linear electric motors to substitute eye muscle simulation eyeball and rotate, realize that the visual field of bionical eye movement platform is moved.
The present invention will be further described in detail below in conjunction with accompanying drawing and example.
The bionical vision platform of multiaxis linear motor driving provided by the invention comprises pedestal 9, main frame 1, image pick-up card 2, video camera 8, motion control card 11, first driver 3, second driver 10, vertical linear electric motors 5, horizontal linear motor 4, contiguous block 6 and two connecting rods 7.As shown in Figure 1, main frame 1 can be realized image processing and motion control, and it is electrically connected with image pick-up card 2 and motion control card 11.Image pick-up card 2 links to each other with video camera 8 by cable, and the image that video camera 8 is gathered is transported to main frame 1.Main frame 1 mails to first driver 3 and second driver 10 with control command by motion control card 11.First driver 3 and second driver 11 are linear motor driver, and they receive from the control signal of motion control card 11 and pass to linear electric motors, and will give motion control card 11 from the signal feedback of linear electric motors encoder, and then feed back to main frame.First driver 3 links to each other with vertical linear electric motors 5, drives the rectilinear motion that its mover is made vertical direction, and second driver 10 links to each other with horizontal linear motor 4, drives the rectilinear motion that its mover is made horizontal direction.Horizontal linear motor 4 connects firmly with vertical 5 one-tenth vertical topography of linear electric motors.Horizontal linear motor 4 adopts bar magnet as stator, and fuselage is as mover.The stator of horizontal linear motor 4 is fixedlyed connected with pedestal 9.And vertically linear electric motors 5 adopt bar magnet as mover, and fuselage is then fixedlyed connected as stator and with horizontal linear motor 4 fuselages.So vertically the mover of linear electric motors 5 can be done the motion in the perpendicular under the driving of two motors.Contiguous block 6 is fixedlyed connected with the mover of vertical linear electric motors 5, and all can guarantee that by the association of two motors is moving contiguous block 6 can move to the arbitrfary point on the perpendicular in stroke range.Two connecting rods 7 be arranged in parallel, and the one end all links to each other with contiguous block 6 by sphere-pin pair, so the motion of mover in perpendicular of vertical linear electric motors 5 can drive the swing of two connecting rods 7.
Video camera 8 has a bearing, and bearing is fixedlyed connected with video camera 8, and the rest base center is connected with pedestal 9 by sphere-pin pair, and sphere-pin pair can be a Hooks coupling universal coupling, also can be other jockeys.Two connecting rods 7 all link to each other with bearing by moving sets, the form of expression is on the bearing of video camera 8 two parallel guide slots to be arranged, a linear bearing respectively is housed in the guide groove, the other end of two connecting rods 7 stretches in the guide groove cathetus bearing and is in axial sliding, thereby but the motion actuated camera 8 of two connecting rods 7 is done the swing of all directions.
Main frame 1 sends corresponding control command to linear electric motors 4,5 after treatment by the image that image pick-up card 2 receives from video camera 8, by control its association move control video camera 8 rotation to reach the effect of the object that follows the trail of the objective.
The principle sketch of bionical vision platform mechanical part as shown in Figure 2, the core is two linear electric motors 4,5, video camera 8 and connecting rod 7.Horizontal linear motor 4 and vertically the association of linear electric motors 5 moving to drive P point be that above-mentioned contiguous block 6 is moving in the perpendicular shown in the dotted line parallelogram frame, and then to drive video cameras 8 works by connecting rod 7 be the rotation of the centre of sphere with the O point.Be the theoretical slewing area of video camera 8 among the figure shown in the dotted line hemisphere.
For the bar magnet that guarantees vertical linear electric motors 5 is pure moving sets, as shown in Figure 3, vertically setting up qualification groove 12 in the linear electric motors 5 upper end contiguous blocks 6, one linear axis is housed in it to be held, together decide slide bar 13 and pass linear bearing, rotate with the motor shaft that prevents vertical linear electric motors 5 in motion process, with deciding slide bar 13 two ends with being connected on the connecting plate of two linear electric motors surely.
In addition on contiguous block 6 with the connecting hole of two sphere-pin pairs (being Hooks coupling universal coupling), as shown in Figure 4, one of them is fixing circular hole, another is made as the slip elongated slot, to adapt to the variable in distance between two sphere-pin pairs.Because when horizontal linear motor 4 moves in the horizontal direction, vertical range between two connecting rods 7 is constant, and the rectangle that its four end points is constituted can become parallelogram, and then two connecting rods change in the two-end-point spacing defection of same end, and promptly the distance between two sphere-pin pairs can change.
As seen 3 Hooks coupling universal couplings (two interlinking lever ends and shooting camera rest base) are contained altogether in this cover mechanism, 5 moving sets (two guide grooves on slide on the moving sets of the moving sets of horizontal linear motor 4, vertical linear electric motors 5, the contiguous block 6 elongated slot, video camera 8 bearings), and 2 closed-loops (closed-loop that constitutes between the closed-loop that pedestal 9-motor 4-motor 5-connecting rod 7-video camera 8-pedestal 9 constitutes, two moving sets in two connecting rods, 6 two ends and two sphere-pin pairs), so according to spatial degrees of freedom computing formula W=P
Z(W is a spatial degrees of freedom to-λ-3K in the formula, p
zBe each rank degree of freedom of kinematic pair summation of space, λ is kinematic pair extra dof summations at different levels, and K is the sealing number of rings of space mechanism) can get:
W＝(2+2+2+5)-(1+1+1)-3×2＝2
The degree of freedom equates with driving link (linear electric motors) number, satisfies the motion certainty.
Control system of the present invention adopts double circle structure, and structure chart as shown in Figure 5.Wherein annular inner portion is the linear electric motors SERVO CONTROL, moves with the high speed and super precision that guarantees motor by high sample frequency.Owing on the linear electric motors displacement transducer is housed, therefore the real time position of two linear electric motors can feed back to main frame.Outer shroud is the vision control ring, finishes the target location of linear electric motors with lower sampling rate and sets.Wait to follow the trail of the objective the level of in the camera visual field (being on the screen) and vertically the positional information of both direction feed back to main frame by image pick-up card, realize closed-loop control.Can obtain the stroke that two linear electric motors need move in real time by above-mentioned four amounts (real time position of two linear electric motors, target be the level and the vertical position of both direction in the visual field).Detailed process is carried out target localization by giving expression to motor position and camera pose corresponding relation in global coordinate system, finished by the anti-linear electric motors target location of asking, tracer body position again.This structure can be isolated the mechanical movement singularity and the vision control of bionical vision platform, regards bionical vision platform mechanical part as desirable Descartes's motor element, thereby has simplified design process.
As shown in Figure 6, the course of work of apparatus of the present invention is described below:
(1). the starting up, finish motion control card and the setting of image pick-up card parameter;
(2). the operation control program, main frame sends instruction, the beginning IMAQ;
(3). set tracking target, if target is moved, then control program can be controlled the linear electric motors motion video camera is rotated with tracking target;
(4). if vibration or skew take place platform, control program also can be controlled the linear electric motors motion rotates to keep target position in the visual field video camera;
(5). log off.
The present invention not instrument is confined to above-mentioned embodiment; persons skilled in the art are according to content disclosed by the invention; can adopt other multiple embodiment to implement the present invention; therefore; every employing of the present invention meter structure and thinking; make some simple meters that change or change, all fall into the scope of protection of the invention.
Claims (8)
1. the bionical vision platform of a multiaxis linear motor driving, comprise main frame (1), motion control card (11), motion, video camera (8) and image pick-up card (2), each part mentioned above is contacted successively and is formed the closed-loop path, main frame (1) is by motion control card (11) controlled motion mechanism, motion drives video camera (8) and rotates, video camera (8) images acquired exports main frame (1) to by image pick-up card (2).
2. bionical vision platform according to claim 1, it is characterized in that, described motion comprises first driver (3), second driver (10), horizontal linear motor (4), vertical linear electric motors (5), contiguous block (6) and two connecting rods (7), motion control card (11) control first driver (3) and second driver (10), first driver (3) drives vertical linear electric motors (5) motion, second driver (10) drives horizontal linear motor (4) motion, the mover of horizontal linear motor (4) and vertical vertical being connected of stator of linear electric motors (5), contiguous block (6) is connected with the mover of vertical linear electric motors (5), two connecting rods (7) be arranged in parallel, one end of two connecting rods (7) all is connected with contiguous block (6), and the other end all is connected with video camera (8).
3. bionical vision platform according to claim 2, it is characterized in that, two connecting rods (7) are connected with contiguous block (6) by two sphere-pin pairs, and the tie point of contiguous block (6) and one of them sphere-pin pair is a circular hole, with the tie point of another sphere-pin pair be the slip elongated slot.
4. bionical vision platform according to claim 2 is characterized in that, described video camera (8) has a bearing, and two connecting rods (7) all are connected by the bearing of moving sets with video camera (8).
5. bionical vision platform according to claim 4 is characterized in that, it also comprises a pedestal (9), and the bearing of video camera (8) is connected with pedestal (9) by sphere-pin pair.
6. bionical vision platform according to claim 4 is characterized in that described moving sets is the guide groove on the bearing, has a linear axis to hold in the guide groove, and connecting rod stretches in the guide groove and can be in axial sliding in linear bearing.
7. according to arbitrary described bionical vision platform among the claim 1-6, it is characterized in that contiguous block is provided with the qualification groove in (6), in the qualification groove linear axis be housed and hold that a fixed slip bar passes linear bearing.
8. according to claim 3 or 5 described bionical vision platforms, it is characterized in that described sphere-pin pair is a Hooks coupling universal coupling.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103267503A (en) * | 2013-04-24 | 2013-08-28 | 中国航空工业集团公司北京长城航空测控技术研究所 | Dynamic calibration test table of engine blade tip gap measurement sensor |
| CN104280220A (en) * | 2014-10-23 | 2015-01-14 | 成都福誉科技有限公司 | Optical detecting platform |
| CN104913721A (en) * | 2015-06-17 | 2015-09-16 | 上海工程技术大学 | Experimental apparatus for industrial vision sensor detection |
| CN106053109A (en) * | 2016-05-30 | 2016-10-26 | 中国科学院光电技术研究所 | Programmable control object locus simulation device |
| CN107305378A (en) * | 2016-04-20 | 2017-10-31 | 上海慧流云计算科技有限公司 | A kind of method that image procossing follows the trail of the robot of object and follows the trail of object |
| CN109559628A (en) * | 2018-12-29 | 2019-04-02 | 芜湖希又智能科技有限公司 | A kind of robot motion mechanism for robot vision technique teaching |
-
2011
- 2011-04-28 CN CN2011101103590A patent/CN102263893A/en active Pending
Non-Patent Citations (1)
| Title |
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| 余文勇等: "一种基于多轴高响应直线驱动的仿生视觉平台", 《机械与电子》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103267503A (en) * | 2013-04-24 | 2013-08-28 | 中国航空工业集团公司北京长城航空测控技术研究所 | Dynamic calibration test table of engine blade tip gap measurement sensor |
| CN103267503B (en) * | 2013-04-24 | 2015-11-18 | 中国航空工业集团公司北京长城航空测控技术研究所 | The dynamic calibration testing table of engine blade tip clearance survey sensor |
| CN104280220A (en) * | 2014-10-23 | 2015-01-14 | 成都福誉科技有限公司 | Optical detecting platform |
| CN104280220B (en) * | 2014-10-23 | 2016-10-05 | 成都福誉科技有限公司 | A kind of optical detecting platform |
| CN104913721A (en) * | 2015-06-17 | 2015-09-16 | 上海工程技术大学 | Experimental apparatus for industrial vision sensor detection |
| CN107305378A (en) * | 2016-04-20 | 2017-10-31 | 上海慧流云计算科技有限公司 | A kind of method that image procossing follows the trail of the robot of object and follows the trail of object |
| CN106053109A (en) * | 2016-05-30 | 2016-10-26 | 中国科学院光电技术研究所 | Programmable control object locus simulation device |
| CN109559628A (en) * | 2018-12-29 | 2019-04-02 | 芜湖希又智能科技有限公司 | A kind of robot motion mechanism for robot vision technique teaching |
| CN109559628B (en) * | 2018-12-29 | 2024-03-15 | 芜湖希又智能科技有限公司 | Robot movement mechanism for teaching of robot vision technology |
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Application publication date: 20111130 |