CN103048995A - Wide-angle binocular vision identifying and positioning device for service robot - Google Patents
Wide-angle binocular vision identifying and positioning device for service robot Download PDFInfo
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- CN103048995A CN103048995A CN2011103089776A CN201110308977A CN103048995A CN 103048995 A CN103048995 A CN 103048995A CN 2011103089776 A CN2011103089776 A CN 2011103089776A CN 201110308977 A CN201110308977 A CN 201110308977A CN 103048995 A CN103048995 A CN 103048995A
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Abstract
The invention relates to the field of integration of robot vision and electromechanics, in particular to a wide-angle binocular vision identifying and positioning device for a service robot. The invention aims to provide a robot device having wide-angle binocular vision identifying and positioning functions. The wide-angle binocular vision identifying and positioning device for the service robot is provided with a mechanical structure and a control system, wherein the mechanical structure comprises a framework assembly, and a camera and a servo assembly which are arranged on the framework assembly; the control system comprises an MCU (Micro-programmed Control Unit) master controller, a power supply circuit, a head horizontal/vertical servo driver and a left/right eye rotation servo driver; and the MCU master controller is connected with the head horizontal/vertical servo driver and the left/right eye rotation servo driver in a CAN (Controller Area Network) bus communication way.
Description
Technical field
The present invention relates to machine vision and electromechanical integration field, particularly relate to a kind of service robot wide-angle type binocular vision identification and locating device.
Background technology
Service type robot general reference is applied to the every field of the daily production of people and life, and environment carries out perception to external world, can carry out alternately with the mankind, can judge, understand the order that people assign, and the robot equipment of assisting people to finish the work.Various complicated non-structure environment from traditional industrial structure environment to human daily life, from strictly carrying out particular task to by serving the people alternately with the people according to instruction, understand outfield from only specific production equipment or components and parts being detected by multi-modal perception interfaces such as vision, the sense of hearings.
China is populous nation, and along with the day by day raising of people ' s health level and the long-term enforcement of family planning policy, China steps into aging society just fast, and following paramedic is in great shortage, enters family in the urgent need to service robot, for people provide various services.Service robot is not only the important symbol of a national high-tech level of aggregation, and important role is being played the part of in following meeting in home services.
Machine vision is the main path that service robot obtains external environment information, also is one of research service robot gordian technique that need to break through.Typical service-delivery machine human visual system use comprise the autonomous location navigation of Indoor Robot, based on the crawl of the target object of visual information and identification, based on the recognition of face of visual information, based on the detection of obstacles of visual information and estimation, service robot visual servo etc.Machine vision has related to the fields such as image acquisition, image processing, pattern-recognition, characteristic matching, three-dimensional reconstruction and vision tracking.Should accomplish that the accurate collection of image also will accomplish the to external world real-time of reacting condition, also need simultaneously the object real-time tracking that moves to external world.All these requirements have brought challenge all for the research and development of service type robot.
At present, service robot remains that angular field of view in binocular identification and location is little, dynamic real-time is poor, follow the tracks of the problems such as continuity is low, affects its service ability under complex environment during operation.
Summary of the invention
Little for present service robot angular field of view, dynamic real-time is poor, follow the tracks of the problems such as continuity is low, the purpose of this invention is to provide a kind of robot device with wide-angle type binocular vision identification and location.
Service robot wide-angle type binocular vision identification of the present invention and locating device, be mainly used in the wide region identification and location of target object in the environment to external world, by this device, can measure in a wide range the three-dimensional information of scene, and the scene information that utilizes three-dimensional measurement is identified target, identification path, disturbance in judgement thing etc., the functions such as the path planning of auxiliary robot realization wide region, independent navigation.
Described binocular vision 3 D measurement is based on principle of parallax, ask for parallax by the image coordinate of calculating about a certain spatial point respective point in two camera reviews, utilize camera calibration to obtain inside and outside calibrating parameters, thereby calculate the three-dimensional coordinate of this spatial point.
Technical scheme of the present invention mainly comprises mechanical construction and control system two parts content, and concrete scheme is as follows:
A kind of service robot wide-angle type binocular vision identification and locating device, has mechanical construction and control system, described physical construction comprises frame assembly and the video camera and the servopackage that are installed on the frame assembly, the said frame assembly comprises video camera mounting plate, be used for two side support plates of support cameras installing plate, be positioned at the head base and the head horizontal servo motor mounting plate that is positioned at the head base below of two side support plate belows, above-mentioned head base and side support plate are rotationally connected, and above-mentioned servopackage comprises that two eyes that are installed on the video camera mounting plate rotate servomotor, be installed in the vertical servomotor of head and the head horizontal servo motor that is installed on the head horizontal servo motor mounting plate on the head base; Described control system comprises that MCU master controller, power circuit, head horizontal/vertical servo-driver and left/right eye rotate servo-driver, and above-mentioned MCU master controller rotates between the servo-driver with above-mentioned head horizontal/vertical servo-driver and left/right eye and is connected by CAN bus communication mode.
The video camera of described physical construction is rotatably connected on the video camera mounting plate by camera base.
Be provided with between the side support plate of described frame assembly for the horizontal support plate of reinforcing.
The vertical servomotor of described head is rotationally connected by supporting seat and head base, and above-mentioned head base and head horizontal servo motor mounting plate are rotationally connected by shaft coupling.
Beneficial effect of the present invention is that robot wide-angle type binocular vision identification has head two-way (horizontal and vertical) and eye rotating function with locating device, solved present service robot under complex environment during operation, because the target that the binocular vision angular region is limited to be occurred identification is little with the location effective range, follow the tracks of the problems such as continuity is low, dynamic real-time is poor, Effective Raise its service ability; Control system of the present invention adopts CAN bus communication mode that 4 servo-drivers and servomotor are realized real-time monitoring, and image recognition and timely for the following feedback of moving target improves the robot handling.
Description of drawings
Fig. 1 is physical construction part synoptic diagram of the present invention.
Number in the figure 1 video camera mounting plate, 2 camera base, 3 side support plates, 4 head base, 5 servomotor installing plates, 6 head horizontal servo motors (containing speed reduction unit and scrambler), 7 shaft couplings, 8 supporting seats, the vertical servomotor of 9 heads (containing speed reduction unit and scrambler), 10 horizontal support plates, 11 eyes rotate servomotor (containing speed reduction unit and scrambler), 12 video cameras
Fig. 2 is control system theory diagram of the present invention.
Number in the figure-M1 head horizontal servo motor ,-the vertical servomotor of M2 head ,-M3 left eye rotation servomotor ,-M4 right eye rotation servomotor ,-B1 head level code device ,-the vertical scrambler of B2 head ,-B3 left eye rotary encoder ,-B4 right eye rotary encoder
Embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention, principle of work are further explained explanation:
See Fig. 1, physical construction of the present invention has frame assembly and servopackage, frame assembly comprises video camera mounting plate 1, be used for two side support plates 3 of support cameras installing plate, be positioned at the head base 4 and the head horizontal servo motor mounting plate 5 that is positioned at the head base below of two side support plate belows, be provided with between above-mentioned two side support plates 3 for the horizontal support plate 10 of reinforcing, above-mentioned head base 4 is rotationally connected by shaft coupling 7 with head horizontal servo motor mounting plate 5, and the video camera 12 of observing eye as robot is rotatably installed on the video camera mounting plate 1 by camera base 2.
Above-mentioned servopackage comprises that two eyes that are installed on the video camera mounting plate rotate servomotors 11, are installed in the vertical servomotor 9 of head on the head base and are installed in head horizontal servo motor 6 on the head horizontal servo motor mounting plate, and the vertical servomotor 9 of described head is rotationally connected by supporting seat 8 and head base 4.
See Fig. 2, control system of the present invention comprise MCU master controller-A1, power circuit-A2, head horizontal/vertical servo-driver-A3 ,-A4 and left/right eye rotate servo-driver-A5 ,-A6, above-mentioned MCU master controller-A1 carries out motion control by the CAN bus to above-mentioned 4 servomotors, realizes identification and location to the target object wide-angle type.MCU master controller-A1 receives the visual angle control information from the service robot main frame, after the control information parsing, be achieved as follows control: drive corresponding servomotor-M1 by control head horizontal servo driver-A3 and realize the rotation of head horizontal direction; Drive corresponding servomotor-M2 by the vertical servo-driver-A4 of control head and realize the pitching of head vertical direction; Rotate servo-driver-A5 by the control left eye and drive horizontally rotating of corresponding servomotor-M3 realization left-eye camera; Rotate servo-driver-A6 by the control right eye and drive horizontally rotating of corresponding servomotor-M4 realization right-eye camera.Described 4 servomotors all are furnished with scrambler, are respectively scrambler-B1, scrambler-B2, scrambler-B3, scrambler-B4, consist of closed-loop control system by encoder feedback.Described power circuit module-A2 is used for the power supply control of whole installation's power source.
Two degree of freedom of the horizontal and vertical of robot head of the present invention are mainly used in service robot to remote identification search and the closer object location of target object, and two degree of freedom of head can be done rotation on a large scale in the horizontal direction and vertical direction is done luffing on a large scale.The images of left and right eyes of robot eyes is rotated two degree of freedom and is mainly used in service robot is taken respective point to two cameras public domain scope observation adjustment.By the 3 D visual measuring principle as can be known, in order to obtain the three-dimensional coordinate of certain point in the three dimensions, must about can both photograph the respective point of this point on two video camera image planes, horizontally rotating of two degree of freedom by eye realized two cameras to the adjustment of shooting respective point public domain range size and direction, thereby enlarged the close-in measurement scope of binocular vision.By the motion of described head and four degree of freedom of eye, guaranteed identification and the location of service robot to the target object wide-angle type.
Obviously, above-mentioned embodiment of the present invention only is to be explanation example of the present invention, and is not to be restriction to embodiment of the present invention.For those of ordinary skill in the field, can also be easy on the basis of the above description make other pro forma variation or substitute, and these changes or substitute also will be included within the protection domain that the present invention determines.
Claims (4)
1. a service robot wide-angle type binocular vision is identified and locating device, has mechanical construction and control system, it is characterized in that: described physical construction comprises frame assembly and the video camera (12) and the servopackage that are installed on the frame assembly, the said frame assembly comprises video camera mounting plate (1), be used for two side support plates (3) of support cameras installing plate, be positioned at the head base (4) of two side support plates below and be positioned at head horizontal servo motor mounting plate (5) below the head base, above-mentioned head base and side support plate are rotationally connected, and above-mentioned servopackage comprises that two eyes that are installed on the video camera mounting plate rotate servomotor (11), be installed in the vertical servomotor of head (9) on the head base and be installed in head horizontal servo motor (6) on the head horizontal servo motor mounting plate; Described control system comprises that MCU master controller, power circuit, head horizontal/vertical servo-driver and left/right eye rotate servo-driver, and above-mentioned MCU master controller rotates between the servo-driver with above-mentioned head horizontal/vertical servo-driver and left/right eye and is connected by CAN bus communication mode.
2. service robot wide-angle type binocular vision as claimed in claim 1 is identified and locating device, and it is characterized in that: the video camera of described physical construction (12) is rotatably connected on the video camera mounting plate (1) by camera base (2).
3. service robot wide-angle type binocular vision identification as claimed in claim 1 and locating device is characterized in that: be provided with between the side support plate (3) of described frame assembly for the horizontal support plate (10) of reinforcing.
4. service robot wide-angle type binocular vision as claimed in claim 1 is identified and locating device, it is characterized in that: the vertical servomotor of described head (9) is rotationally connected by supporting seat (8) and head base (4), and above-mentioned head base and head horizontal servo motor mounting plate (5) are rotationally connected by shaft coupling (7).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104615132A (en) * | 2013-11-04 | 2015-05-13 | 原相科技股份有限公司 | Autonomous mobile carrier and automatic following system |
| CN105179894A (en) * | 2015-05-15 | 2015-12-23 | 浙江工业大学 | Binocular vision cradle head |
| CN105988469A (en) * | 2015-02-10 | 2016-10-05 | 苏州宝时得电动工具有限公司 | Automatic walking equipment |
| CN106443651A (en) * | 2016-09-30 | 2017-02-22 | 乐视控股（北京）有限公司 | Virtual reality device, and spatial positioning system and method |
| CN106799732A (en) * | 2016-12-07 | 2017-06-06 | 中国科学院自动化研究所 | For the control system and its localization method of the motion of binocular head eye coordination |
| CN107320964A (en) * | 2017-06-28 | 2017-11-07 | 电子科技大学 | The nine grids target gunnery technique of positioning is recognized based on binocular |
| CN107733153A (en) * | 2017-11-14 | 2018-02-23 | 哈尔滨理工大学 | A kind of big visual angle electric-machine directly-driven robot observation device |
| CN107914275A (en) * | 2017-11-29 | 2018-04-17 | 子歌教育机器人（深圳）有限公司 | The head of robot and intelligent robot |
| CN108805910A (en) * | 2018-06-01 | 2018-11-13 | 海信集团有限公司 | More mesh Train-borne recorders, object detection method, intelligent driving system and automobile |
| CN109015755A (en) * | 2018-08-24 | 2018-12-18 | 安徽信息工程学院 | wooden robot based on Kinect |
| CN109176539A (en) * | 2018-08-24 | 2019-01-11 | 安徽信息工程学院 | Autonomous positioning robot based on Kinect |
| CN109254579A (en) * | 2017-07-14 | 2019-01-22 | 上海汽车集团股份有限公司 | A kind of binocular vision camera hardware system, 3 D scene rebuilding system and method |
| CN113618752A (en) * | 2021-08-20 | 2021-11-09 | 天津大学 | Mobile guide dog robot and head rotating device thereof |
| CN115503024A (en) * | 2021-06-07 | 2022-12-23 | 中移雄安信息通信科技有限公司 | 720-degree visual angle binocular robot and working method thereof |
| CN115503024B (en) * | 2021-06-07 | 2024-06-11 | 中移雄安信息通信科技有限公司 | Binocular robot with 720-degree visual angle and working method thereof |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104615132A (en) * | 2013-11-04 | 2015-05-13 | 原相科技股份有限公司 | Autonomous mobile carrier and automatic following system |
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| CN106933225B (en) * | 2013-11-04 | 2020-05-12 | 原相科技股份有限公司 | Automatic following system |
| CN105988469A (en) * | 2015-02-10 | 2016-10-05 | 苏州宝时得电动工具有限公司 | Automatic walking equipment |
| CN105179894A (en) * | 2015-05-15 | 2015-12-23 | 浙江工业大学 | Binocular vision cradle head |
| CN106443651A (en) * | 2016-09-30 | 2017-02-22 | 乐视控股（北京）有限公司 | Virtual reality device, and spatial positioning system and method |
| CN106799732A (en) * | 2016-12-07 | 2017-06-06 | 中国科学院自动化研究所 | For the control system and its localization method of the motion of binocular head eye coordination |
| CN107320964A (en) * | 2017-06-28 | 2017-11-07 | 电子科技大学 | The nine grids target gunnery technique of positioning is recognized based on binocular |
| CN109254579A (en) * | 2017-07-14 | 2019-01-22 | 上海汽车集团股份有限公司 | A kind of binocular vision camera hardware system, 3 D scene rebuilding system and method |
| CN109254579B (en) * | 2017-07-14 | 2022-02-25 | 上海汽车集团股份有限公司 | Binocular vision camera hardware system, three-dimensional scene reconstruction system and method |
| CN107733153A (en) * | 2017-11-14 | 2018-02-23 | 哈尔滨理工大学 | A kind of big visual angle electric-machine directly-driven robot observation device |
| CN107914275A (en) * | 2017-11-29 | 2018-04-17 | 子歌教育机器人（深圳）有限公司 | The head of robot and intelligent robot |
| CN108805910A (en) * | 2018-06-01 | 2018-11-13 | 海信集团有限公司 | More mesh Train-borne recorders, object detection method, intelligent driving system and automobile |
| CN109015755A (en) * | 2018-08-24 | 2018-12-18 | 安徽信息工程学院 | wooden robot based on Kinect |
| CN109176539A (en) * | 2018-08-24 | 2019-01-11 | 安徽信息工程学院 | Autonomous positioning robot based on Kinect |
| CN115503024A (en) * | 2021-06-07 | 2022-12-23 | 中移雄安信息通信科技有限公司 | 720-degree visual angle binocular robot and working method thereof |
| CN115503024B (en) * | 2021-06-07 | 2024-06-11 | 中移雄安信息通信科技有限公司 | Binocular robot with 720-degree visual angle and working method thereof |
| CN113618752A (en) * | 2021-08-20 | 2021-11-09 | 天津大学 | Mobile guide dog robot and head rotating device thereof |
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Application publication date: 20130417 |