CN102528821A - Bionic multi-vision physical platform based on multiple independent holders - Google Patents
Bionic multi-vision physical platform based on multiple independent holders Download PDFInfo
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Abstract
The invention relates to a multi-vision physical platform, in particular to a vision platform capable of being used as a head part of a robot. According to the invention, by referring to a vision system of lacertilia chamaeleonidae living beings, through four groups of independent holders, necks and eyes of the lacertilia chamaeleonidae living beings are respectively simulated. Related programs of the robot vision are researched by loading various electronic components inside the vision platform, and an experiment research platform is provided for realizing a robot vision algorithm. The invention has the advantages that by using a bionic neck structure, the system obtains a region where an interest point is through the independent holders and cameras at the middle on the aspects of plane and space location, and then the region where the interest point is in is reached through rotation of the holder at the bottom, and then accurate location and vision capturing are carried out through the independent holders and the cameras at two sides. Therefore, the system can obtain wider vision range, quickens capturing speed and precision of the interest point, and has higher real-time processing capacity and subsequent expanding space.
Description
Technical field
The present invention relates to a kind of used for multi-vision visual physical platform, especially a kind of vision platform that can be used as the robot head use.The biological vision system of its main reference is the vision system of Lacertilia Chamaeleontidae.Segment space has been reserved in this platform inside, can load the relevant issues that various electronic devices are studied robot vision in this enclosure interior, for the algorithm of machine vision realizes providing a kind of experimental study platform.
Background technology
Existing being used for is mainly the vision platform of monocular double freedom and the vision platform of binocular double freedom as the vision physical platform of robot head.The design of separately upright The Cloud Terrace can provide two mutually perpendicular frees degree for whole vision system: horizontal direction, vertical direction.Single camera vision system based on double freedom is simple in structure, and the algorithm computation amount is little, is easy to realize.But it also has the critical defect that can not obtain target depth information easily.Can obtain the depth information of target based on the binocular vision system of double freedom, and then calculate the world coordinates of target with respect to vision system.But it is big that it also has the algorithm computation amount, needs to rely on shortcomings such as calibration information.
As far as head and vision system with reference to biology; These two types of vision systems have been simplified the characteristic of many biological visions system; But they do not possess the characteristic that two of Lacertilia Chamaeleontidae vision systems can separate motion; The wide-angle vision and the vision definition that also do not possess the biological vision system, its less free degree has also strengthened the complexity of vision system image processing algorithm simultaneously.
Summary of the invention
The objective of the invention is to construct a kind of based on four independent The Cloud Terraces, can simulate the vision system physical platform of Lacertilia Chamaeleontidae vision system movement characteristic well.This vision system will provide better experimental study platform for research anthropomorphic robot visual problem, and the experimental study platform will be provided for the teaching of image processing course and robot project curriculum.
In order to achieve the above object, the present invention has taked following technical scheme.
A kind of bionical used for multi-vision visual physical platform based on how independent The Cloud Terrace comprises electrical system and basic machine; Wherein, said basic machine comprises three independent The Cloud Terraces (1), high-power vertical tilter (2), high-power horizontal rotating table (3), three varifocal cameras (4); High-power vertical tilter (2) is fixedly connected on high-power horizontal rotating table (3), and three independent The Cloud Terraces (1) are fixedly connected on the high-power vertical tilter (2), three independent The Cloud Terraces (1) linear array; High-power horizontal rotating table (3), high-power vertical tilter (2) and to be positioned at the independent The Cloud Terrace (1) in centre position coaxial; Independent The Cloud Terrace (1) by horizontal rotating table (5) and vertically tilter (6) forms, horizontal rotating table (5) and vertical tilter (6) be respectively by individual motor (11) driving, vertical tilter (6) is fixedly connected on horizontal rotating table (5) takes over a business; Three varifocal cameras (4) are fixedly connected on respectively on three vertical tilters (6), and independent The Cloud Terrace and the camera at the middle part independent The Cloud Terrace and the camera that will be higher than both sides wherein is in order to obtain more wide visual angle; The power output of high-power vertical tilter (2) is more than the twice of vertical tilter (6) power output; High-power horizontal rotating table (2) power output is more than the twice of horizontal rotating table (6) power output; High-power vertical tilter (2) and high-power horizontal rotating table (3) are driven by individual motor (11) respectively;
Said electrical system comprises motor movement controller (7), image acquisition and processing device (8), wireless image transport module (9), wireless data transfer module (10), power module (12);
Varifocal camera (4) is sent to image acquisition and processing device (8) to the image information that collects; Image acquisition and processing device (8) is sent to motor movement controller (7) to controlled quentity controlled variable through calculating; Motor movement controller (7) drive motors (11); Motor (11) drives three independent The Cloud Terraces (1), high-power vertical tilter (2) and high-power horizontal rotating table (3) motion respectively;
The image information that wireless image transport module (9) transmits host computer is sent to motor movement controller (7), and motor movement controller (7) is sent to host computer to image feedback information through wireless image transport module (9), in order to system compensation;
The control data that wireless data transfer module (10) transmits host computer is sent to motor movement controller (7), and motor movement controller (7) is sent to host computer to feedback control signal through wireless data transfer module (9), in order to system compensation;
Power module (12) is respectively varifocal camera (4), motor movement controller (7), image acquisition and processing device (8) and motor (11) power supply.
Wireless image transport module (9) and wireless data transfer module (10) are fixedly connected on high-power vertical tilter (2); Varifocal camera (4) is connected with image acquisition and processing device (8), and image acquisition and processing device (8) is connected with motor movement controller (7); Wireless image transport module (9) is connected with motor movement controller (7) respectively with wireless data transfer module (10); Motor movement controller (7) is connected with motor (11); Power module (12) is connected with varifocal camera (4), motor movement controller (7), image acquisition and processing device (8) and motor (11) respectively.
Shown in figure one: high-power vertical tilter 2, high-power horizontal rotating table 3 has constituted the bottom The Cloud Terrace of whole vision system, for this vision system provides the whole level and the locomitivity of vertical direction, its simulation be the neck neck structure of biology.This structure makes after the varifocal camera in middle part obtains interest information; Can make system at first carry out left rotation and right rotation and vertical rotation through this structure; And move to point of interest region direction, after this again through about two independent The Cloud Terraces and camera accurately mate optimized Algorithm so to a great extent; And the reduction reaction time, improve reaction speed.
Both sides, The Cloud Terrace top, bottom are respectively wireless image transport module 9 and wireless data transfer module 10, and its fixed position is not limit.Wherein wireless data transfer module 10 is used to transmit remote signal, and wireless image transport module 9 sends back host computer with camera image, and the image that is used for the detachment system embedded chip is handled.The setting of wireless image transport module 9 and wireless data transfer module 10 is for the ease of system extension, conveniently carries out various researchs through this experimental provision in the future.
Three cameras 4 respectively are equipped with one to overlap independently The Cloud Terrace 1, can independently carry out level mutually or move both vertically, in order to eye and the neck neck structure of simulation type lizard.
Beneficial effect
The vision system characteristics that can better simulate biology of the present invention can be that the image of anthropomorphic robot is handled, and the research of particularly following the tracks of and discerning provides good experimental study platform.
Description of drawings
Fig. 1 is a structural representation of the present invention
Fig. 2 is a perspective view of the present invention
Fig. 3 is a high-power horizontal rotating table 3 of the present invention
Fig. 4 is high-power vertical tilter 2 of the present invention and high-power horizontal rotating table 3
Fig. 5 is main camera 4 in left side of the present invention and independent The Cloud Terrace 1 thereof
Fig. 6 is left side of the present invention horizontal rotating table 5 and slot view
Fig. 7 is vertical tilter 6 in left side of the present invention and slot view view thereof
Fig. 8 is the sketch map that is electrically connected of the present invention
Fig. 9 is concrete electric connecting relation figure of the present invention
The specific embodiment
Specify this instance below in conjunction with Fig. 1～Fig. 9.
Motor movement controller used in the present invention (7) is TI TMS320F28335 EVM, and image acquisition and processing device (8) is TI TMS320DM642 EVM.Wherein TMS320F28335 is responsible for controlling the motion of motor 11, and TMS320DM642 is responsible for image and handles.Also can adopt the close DSP process chip of other functions to replace, not limit here.
General structure of the present invention comprises three groups of varifocal cameras and independent The Cloud Terrace 1 thereof shown in figure one, wireless image transport module 9 and wireless data transfer module 10, high-power vertical tilter 2, high-power horizontal rotating table 3.Three groups of varifocal cameras and independent The Cloud Terrace 1 structure thereof are identical.Figure five is depicted as one group of varifocal camera and independent The Cloud Terrace 1 thereof.High-power vertical tilter 2; High-power horizontal rotating table 3, and horizontal rotating table 5 can adopt the The Cloud Terrace of common on the market metal material to constitute with vertical tilter 6, its size does not have specific requirement; As long as can satisfy foregoing placement location, not limit here.High-power vertical tilter 2 does not wherein have essential distinction with the main structure body of vertical tilter 6, and high-power vertical tilter 2 power outputs are about 25～30W, and vertically tilter 6 power outputs are about 10～15W.The difference and the type selecting of high-power horizontal rotating table 3 and horizontal rotating table 5 are as the same.Its performance indications are following: it is 4 °/second～6 °/second that velocity of rotation horizontally rotates speed, and vertical rotation speed is 3 °/second～6 °/second; Rotational angle horizontally rotates 355 °～360 ° vertical rotation+30 °～about-30 ° and just can satisfy; Loading capacity is looked the gross weight of upper strata carrying object, greatly about 3～5kg.
Wireless image transport module 9 is positioned at high-power vertical tilter both sides with wireless data transfer module 10 shown in figure one.Which kind of number native system does not stipulate to use pass, scheme transmission module.The user can install suitable module according to concrete needs: like digital transmission module the ripe wireless communication module based on the nRF905 wireless communication chips exploitation of Nordic company of the ten minutes developed on the market can be installed, other data test modules of the same type also can.
The purpose that inserted link 13 and slot 14 are provided with these two parts is to provide for the varifocal camera in left side and independent The Cloud Terrace 1 thereof and the varifocal camera in right side and independent The Cloud Terrace 1 thereof the reference position at zero point of an angle information.Its particular location setting can be adjusted according to concrete application, generally requires inserted link 13 and the parallel axes of slot 14 with The Cloud Terrace, does not do specific requirement here.Because The Cloud Terrace has the free degree of level and vertical both direction, therefore, every group of The Cloud Terrace established one group of inserted link 13 and slot 14 respectively on horizontal rotating table and vertical tilter.During use, make inserted link can insert slot just, The Cloud Terrace residing position this moment i.e. angle zero point of The Cloud Terrace horizontal direction for this reason through rotary platform.
Adopted the continuous torque motor of parallax company in this example, its model has not been had specific requirement.Hitech, Futuba, the standard electromotor that brands such as brightness Sheng are of a size of about 40x20x36mm all can use.Varifocal camera horizontal direction in the middle of being positioned at is rotated 360 degree; Vertical direction rotates 180 degree; Possessed comparatively wide range of movement, can be independent of other motions of vision system physical platform, under the situation of not blocking, continued the Tracking Recognition target voluntarily.The varifocal camera horizontal direction rotational angle of the left and right sides and vertical direction rotational angle be restriction not.
Varifocal camera in the middle of being positioned at and independent The Cloud Terrace 1 thereof have adopted the burnt zoom camera 4 of a director, and the main purpose of choosing long burnt zoom camera is to obtain target image more clearly and the appropriate target sizes of the intercepting vision system Target Recognition after thinking and prepares.Choosing of its burnt section can be carried out type selecting as the case may be, do not do specific requirement here.
In the electrical system like Fig. 8, varifocal camera 4 is obtained to send to after the external image information and is attached thereto the image acquisition and processing device 8 that connects; Image acquisition and processing device 8 through corresponding preset algorithm process after, the corner that again algorithm is drawn, information such as direction are sent on the electric machine controller 7; Electric machine controller 7 drive motors 11 simultaneously rotates; Need to prove that the prediction picture Processing Algorithm of image acquisition and processing device 8 is prior aries, can change according to different demands; As following the tracks of and the location, corresponding electric machine controller 7 also will be adjusted the image processing algorithm of concrete Electric Machine Control algorithm with matching image Acquisition Processor 8; Motor 11 connects three groups of The Cloud Terraces, and high-power vertical tilter (2) and high-power horizontal rotating table (3) drive it respectively and carry out level or vertically rotation; Wireless image transport module 9 is connected on the electric machine controller 7 with wireless data transfer module 10 simultaneously; The concrete data-signal that is used to receive the transmission of host computer PC end with send current data and proofread and correct and memory check to host computer; This process can be independent of the specific algorithm of image acquisition and processing device 8 and electric machine controller 7, in order to proofread and correct and the special operation task; Electric machine controller 7 and image acquisition and processing device 8 are connected to the 5v feeder ear of power module 12, varifocal camera 4 and the output acquisition operating voltage of the concrete operating voltage of motor 11 bases from power module 12.
Concrete electric connection system figure like Fig. 9; Be the concrete refinement content of Fig. 8: comprise image processor DM642; Electric machine controller F28335, wireless data transfer module nRF905, wireless image transport module nRF905; 8 separate motors and 3 separate varifocal cameras, and power module.Concrete annexation is following: image processor DM642 is connected through serial data interface SCI with electric machine controller F28335 and communicates by letter, TxD, and RxD, GND is three-way to be connected, and its master slave relation can be exchanged, and does not do specific requirement here; 3 burnt cameras of independent variable are connected to the AV signal input port on the image processor DM642 through the AV input, and with this concrete image information that collects to its transmission; Wireless data transfer module nRF905; Wireless image transport module nRF905 is connected with the multiplexing GPIO interface of electric machine controller F28335 SPI through serial data interface SPI respectively; Generally taking electric machine controller F28335 is main end; Wireless data transfer module nRF905, wireless image transport module nRF905 initiate communication from end, transmission signal and message; Electric machine controller F28335 is through after calculating, with 8 tunnel independence PWM controlled quentity controlled variables respectively the ePWM output port of corresponding 8 road general GPIO send on 8 individual motor, to control its rotational angle and direction; Image processor DM642; The VCC end of electric machine controller F28335 is connected to the 5V feeder ear of power module; The VCC end of wireless data transfer module nRF905 and wireless image transport module nRF905 is connected to the 3.3V feeder ear of power module; The VCC end of 8 separate motors is connected to the 24V feeder ear of power module; The VCC end of 3 separate varifocal cameras is connected to the 12V feeder ear of power module, and the GND of all electrical appliance modules holds equal building site to be connected in the GND end of power module.
Claims (1)
1. the bionical used for multi-vision visual physical platform based on how independent The Cloud Terrace comprises electrical system and basic machine; Wherein, said basic machine comprises three independent The Cloud Terraces (1), high-power vertical tilter (2), high-power horizontal rotating table (3), three varifocal cameras (4); High-power vertical tilter (2) is fixedly connected on high-power horizontal rotating table (3), and three independent The Cloud Terraces (1) are fixedly connected on the high-power vertical tilter (2), three independent The Cloud Terraces (1) linear array; High-power horizontal rotating table (3), high-power vertical tilter (2) and to be positioned at the independent The Cloud Terrace (1) in centre position coaxial; Independent The Cloud Terrace (1) by horizontal rotating table (5) and vertically tilter (6) forms, horizontal rotating table (5) and vertical tilter (6) be respectively by individual motor (11) driving, vertical tilter (6) is fixedly connected on horizontal rotating table (5) takes over a business; Three varifocal cameras (4) are fixedly connected on respectively on three vertical tilters (6), and independent The Cloud Terrace and the camera at the middle part independent The Cloud Terrace and the camera that will be higher than both sides wherein is in order to obtain more wide visual angle; The power output of high-power vertical tilter (2) is more than the twice of vertical tilter (6) power output; High-power horizontal rotating table (2) power output is more than the twice of horizontal rotating table (6) power output; High-power vertical tilter (2) and high-power horizontal rotating table (3) are driven by individual motor (11) respectively;
Said electrical system comprises motor movement controller (7), image acquisition and processing device (8), wireless image transport module (9), wireless data transfer module (10), power module (12);
Varifocal camera (4) is sent to image acquisition and processing device (8) to the image information that collects; Image acquisition and processing device (8) is sent to motor movement controller (7) to controlled quentity controlled variable through calculating; Motor movement controller (7) drive motors (11); Motor (11) drives three independent The Cloud Terraces (1), high-power vertical tilter (2) and high-power horizontal rotating table (3) motion respectively;
The image information that wireless image transport module (9) transmits host computer is sent to motor movement controller (7), and motor movement controller (7) is sent to host computer to image feedback information through wireless image transport module (9), in order to system compensation;
The control data that wireless data transfer module (10) transmits host computer is sent to motor movement controller (7), and motor movement controller (7) is sent to host computer to feedback control signal through wireless data transfer module (9), in order to system compensation;
Power module (12) is respectively varifocal camera (4), motor movement controller (7), image acquisition and processing device (8) and motor (11) power supply.
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| CN105215998A (en) * | 2015-08-18 | 2016-01-06 | 长安大学 | The multi-vision visual platform of a kind of imitative spider |
| CN106412400A (en) * | 2016-10-20 | 2017-02-15 | 北京信息科技大学 | Bionic vision imaging system based on visible light and near infrared and focusing method thereof |
| CN110930533A (en) * | 2019-11-15 | 2020-03-27 | 成都天纹科技有限公司 | Sign-in system and electronic equipment |
| CN111571591A (en) * | 2020-05-22 | 2020-08-25 | 中国科学院自动化研究所 | Four-eye bionic eye device, four-eye bionic eye device and target searching method thereof |
| WO2020207185A1 (en) * | 2019-04-08 | 2020-10-15 | 深圳市视觉动力科技有限公司 | Three-dimensional light field technology-based optical unmanned aerial vehicle monitoring system |
| CN113084873A (en) * | 2021-04-26 | 2021-07-09 | 上海锵玫人工智能科技有限公司 | Robot vision device and robot |
| CN114857456A (en) * | 2022-07-08 | 2022-08-05 | 北京神导科技股份有限公司 | Concentric-shaft double-shaft holder system and power supply link and angle adjustment control method thereof |
| CN115598966A (en) * | 2022-10-26 | 2023-01-13 | 电子科技大学（Cn） | Visual servo neural network control method for six-degree-of-freedom parallel swing table |
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| CN114857456A (en) * | 2022-07-08 | 2022-08-05 | 北京神导科技股份有限公司 | Concentric-shaft double-shaft holder system and power supply link and angle adjustment control method thereof |
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| CN115598966A (en) * | 2022-10-26 | 2023-01-13 | 电子科技大学（Cn） | Visual servo neural network control method for six-degree-of-freedom parallel swing table |
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Application publication date: 20120704 |