CN104197926A - Robot navigation device using active vision manner - Google Patents
Robot navigation device using active vision manner Download PDFInfo
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- CN104197926A CN104197926A CN201410383590.0A CN201410383590A CN104197926A CN 104197926 A CN104197926 A CN 104197926A CN 201410383590 A CN201410383590 A CN 201410383590A CN 104197926 A CN104197926 A CN 104197926A
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- frame head
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Abstract
The invention provides a mobile robot navigation device. The mobile robot navigation device mainly comprises a binocular image sensor module, a scanning laser ray projection module, a three-way adjustable light source module and a control circuit module, wherein the mobile robot navigation device can be applied to autonomous obstacle avoidance navigation task of the mobile robot in a narrow unstructured space based on binocular active vision. According to the mobile robot navigation device, power sources and control signals of all the devices of the mobile robot navigation device are controlled by the control circuit module, so that the mobile robot navigation device is simple and efficient. The mobile robot navigation device is small in volume, light in weight, especially suitable for robot navigation task in the narrow unstructured space active vision and capable of obtaining relatively high-density three-dimensional reconstruction point cloud; due to the adoption of binocular vision, the mobile robot navigation device is high in positioning accuracy. In addition, the mobile robot navigation device has the advantages of being stable in structure and simple and efficient to control.
Description
Technical field
The present invention relates to a kind of robot navigation device, particularly the robot navigation device of a kind of robot navigation device based on active vision for narrow destructuring space based on active vision.
Background technology
Conventionally, independent navigation is as one of the core research contents in mobile robot field, is to realize robot automtion, a practical gordian technique.In numerous navigate modes, binocular vision navigation can approach mankind's binocular vision, also further obtaining spatial depth information has abundant information, noncontact, suitable application area advantage widely by vision sensor, to obtain environmental information, is more and more subject to people payes attention in mobile robot field.
Vision guided navigation depends on extraction, the coupling to unique point in the corresponding visual pattern of environmental characteristic, because of the reason such as physical feature in narrow non-structure space exists illumination variation, blocks, textural characteristics is not obvious, the unique point that passive vision navigation based on physical feature can obtain is more sparse, and reliability is not high.Active vision mode utilizes grenade instrumentation to have certain form optical mode plate as assisting to object projection, has the advantages that reconstruction precision is high, controllability is strong.Existing active vision device mainly relies on projector to optical mode plates such as object incident point array, speckle, line-structured light, area-structure lights, exists projection arrangement volume large, and the shortcoming of Heavy Weight, cannot be applicable in narrow space Mobile Robotics Navigation task.
Therefore, need a kind of can effectively addressing the above problem, can be used in the robot navigation device based on active vision in narrow destructuring space.
Summary of the invention
The object of the present invention is to provide a kind of small-sized guider based on binocular active vision, this device can project scanning laser line and carry out the tasks such as feature extraction, coupling, three-dimensional reconstruction as the auxiliary binocular vision system of manual features, realizes mobile robot's independent navigation in the narrow non-structure space of the unknown.This device have volume little, lightweight, install simply, controllability is strong, Three-dimensional Gravity is laid foundations the intensive feature of cloud.
Preferably,
The description and the follow-up detailed description that should be appreciated that aforementioned cardinal principle are exemplary illustration and explanation, should the restriction to the claimed content of the present invention with do.
Accompanying drawing explanation
With reference to the accompanying drawing of enclosing, the more object of the present invention, function and advantage are illustrated the following description by embodiment of the present invention, wherein:
Fig. 1 a schematically shows the structural representation that can be used in the robot navigation device based on active vision in narrow destructuring space according to of the present invention.
Fig. 1 b schematically shows the structural drawing of reducer casing in scanning laser line projection module according to an embodiment of the invention.
Fig. 2 schematically shows the structural representation of the binocular vision sensor module of robot navigation device of the present invention.
Fig. 3 a schematically shows the one-piece construction schematic diagram of scanning laser line projection module of the present invention.
Fig. 3 b schematically shows the motor of scanning laser line projection module of the present invention and the concrete structure schematic diagram of reducer casing inside.
Fig. 3 c schematically shows the concrete structure schematic diagram of motor, reducer casing and the absolute encoder of scanning laser line projection module of the present invention.
Fig. 3 d has schematically gone out absolute encoder principle of work schematic diagram of the present invention.
Fig. 4 schematically shows the partial structurtes enlarged diagram of the reducer casing concave tracks of scanning laser line projection module of the present invention.
Fig. 5 schematically shows the structural representation of the laser instrument card of robot navigation device of the present invention.
Fig. 6 a schematically shows the plan structure schematic diagram of the scanning laser line projection module of robot navigation device of the present invention.
Fig. 6 b schematically shows the computing method schematic diagram of the angle β of miniature adjustable linear laser instrument center line and reducer casing center line.
Fig. 7 schematically shows the structural representation of the adjustable luminous source module of robot navigation device of the present invention.
Embodiment
By reference to one exemplary embodiment, object of the present invention and function and will be illustrated for realizing the method for these objects and function.Yet the present invention is not limited to following disclosed one exemplary embodiment; Can to it, be realized by multi-form.The essence of instructions is only to help various equivalent modifications Integrated Understanding detail of the present invention.
Hereinafter, embodiments of the invention will be described with reference to the drawings.In the accompanying drawings, identical Reference numeral represents same or similar parts, or same or similar step.
Fig. 1 a schematically shows the structural representation that can be used in the robot navigation device based on active vision 100 in narrow destructuring space according to of the present invention.Binocular robot guider 100 according to a kind of narrow destructuring of the present invention space based on active vision comprises binocular image sensor assembly for sensing image, for the scanning laser line projection module by Emission Lasers imaging, the tunable light source module of using for projection illumination light source and control circuit module.
Particularly, as shown in Figure 1a, the ring flange 1050 of robot navigation device 100 according to the present invention by being positioned at guider one side, as web member, is arranged in the ring flange (not shown in figure 1) that robot is corresponding.Support 1060 is arranged on described ring flange 1050 by bolt, works to support the above-mentioned robot navigation device 100 based on active vision.Preferably, the overall dimensions of described robot navigation device 100 is no more than 90 * 90 * 100mm
3.
Described Binocular robot guider 100 comprises that binocular image sensor assembly is for passing through the residing position of sensor sensing robot, particularly, thereby by the position at the specific imaging judgement robot place on sensing robot direct of travel.According to one embodiment of present invention, described binocular image sensor assembly comprises 2 high-precision micro frame head separating industrial cameras and the camera tripod that connects the two.2 high-precision micro frame head separating industrial cameras are respectively the first high-precision micro frame head separating industrial camera 1011 and the second high-precision micro frame head separating industrial camera 1012.Preferably, the performance parameter of described the first high-precision micro frame head separating industrial camera 1011 and the second high-precision micro frame head separating industrial camera 1012 is chosen as identical, and the axial axis of its image-forming component is set to parallel to each other.Described 2 cameras are arranged on camera tripod 1070 separately, and described camera tripod 1070 is arranged on described support 1060.Described 2 phase function Real-time Collection ambient image also send image information to disposal system.
Described Binocular robot guider 100 also comprises scanning laser line projection module, thereby for projecting laser imaging in the direction of advancing to described robot, to carry out sensing by above-mentioned binocular image sensor assembly.According to one embodiment of present invention, described scanning laser line projection module the first high-precision micro frame head separating industrial camera 1011 and the second high-precision micro frame head separating industrial camera 1012 bottoms and between, comprise motor 1021, reducer casing 1022, absolute encoder 1023 (referring to Fig. 1 b), right-angle prism 1024 and prism jig 1025, micro semiconductor laser device 1026 (projection Linear Laser) and laser instrument jig 1027.Reducer casing 1022 is arranged on described support 1060, and motor 1021 is arranged on described reducer casing 1022, as power source.Above-mentioned motor 1021 is as PTO, and its motor shaft is done forward, reverse rotation campaign with a fixed angular speed.The input shaft of described reducer casing 1022 is the output shaft of above-mentioned motor 1021.
Preferably, the motor 1021 in the present embodiment can adopt stepper motor or servomotor, can control velocity of rotation and the rotation direction of motor shaft.The motor of this device drives by motor driver, and by single-chip microcomputer or motion control board, controls the motion of motor shaft.
Fig. 1 b schematically shows the structural drawing of reducer casing in scanning laser line projection module according to an embodiment of the invention.As shown in Figure 1 b, output shaft 3070 one end of described reducer casing 1022 are provided with absolute encoder 1023, the other end is through being provided with above it prism jig 1025 between the first high-precision micro frame head separating industrial camera 1011 and the second high-precision micro frame head separating industrial camera 1012, and above-mentioned right-angle prism 1024 is arranged on prism jig 1025 in the mode of interference fit.
As shown in Figure 1a, the two-sided spill guide rail 3100 that described laser instrument jig 1027 is arranged on above-mentioned reducer casing 1022 in the mode of clearance fit (a) is gone up referring to Fig. 3, and is tightened up by fastening bolt.Described micro semiconductor laser device 1026 is arranged on laser instrument jig 1027, and tightens up with holding screw.
In described scanning laser line projection module operational process, the motor shaft of motor 1021 rotatablely moves as input, converts the yaw motion of the right-angle prism 1024 of reduction gearbox output shaft and clamping thereof through reducer casing 1022 to.The line style light of micro semiconductor laser device 1026 projections is formed on the laser rays that comes and goes scanning within the scope of certain angle after right-angle prism 1024 catadioptrics.The first high-precision micro frame head separating industrial camera 1011 gathers respectively with the second high-precision micro frame head separating industrial camera 1012 image that laser rays becomes, and image is sent into control module analysis, thereby sensing is learnt the position at robot place.
Preferably, the micro semiconductor laser device 1026 that the present embodiment is selected is miniature adjustable focus one word laser line generator, and the light xsect of its transmitting is yi word pattern laser strip, and laser instrument can be focused according to operating distance, make the word laser striation in operating distance the thinnest, brightness is the most even.The position instruction of laser instrument should keep becoming with the central axis of the robot navigation device based on active vision 100 in the present embodiment required angle.
Preferably, yi word pattern laser strip in the present embodiment adopts the Three-dimensional Gravity cloud of laying foundations, projection scanning striation during the work of laser striation grenade instrumentation specifically, and in striation scanning process, binocular camera constantly gathers image (about 400～800 two field pictures).Software algorithm is processed every figure, extract the laser light stripe centric line of every 2 dimension figure, then the image after left and right camera alignment processing mate, three-dimensional reconstruction, the three dimensional space coordinate (a hundreds of point) that obtains laser light stripe centric line, just obtains the some cloud three-dimensional coordinate (several ten thousand points) in a block space region to carrying out above-mentioned algorithm to 400～800 pairs of images.
Described robot navigation device 100 also comprises the tunable light source module of using for projection illumination light source.According to one embodiment of present invention, tunable light source module is arranged on the front end of the first high-precision micro frame head separating industrial camera 1011 and the second high-precision micro frame head separating industrial camera 1012, be " ∞ " font 3 road tunable light source modules, this module substrate 7020 is " ∞ " font aluminium base, be installed on the front end of the first high-precision micro frame head separating industrial camera 1011 and the second high-precision micro frame head separating industrial camera 1012, a plurality of light sources 7010 are distributed in respectively around the camera lens of the first high-precision micro frame head separating industrial camera 1011 and the second high-precision micro frame head separating industrial camera 1012.
Described robot navigation device 100 also comprises control circuit module, described control circuit module comprises binocular image sensor assembly, scanning laser line projection module and tunable light source module driving circuit separately, and user can pass through the power supply of each driving circuit of PC control.
Fig. 2 is according to the concrete structure schematic diagram of the binocular vision sensor module in Binocular robot guider of the present invention.
As shown in Figure 2, binocular vision sensor module comprises 2 high-precision micro frame head separating industrial cameras 1011 and 1012 and the camera tripod that is connected the two.Described camera tripod comprises sleeve 2010 and the sleeve 2020 that holds respectively high-precision micro frame head separating industrial camera 1011 and 1012, and " recessed " font connecting portion 2030 that connects two sleeves.Sleeve 2010 and sleeve 2020 are symmetrical, and high-precision micro frame head separating industrial camera 1011 and high-precision micro frame head separating industrial camera 1012 are arranged on respectively in described sleeve 2010 and sleeve 2020, and tighten up by fastening spiral 2041 and 2042.
Preferably, 2 high-precision micro frame head separating industrial camera installation site keeping parallelisms in same level in the present embodiment, and two camera positions to take the vertical plane of crossing the robot navigation device center line based on active vision in the present embodiment be that the plane of symmetry is symmetrical.
Fig. 3 a-Fig. 3 d is according to the concrete structure schematic diagram of the scanning laser line projection module in Binocular robot guider of the present invention.Wherein Fig. 3 a is the one-piece construction schematic diagram of scanning laser line projection module, Fig. 3 b is the motor of scanning laser line projection module and the concrete structure schematic diagram of reducer casing inside, Fig. 3 c is the concrete structure schematic diagram of motor, reducer casing and the absolute encoder of scanning laser line projection module, and Fig. 3 d shows absolute encoder principle of work schematic diagram.
As shown in Figure 3 a, scanning laser line projection module according to the present invention comprises motor 1021, reducer casing 1022, absolute encoder 1023 (referring to Fig. 1 b), right-angle prism 1024 and prism jig 1025, micro semiconductor laser device 1026 (for projecting linear laser) and laser instrument jig 1027.
Described motor 1021 is as PTO, and its motor shaft is done forward, reverse rotation campaign with a fixed angular speed.The output shaft 3010 of motor 1021 and worm screw 3020 by together with interference fit as line shaft.
3080 of the reduction box casings of reducer casing 1022 support and protective effect.The output shaft 3070 of reducer casing 1022 is arranged on reduction box casing 3080 by bearing 3090, avoids because directly contacting, producing larger friction force with reduction box casing 3080.Reduction gearbox output shaft 3070 other ends are connected with absolute absolute encoder (not shown in Fig. 3 a), and the output code value of absolute encoder feeds back to controller and realizes the closed-loop control to prism jig 1025 and right-angle prism 1024 rotational angles.Micro semiconductor laser device 1026 is arranged on laser instrument jig 1027, and laser instrument jig 1027 is arranged in concave tracks 1080, and tightens up by fastening bolt.
As shown in Figure 3 b, show the motor of scanning laser line projection module and the concrete structure schematic diagram of reducer casing inside.Gear in described reducer casing 1022 is a gear set, and described gear set comprises 2 groups of duplicate gears, and first group of duplicate gear bull wheel is worm gear 3030, and steamboat is spur gear 3040.Second group of duplicate gear bull wheel 3050 and steamboat 3060 are all spur gear.
Gear set transmission process is: motor shaft 3010 drives worm screw 3020 to rotate, the rotation of worm screw drives the worm gear 3030 of first group of duplicate gear to rotate, and the steamboat 3040 (spur gear) of first group of duplicate gear drives the bull wheel 3050 of second group of cascade gear to rotate simultaneously.Second group of duplicate gear is connected by pin key with output shaft 3070, thereby the rotation of second group of duplicate gear drives reduction gearbox output shaft 3070 to rotate.
The input shaft of described reducer casing is the output shaft 3010 of above-mentioned motor, output shaft 3070 one end of above-mentioned reducer casing are provided with absolute encoder, the other end is provided with prism jig 1025, and (referring to Fig. 3 a), above-mentioned right-angle prism 1024 is arranged on prism jig in the mode of interference fit.
As shown in Figure 3 c, show the concrete structure of motor, reducer casing and absolute encoder in scanning laser line projection module.Absolute encoder comprises photoelectric code disk 3100 and photoelectric tube 3110, and described photoelectric code disk 3100 passes through in the intermediate gap of described photoelectric tube 3110.Described photoelectric code disk is fixed on output shaft 3070 by composite glue.According to a preferred embodiment of the present invention, photoelectric code disk 3100 is 100 lines, and scrambler rotates a circle and exports altogether 100 pulses, and positioning precision is 3.6 degree.
In described scanning laser line projection module operational process, motor shaft 3010 rotations, as input, change into the offset movement of the right-angle prism of reduction gearbox output shaft 3070 and clamping thereof through reducer casing.The line style of micro semiconductor laser device projection forms the laser rays that comes and goes scanning within the scope of certain angle after right-angle prism is catadioptric.
Preferably, the advantage that adopts the kind of drive of worm and gear in the present embodiment is to obtain larger ratio of gear, can play again the function of position self-locking, prevents in right-angle prism swing process because of inertia or the skew of External Force Acting occurrence positions.
Fig. 3 d shows absolute encoder principle of work schematic diagram.
As shown in Figure 3 d, according to a preferred embodiment of the present invention, photoelectric code disk 3100 is 100 lines, and scrambler rotates a circle and exports altogether 100 pulses.Be that positioning precision is 3.6 degree.Photoelectric code disk 3100 is along with output shaft rotates in photoelectric tube 3110 intermediate gap, and photoelectric tube 3110 is directly exported digital pulse signal, therefore can directly these pulse signals be connected to controller.When two pulse signals of photoelectric tube 3110 outputs, their waveforms are identical, phase phasic difference 90 degree.If output shaft forward, second pulse falls behind 90 °; If reversion, second pulse advance 90 degree.By this relation, can judge whether rotating of output shaft.
Fig. 4 be as shown in Figure 3 a according to the partial structurtes enlarged diagram of the reducer casing concave tracks of scanning laser line projection module of the present invention.Fig. 5 is according to the structural representation of the laser instrument jig of scanning laser line projection module of the present invention.
As shown in Figure 3 a, laser instrument jig 1027 is arranged on the two-sided spill guide rail 1080 of above-mentioned reducer casing in the mode of clearance fit, and tightens up by fastening bolt.Fig. 4 shows the partial structurtes enlarged diagram of reducer casing concave tracks.As shown in Figure 4, on two-sided spill guide rail 1080, dispose baffle plate 4010 structures, for locating laser device jig 1027.As shown in Figure 5, laser instrument jig 1027 tops have the collar 5030, for holding laser instrument, the below of the collar 5030 is bracing frames 5040, bracing frame 5040 bottoms have concave shaped track 5010, and with described concave tracks 1080 clearance fit, screw 5020 is for installing fastening bolt.
Fig. 6 a is the plan structure schematic diagram according to scanning laser line projection module of the present invention, so that its principle of work to be described.
As shown in Figure 6 a, Fig. 6 a shows the center line of micro semiconductor laser device 1026 and the angle of reducer casing 1022 center lines is β, laser scanning line sweep limit φ by deceleration center line centered by the line of described β angle for guaranteeing to penetrate through right-angle prism.The computing method of concrete angle β will illustrate hereinafter.
Fig. 6 b is the schematic diagram that the optics of the computing method of angle β is verified.As shown in 6b, Fig. 6 b shows the computing method of angle β, the angle β computation process of micro semiconductor laser device 1026 center lines and reducer casing 1022 center lines.
(actual conditions are that micro semiconductor laser device 1026 positions are fixed to an angular range roughly determining micro semiconductor laser device 1026 and emergent ray by refraction theorem and the total reflection theorem of light, prism rotates, emergent ray also can rotate, so just produced the angular range of micro semiconductor laser device 1026 with emergent ray), then within the scope of this, select a suitable angle (angles in figure between two yellow lines).Two boundary values that the angle of the line that the angle of the line that wherein label is 2 and label are 6 is this angular range, between selected two yellow lines, angle is as far as possible near the centre of these two boundary values.
In the present invention, micro semiconductor laser device 1026 positions are fixed, and right-angle prism 1024 rotatablely moves.For convenient, calculate, take right-angle prism 1024 positions to fix, micro semiconductor laser device 1026 rotates centered by the center of gravity of prism around right-angle prism 1024, then according to the refraction of light, total reflection law, obtains the theoretical path of laser propagation.
Laser right-angle prism always edged surface (plane of incidence) reflect: formula is:
N
glass/ n
air=sin θ 1/sin θ 2
Wherein θ 1 is angle between plane of incidence place incident light and normal, and θ 2 is the angle of plane of incidence place refracted ray and normal.
When meeting certain angle requirement sin θ=1/n wherein θ angle be the cirtical angle of total reflection, n is prism glass and air refraction ratio.There is total reflection in laser: at this moment incident angle and emergence angle are symmetrical about normal at right-angle prism hypotenuse place.
Laser also reflects at the another side (exit facet) of right-angle prism, and formula is the same.
When calculating angle β, first calculate laser relative in the critical localisation (meeting total reflection law) of prism.
Label 2 places are critical localisation, and angle is-5.6758 degree with respect to the angle of incidence surface normal.Because laser relative, in prism center of gravity rotation, guarantee that incident laser is radiated on the plane of incidence, label 6 places for another critical localisation angle with respect to the angle of incidence surface normal, be-63 degree.
The public view field angle of considering binocular camera is probably 45 degree, and considers that laser instrument lays that (angle, than label 7 hours, accounts for horizontal space large on the impact of whole system spatial volume; When angle is larger than label 7, accounts for longitudinal space and also can increase), choosing label 7 places is laser instrument installation site, this is that emergent light 7 places are reducer casing centerline direction.
Fig. 7 is according to the structural representation of the adjustable luminous source module of robot navigation device of the present invention.
As shown in Figure 7, according to one embodiment of present invention, 3 road adjustable luminous source modules of robot navigation device are " ∞ " font, and described module comprises 24 white light LEDs 7010 and " ∞ " font substrate 7020.24 white light LEDs 7010 that distribute on described " ∞ " shape light source substrate 7020, lay respectively at the two ends of described " ∞ " shape light source substrate 7020, and evenly distributed in circumference mode, every end is arranged with 12 LEDs.Described white light LEDs is preferably divided into three tunnels, and three paths of LEDs are interspersed on substrate 7020.
Putting in order of described LED is followed successively by: the first via the first LEDs (1-1), second tunnel the first LEDs (2-1), Third Road the first LEDs (3-1), the first via the second LEDs (1-2), second tunnel the second LEDs (2-2), Third Road the second LEDs (3-2) ... the first via the 8th LEDs, the second tunnel the 8th LEDs, Third Road the 8th LEDs.Before word in described bracket, which road is numeral be, after numeral be N the LED on described road.。The beneficial effect of above-mentioned arrangement is that each paths of LEDs can be evenly distributed on " ∞ " shape light source aluminium base 37, makes illumination even.User can freely select the break-make of every paths of LEDs power supply, and the bright dark degree that can freely control every paths of LEDs obtains suitable illumination condition, and then obtains image high-quality, high-contrast.
Preferably, in described adjustable luminous source module, " ∞ " shape light source aluminium base 7020 is alumina based material, and object is to be conducive to heat radiation.
According to the advantage of robot navigation device of the present invention, be at least:
1. volume is little, lightweight, uses the equipment of projector or similar devices to compare with other, is more suitable for keeping away barrier task for narrow space mobile robot's navigation.
2. the three-dimensional reconstruction that the Three-dimensional Gravity obtaining in the present embodiment device navigation procedure is laid foundations cloud and obtained than the device of using projection cross curve or lattice array is more intensive, and Zhe Jiuwei robot provides the abundanter information of understanding surrounding environment.
3. user passes through PC control completely to the control of camera, laser instrument, motor, light source, simple and convenient.
In conjunction with the explanation of the present invention and the practice that disclose here, other embodiment of the present invention are easy to expect and understand for those skilled in the art.Illustrate with embodiment and be only considered to exemplary, true scope of the present invention and purport limit by claim.
Claims (10)
1. for the Binocular robot guider based on active vision in narrow destructuring space, comprising:
Binocular image sensor assembly, described binocular image sensor assembly comprises the first high-precision micro frame head separating industrial camera and the second high-precision micro frame head separating industrial camera, described the first high-precision micro frame head separating industrial camera and the second high-precision micro frame head separating industrial camera are arranged on camera tripod, and the axial axis of its image-forming component is set to parallel to each other;
Scanning laser line projection module, described laser projection module comprises motor, reducer casing, absolute encoder, right-angle prism and prism jig, micro semiconductor laser device and laser instrument jig, described motor is as PTO, its output shaft is as the input shaft of described reducer casing, output shaft one end of described reducer casing is provided with described absolute encoder, the other end is through between described the first high-precision micro frame head separating industrial camera and the second high-precision micro frame head separating industrial camera, prism jig being installed above it, described right-angle prism is arranged on described prism jig in the mode of interference fit, described laser instrument jig is arranged on described reducer casing in the mode of clearance fit, described micro semiconductor laser device is arranged on described laser instrument jig,
Tunable light source module, is arranged on the front end of described the first high-precision micro frame head separating industrial camera and described the second high-precision micro frame head separating industrial camera, comprises " ∞ " font substrate and is arranged on a plurality of light sources on described substrate;
Control circuit module, described control circuit module comprises described binocular image sensor assembly, described scanning laser line projection module and described tunable light source module driving circuit separately.
2. the Binocular robot guider based on active vision according to claim 1, wherein, described camera tripod is fixed with two sleeves, the head part of described the first high-precision micro frame head separating industrial camera and the second high-precision micro frame head separating industrial camera is arranged on respectively in two sleeves, by holding screw, tightens up.
3. the Binocular robot guider based on active vision according to claim 1, wherein, the motor shaft of described motor is done forward, reverse rotation campaign with a fixed angular speed.
4. the Binocular robot guider based on active vision according to claim 1, wherein, the overall dimensions of described guider is no more than 90x90x100mm
3.
5. the Binocular robot guider based on active vision according to claim 1, wherein, described guider is arranged on the ring flange of corresponding robot by ring flange.
6. the Binocular robot guider based on active vision according to claim 1, wherein, described micro semiconductor laser device is a miniature adjustable word laser line generator, the light xsect of its transmitting is yi word pattern laser strip.
7. the Binocular robot guider based on active vision according to claim 1, wherein, described motor is stepper motor or servomotor, for controlling velocity of rotation and the rotation direction of motor shaft.
8. the Binocular robot guider based on active vision according to claim 1, wherein, the substrate in described adjustable lighting module is alumina based material.
9. the Binocular robot guider based on active vision according to claim 1, wherein, described absolute encoder comprises photoelectric code disk and photoelectric tube, described photoelectric code disk passes through in the intermediate gap of described photoelectric tube.
10. the Binocular robot guider based on active vision according to claim 1, wherein, described reducer casing comprises a gear set, described gear set comprises 2 groups of duplicate gears, in first group of duplicate gear, bull wheel is worm gear, steamboat is spur gear, and in second group of duplicate gear, bull wheel and steamboat are all spur gear.
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| WO2017020648A1 (en) * | 2015-08-05 | 2017-02-09 | 杭州思看科技有限公司 | Handheld scanning device framework structure |
| CN108297135A (en) * | 2018-03-23 | 2018-07-20 | 埃华路（芜湖）机器人工程有限公司 | One kind acquiring fixed mechanism for multiaxial type industrial robot vision |
| CN109579765A (en) * | 2017-09-29 | 2019-04-05 | 上海时元互联网科技有限公司 | Three-dimensional point cloud data matching method and system based on servo motor and controller |
| CN111052021A (en) * | 2017-09-07 | 2020-04-21 | 昕诺飞控股有限公司 | Indoor moving object positioning system |
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