CN104999480A - Bionic eye device capable of achieving any-angle watching and three-dimensional reconstruction and bionic eye equipment - Google Patents
Bionic eye device capable of achieving any-angle watching and three-dimensional reconstruction and bionic eye equipment Download PDFInfo
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- CN104999480A CN104999480A CN201510455662.2A CN201510455662A CN104999480A CN 104999480 A CN104999480 A CN 104999480A CN 201510455662 A CN201510455662 A CN 201510455662A CN 104999480 A CN104999480 A CN 104999480A
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Abstract
The invention provides a bionic eye device capable of achieving any-angle watching and three-dimensional reconstruction and bionic eye equipment. The bionic eye device comprises a bionic eyeball frame provided with a spherical containing space, a bionic eyeball wall suspended in an opening of the bionic eyeball frame, a bionic eyeball arranged in the bionic eyeball wall in a sleeved mode, a camera, a rotation motor, a stepping motor and a runner, wherein the bionic eyeball, the bionic eyeball wall and the bionic eyeball frame are concentric; the camera, the rotation motor, the stepping motor and the runner are sequentially arranged in the bionic eyeball from outside to inside through a diameter shaft; the runner is fixedly connected to the stepping motor through a gear, and the stepping motor is arranged on a motor shaft of the rotation motor in a sleeving mode; the stepping motor drives the runner to move on the inner wall of the bionic eyeball frame so as to control the rotation distance of the runner; the rotation motor drives the stepping motor and the runner to rotate around the diameter shaft to control the orientation of the runner. The rotation motor and the stepping motor operate in a coordinated mode to drive the bionic eyeball to move in the bionomic eyeball wall around the ball center, and any-angle rotating, watching and three-dimensional reconstruction of the bionic eyeball are achieved.
Description
Technical field
The invention belongs to Intelligent bionic machinery people technical field, particularly a kind ofly can arbitrarily angledly to watch attentively, the bionic eye device of three-dimensional reconstruction and bionic eye equipment.
Background technology
The most information in human perception objective world is all the visual information needing to obtain by eyes, and concerning robot, " robot eyes " is also an important awareness apparatus.Current robot needs the bionic machine human eye possessing human eye various functions in a hurry.Had such robot eye, robot vision technology and Robotics will obtain huge development.
Although through the development of more than 20 years, from practical application angle, existing stereovision technique is also in the immature stage, and this not only relates to technical reason, is also because the mankind also do not understand thoroughly self vision mechanism.Current computer vision adopts relatively-stationary two camera systems in position or moveable single camera device mostly, and this visual manner vision that is obvious and the rotatable eyeball formation of mankind's a pair of is disagreed.Obtain 3-D view by two dimensional image and there is the problem being much difficult to overcome, such as: need to demarcate thing, extremely bother; Data volume is large, calculates effect bad; Tonal distortion, geometric distortion, noise jamming etc.; Current equipment precision requirement is high, expensive, complex disposal process etc., also have impact on the use in engineering.In addition, in the man-machine interaction application of reality, the be far from eyeball of flexible rotating of the experience of fixing eyeball (video camera) is experienced superior, by force interactive.
Summary of the invention
The object of the present invention is to provide a kind ofly can arbitrarily angledly to watch attentively, the bionic eye device of three-dimensional reconstruction and bionic eye equipment, to solve in prior art the problems such as the high and experience effect of complex operation, equipment and computation complexity that eyeball (video camera) produces is not good enough of fixing.
For solving the problems of the technologies described above and other technical problems, the invention provides a kind of bionic eye device, comprising: bionical eyeball frame, there is the spherical spatial accommodation of indent; Be suspended in the bionical wall of eyeball at the open centre place of described bionical eyeball frame; Movable inner sleeve is in the bionical eyeball of described bionical wall of eyeball, and described bionical eyeball, described bionical wall of eyeball and described bionical eyeball frame belong to the same centre of sphere altogether, and described bionical eyeball rotates around the described centre of sphere in described bionical wall of eyeball; Video camera, the electric rotating machine laid successively from outside to inside in described bionical eyeball, advance motor and runner along the diameter shaft by the described centre of sphere and described bionical eyeball frame, wherein, the contact point of the motor shaft of the described centre of sphere, described electric rotating machine and described runner and described bionical eyeball frame inwall in line, the motor moving on described bionical eyeball frame inwall under the drive of described motor of advancing of advancing described in described runner is connected and fixed on by gear; Described motor of advancing is socketed on the motor shaft of described electric rotating machine, advance described in described electric rotating machine drives motor and described runner around diameter shaft rotate to control described runner towards, described electric rotating machine and described motor coordination running of advancing control the motion of described runner on described bionical eyeball frame inwall towards and move distance, thus drive described bionical Rotation of eyeball.
As mentioned above, bionic eye device provided by the invention, comprise bionical eyeball frame, bionical wall of eyeball, bionical eyeball, the video camera laid successively from outside to inside in bionical eyeball along the diameter shaft by the centre of sphere and bionical eyeball frame, electric rotating machine, to advance motor, and runner, the motion on bionical eyeball frame inwall that electric rotating machine and motor coordination running of advancing control runner towards and move distance, thus drive bionical eyeball in bionical wall of eyeball around centre of sphere flexible rotating, realize imitation biochemistry, make the machinery equipment being equipped with this bionic eye device can accomplish arbitrarily angled rotation, watch attentively, tracking objects moves, identify, to surrounding environment three-dimensional reconstruction.Our bionic eye mainly utilizes Eyeball motion information to carry out three-dimensional reconstruction, and coordinate for the trick in later stage, head eye and eyes and displacement, this technology has incomparable advantage.
The further improvement of bionic eye device of the present invention is, described bionical wall of eyeball is the open centre place being fixed on described bionical eyeball frame by the first radial fixed mount.
The further improvement of bionic eye device of the present invention is, described electric rotating machine is the central axis being fixed on described bionical eyeball by the second radial fixed mount.
The further improvement of bionic eye device of the present invention is, described electric rotating machine and described advancing to be provided with between motor for motor of advancing described in controlling along flexible back and forth the first electromagnetic switch of the motor shaft of described electric rotating machine.
The further improvement of bionic eye device of the present invention is, described in motor periphery of advancing be provided with for its flexible and bearing arrangement of rotating back and forth, described bearing arrangement is connected and fixed on described bionical eyeball by the 3rd radial fixed mount.
The further improvement of bionic eye device of the present invention is, described bearing arrangement comprises: the bearing fixed sleeves being connected and fixed on described bionical eyeball by described 3rd radial fixed mount, and described bearing fixed sleeves has polygonal fixed sleeves inner ring; Be embedded in the bearing outside in described bearing fixed sleeves, described bearing outside has the bearing outside outer ring and rounded outer race inner ring that match with the fixed sleeves inner ring of described bearing fixed sleeves; And the bearing be embedded in described bearing outside, the rolling element comprising bearing outer ring, bearing inner race and be positioned between described bearing outer ring and described bearing inner race, described bearing outer ring and described outer race inner ring suitable, the motor casing of described bearing inner race and described motor of advancing is suitable.
The further improvement of bionic eye device of the present invention is, motor of advancing described in described runner is positioned by a support, and the wheel shaft of described runner rotates in described support; And described in motor of advancing be provided with turning cylinder, the end of described turning cylinder is with fluted disc, and described runner is provided with the toothholder engaged with described fluted disc.
The further improvement of bionic eye device of the present invention is, the wheel shaft of described runner is provided with displacement transducer to determine the position of described runner relative to described bionical eyeball frame inwall.
The further improvement of bionic eye device of the present invention is, described bionical wall of eyeball offers through hole, is equipped with the second electromagnetic switch for controlling described bionical eyeball locking/startup in described through hole.
The further improvement of bionic eye device of the present invention is, the periphery of described bionical wall of eyeball is provided with multiple first limiting structure, described first limiting structure has via hole, the periphery of described bearing fixed sleeves is provided with multiple second limiting structure, described second limiting structure has via hole, utilizes a nonelastic line successively through end to end after the via hole of described first limiting structure and the via hole of described second limiting structure; Described first limiting structure is suspension ring or suspension type universal wheel, and described second limiting structure is suspension ring or suspension type universal wheel.
The further improvement of bionic eye device of the present invention is, described electric rotating machine is that steering wheel or stepper motor add displacement transducer, described in motor of advancing be that stepper motor adds displacement transducer.
The present invention separately provides a kind of bionic eye equipment, comprises two separate bionic eye devices.
The further improvement of bionic eye equipment of the present invention is, when the photo-sensitive cell imaging center of described video camera is overlapping with the described centre of sphere, by each autokinesis of the described bionical eyeball of two in two bionic eye devices, realize carrying out three-dimensional reconstruction to space object:
For arbitrary bionic eye device, with the centre of sphere of described bionical eyeball for initial point sets up a coordinate system xyz, wherein, x-axis represents left and right, and up and down, before and after z-axis overlaps with described diameter shaft and represents, R is the radius of sphericity of described bionical eyeball frame in y-axis representative;
X-axis is parallel with the first time direction of motion, the coordinate (0,0, R) of the initial position of described runner, initial motion direction (R, 0,0);
If it is p (x that the contact internal walls point of described runner and described bionical eyeball frame rotates the coordinate position after any distance towards any direction
end, y
end, z
end), then there is following corresponding relation:
Wherein, φ
i=d
i/ R degree, d
ifor the distance of rotating at every turn, θ
ifor each angle towards rotating;
Utilize formula (1), (2), (3), obtain p (x
end, y
end, z
end), by being converted to the p ' (-x of second half spherical coordinates corresponding
end,-y
end,-z
end);
Through laying respectively at the origin of coordinates line of two bionical eyeballs in two bionic eye devices, two coordinate system xyz axles are parallel to each other, be the new origin of coordinates with Two coordinate system initial point through the intermediate point of x-axis line, set up new coordinate system XYZ, when the bionical eyeball of two in two bionic eye devices watches same point P attentively simultaneously, their optical axis meets at this point simultaneously, and thus this point P and two, the left and right origin of coordinates form triangle, obtain the space coordinates of P point according to trigonometric function;
Obtain the space coordinates of P point according to trigonometric function, comprising:
Suppose: in the first bionic eye device, the z-axis of bionical eyeball and the angle of X-axis are A angle, in the second bionic eye device, the z-axis of bionical eyeball and the angle of X-axis are B angle, and described A angle plane or described B angle plane and X-axis horizontal plane angle are C angle;
Can obtain according to trigonometric function:
cosA＝-x/R， (4)
cosB＝-x
f/R
f， (5)
tanC＝-z/-y， (6)
Utilize formula (4), (5), (6), obtain A, the angle of B, C;
Suppose: the distance D in two bionic eyes between two coordinate origin lines; According to formula:
Or
Above formula (7), (8), (9) or (10), (11), (12) and obtain space any point coordinate P (X, Y, Z) will be substituted into apart from D.
Accompanying drawing explanation
Fig. 1 is the three-dimensional side view of bionic eye device of the present invention in a detailed description of the invention.
Fig. 2 is the decomposing schematic representation of Fig. 1.
Fig. 3 is bionic eye equipment of the present invention integrally-built three-dimensional side view in a detailed description of the invention.
Detailed description of the invention
The invention provides a kind of bionic eye device and comprise the bionic eye equipment of two separate bionic eye devices, bionic eye device all include utilize rotating mechanism and realize flexible rotating bionical eyeball and be assemblied in bionical epibulbar video camera, make the machinery equipment being equipped with bionic eye device can accomplish to watch attentively, tracking objects moves, identify, to surrounding environment three-dimensional reconstruction.
Below by way of specific instantiation, embodiments of the present invention are described, those skilled in the art the content disclosed by this description can understand other advantages of the present invention and effect easily.The present invention can also be implemented or be applied by detailed description of the invention different in addition, and the every details in this description also can based on different viewpoints and application, carries out various modification or change not deviating under spirit of the present invention.
It should be noted that, structure, ratio, size etc. that this description institute accompanying drawings illustrates, content all only in order to coordinate description to disclose, understand for person skilled in the art scholar and read, and be not used to limit the enforceable qualifications of the present invention, therefore the not technical essential meaning of tool, the adjustment of the modification of any structure, the change of proportionate relationship or size, do not affecting under effect that the present invention can produce and the object that can reach, still all should drop on disclosed technology contents and obtain in the scope that can contain.Simultaneously, quote in this description as " on ", D score, "left", "right", " centre " and " one " etc. term, also only for ease of understanding of describing, and be not used to limit the enforceable scope of the present invention, the change of its relativeness or adjustment, under changing technology contents without essence, when being also considered as the enforceable category of the present invention.
Referring again to Fig. 1 and Fig. 2, wherein, Fig. 1 is the three-dimensional side view of bionic eye device in a detailed description of the invention, and Fig. 2 is the decomposing schematic representation of Fig. 1.Existing composition graphs 1 and Fig. 2, bionic eye device 11 of the present invention comprises: bionical eyeball frame 101, bionical wall of eyeball 103 and the bionic eye spherical structure rotated relative to bionical eyeball frame 101 and bionical wall of eyeball 103.
Bionical eyeball frame 101 is hemispherical dome structure, has the spherical spatial accommodation of indent as eye socket.
Bionical wall of eyeball 103, be suspended in the open centre place of bionical eyeball frame 101, in the present embodiment, bionical wall of eyeball 103 is ball structure, it is the open centre place being fixed on bionical eyeball frame 101 by the first radial fixed mount 102, and the first radial fixed mount 102 comprises the multiple installation spokes evenly arranged.
Movable inner sleeve is included in the bionical eyeball 105 that can rotate arbitrarily of bionical wall of eyeball 103 in described bionic eye spherical structure.In the present embodiment, bionical eyeball 105 is the ball structure with bionical wall of eyeball 103.Especially, under a preferred situation, bionical eyeball 105, bionical wall of eyeball 103 and bionical eyeball frame 101 all have hollow ball structure, and three is the setting of the same centre of sphere, namely, bionical eyeball 105, bionical wall of eyeball 103 and bionical eyeball frame 101 belong to the same centre of sphere altogether, and so, bionical eyeball 105 rotates around the described centre of sphere in bionical wall of eyeball 103.
Video camera 107, the electric rotating machine 109 laid successively from outside to inside in bionical eyeball 105, advance motor 111 and runner 113 along the diameter shaft by the described centre of sphere and bionical eyeball frame 101 is also comprised in bionic eye spherical structure, wherein, comprise three parts of the contact point of the described centre of sphere, the motor shaft of electric rotating machine 109 and the inwall of runner 113 and bionical eyeball frame 101 in line (that is, this straight line overlaps with described diameter shaft).In the present embodiment, video camera 107 can configure corresponding camera lens (such as wide-angle lens) according to application scenarios.
Electric rotating machine 109 is the central axis being connected and fixed on bionical eyeball 105 by the second radial fixed mount 104, and the second radial fixed mount 104 comprises the multiple installation spokes evenly arranged.In the present embodiment, electric rotating machine 109 can adopt steering wheel, but not as limit, in other embodiments, electric rotating machine 109 also can adopt stepper motor, is configured with the displacement transducer be combined with described stepper motor simultaneously.
Motor 111 of advancing is socketed on the motor shaft 108 of electric rotating machine 109, motor 111 periphery of advancing is provided with for its flexible and bearing arrangement of rotating back and forth, described bearing arrangement is connected and fixed on bionical eyeball 105 by the 3rd radial fixed mount 106, so, motor 111 entirety of advancing can be driven to be rotated by described bearing arrangement under the motor shaft 108 of electric rotating machine 109 operates.In the present embodiment, electric rotating machine 109 can adopt stepper motor, is configured with the displacement transducer be combined with described stepper motor simultaneously.Further, described bearing arrangement more comprises: the bearing fixed sleeves 121 being convexly equipped in (the 3rd radial fixed mount 106 comprises the multiple installation spokes evenly arranged) bionical eyeball 105 by the 3rd radial fixed mount 106, and bearing fixed sleeves 121 has polygonal fixed sleeves inner ring; Be embedded in the bearing outside 123 in bearing fixed sleeves 121, bearing outside 123 has the bearing outside outer ring and rounded outer race inner ring that match with the fixed sleeves inner ring of bearing fixed sleeves 121; And the bearing 125 be embedded in bearing outside 123, the rolling element comprising bearing outer ring, bearing inner race and be positioned between described bearing outer ring and described bearing inner race, described bearing outer ring and described outer race inner ring suitable, described bearing inner race is suitable with the motor casing 110 of motor 111 of advancing, the inserting hole that the motor shaft 108 that the motor casing 110 of advancing motor 111 has confession electric rotating machine 109 plugs, 112, the motor of motor 111 of advancing is built in motor casing 110.Advancing motor 111 not only can by the motor shaft 108 of electric rotating machine 109 by electric rotating machine 109 driven rotary, also can along motor shaft 108 movable telescopic of electric rotating machine 109 in electric rotating machine 109, therefore, the motor shaft 108 of electric rotating machine 109 is also provided with the first electromagnetic switch (not shown in the drawings), like this, by described first electromagnetic switch can control to advance motor 111 along motor shaft 108 movable telescopic in electric rotating machine 109.Preferably, motor shaft 108 also can be arranged with elastic component (such as extension spring, elastic washer etc.) or the elastic component (such as extension spring, elastic washer etc.) corresponding to motor shaft 108 end is set in the bottom of described inserting hole, so, under the control of described first electromagnetic switch, utilize elastic component control better to advance motor 111 along motor shaft 108 movable telescopic in electric rotating machine 109.
Runner 113 is connected and fixed on by gear motor 111 of advancing, in the present embodiment, runner 113 to be positioned to advance motor 111 by gear-linked in motor 111 of advancing by a support 114, the wheel shaft of runner 113 rotates in support 114, further, motor 111 of advancing is provided with the turning cylinder be connected with motor 112, and the end of turning cylinder, with fluted disc, runner 113 is then provided with the toothholder engaged with described fluted disc.Have again, the wheel shaft of runner 113 is provided with displacement transducer 115, and preferably, displacement transducer 115 is photoelectric displacement sensor, be used for feeding back the self-position of runner 113, thus directly can determine the position of bionical eyeball 105 relative to the spherical inner wall of bionical eyeball frame 101.In addition, because runner 113 is positioned motor 111 of advancing, therefore, in the diameter shaft of bionical eyeball frame 101, runner 113 and motor 111 of advancing are synchronized with the movement.In the present embodiment, as previously mentioned, by described first electromagnetic switch can control to advance motor 111 along motor shaft 108 movable telescopic in electric rotating machine 109, in fact, strictly speaking, namely, by described first electromagnetic switch can control to advance motor 111 and runner 113 along motor shaft 108 movable telescopic in electric rotating machine 109, wherein: when advance motor 111 and runner 113 along motor shaft 108, activity is stretched out and away from electric rotating machine 109 time, runner 113 is now the spherical inner wall being resisted against bionical eyeball frame 101; When advance motor 111 and runner 113 along motor shaft 108 active contractile and near electric rotating machine 109 time, runner 113 be now be away from bionical eyeball frame 101 spherical inner wall and be in vacant state.
Misroute dynamic for avoiding bionical eyeball 105 relative to bionical wall of eyeball 103 generation, occur not need or unnecessary rotation, preferably, bionical wall of eyeball 103 also offers through hole 116, in through hole 116, be equipped with the second electromagnetic switch 117 for control biomimetics eyeball 105 locking/startup.Particularly, be equipped with a braking latch pin in described through hole, described braking latch pin controls by the second electromagnetic switch 117 and can realize flexible with the effect playing brake.Particularly: when the second electromagnetic switch 117 closes (or startup), described braking latch pin controlled activity stretches out in described through hole (moving towards the bionical eyeball 105 in bionical wall of eyeball 103) and relies on the outer wall of the bionical eyeball 105 in bionical wall of eyeball 103, plays the effect of control biomimetics eyeball 105 locking; When the second electromagnetic switch 117 opens (or closedown), described braking latch pin controlled activity shrinks in described through hole (moving towards the second electromagnetic switch 117 outside bionical wall of eyeball 103), braking latch pin is no longer produced the bionical eyeball 105 in bionical wall of eyeball 103 interfere, play control biomimetics eyeball 105 startup effect.
Also have, in running, the problem rotated around described diameter shaft self is produced for preventing bionical eyeball 105, the periphery of bionical wall of eyeball 103 is provided with multiple first limiting structure 118, first limiting structure 118 has via hole, the periphery of bearing fixed sleeves 121 is provided with multiple second limiting structure 122, second limiting structure 122 and has via hole, utilizes a nonelastic line successively through end to end after the via hole of the first limiting structure 118 and the via hole of the second limiting structure 122.In a preferred embodiment: the first limiting structure 118 and the second limiting structure 122 are affixed suspension ring, or the first limiting structure 118 and the second limiting structure 122 are affixed suspension type universal wheel.Described nonelastic line can adopt the steel wire rope that degree of drawing is extremely low.For suspension type universal wheel and steel wire rope, the periphery of bionical wall of eyeball 103 is provided with 4 suspension type universal wheels, the periphery of bearing fixed sleeves 121 is provided with 4 suspension type universal wheels, end to end pass the via hole of these 8 suspension type universal wheels up and down successively with a nonelastic line (such as steel wire rope) after, can prevent bionical eyeball 105 from rotating around described diameter shaft self, simultaneously can also arbitrarily angled movement.
Below for overall operation one general description of single bionic eye device 11:
Under ideal conditions, we wish the optical axis of video camera 107 and overlap with the diameter shaft of bionical eyeball frame 101, and the center of the photo-sensitive cell in video camera 107 overlaps with the centre of sphere of bionical eyeball frame 101.Suppose that we have drafted the target location of the bionical eyeball 105 being configured with video camera 107 in advance, determine the movement locus of bionical eyeball 105 according to current location (determining by the photoelectric displacement sensor as displacement transducer 115 be located on the wheel shaft of runner 113) and the target location of drafting; (utilize the second electromagnetic switch 117 to control braking latch pin activity when bionical eyeball 105 locking and stretch out in described through hole (moving towards the bionical eyeball 105 in bionical wall of eyeball 103) and the outer wall relying on the bionical eyeball 105 in bionical wall of eyeball 103, locking lives bionical eyeball 105), utilize the first electromagnetic switch control to advance motor 111 along motor shaft 108 active contractile near electric rotating machine 109, the motor 111 that makes to advance drives runner 113 leave the inwall of bionical eyeball frame 101 and be in vacant state; Electric rotating machine 109 starts, driven advance motor 111 and runner 113 to rotate by the motor shaft 108 on electric rotating machine 109, thus make runner 113 deflect according to the described movement locus determined corresponding walking angle with obtain motion on bionical eyeball frame 101 inwall towards, and after runner 113 deflection puts in place, namely electric rotating machine 109 stops; Utilizing described first electromagnetic switch to control to advance motor 111, along motor shaft 108, activity is stretched out and away from electric rotating machine 109, the motor 111 that makes to advance drive runner 113 to be close to bionical eyeball frame 101 and final with the motion adjusted towards the inwall being contacted with bionical eyeball frame 101; The second electromagnetic switch 117 is utilized to control described braking latch pin active contractile in described through hole (moving towards the second electromagnetic switch 117 outside bionical wall of eyeball 103), braking latch pin is no longer produced the bionical eyeball 105 in bionical wall of eyeball 103 interfere, start bionical eyeball 105; Motor 111 of advancing operates, advance motor 111 turning cylinder rotate, by the fluted disc of turning cylinder end and coordinating of the toothholder on runner 113, runner 113 is driven to rotate, on the inwall of bionical eyeball frame 101 with the motion adjusted towards advancing, drive bionical eyeball 105 to rotate, utilize motor 111 of advancing, the move distance of runner 113 on bionical eyeball frame 103 inwall can be controlled; By the running of above-mentioned first electromagnetic switch, electric rotating machine 109 and motor 111 of advancing, runner 113 final line is made to enter target location, advance after putting in place, second electromagnetic switch 117 controls braking latch pin activity and stretches out in described through hole (moving towards the bionical eyeball 105 in bionical wall of eyeball 103) and the outer wall relying on the bionical eyeball 105 in bionical wall of eyeball 103, and locking lives bionical eyeball 105.So, the activity of bionic eye spherical structure is completed.
We realize watching attentively for bionic eye device of the present invention and three-dimensional reconstruction is described below: for any blinkpunkt, coordinate (x is obtained by two dimensional image, y), represent upper and lower and left and right respectively, draw (z) by focal length of camera, the degree of depth before and after representing, combines (x, y, z) namely represent any blinkpunkt space coordinates.
Referring to Fig. 3, is bionic eye equipment of the present invention integrally-built three-dimensional side view in a detailed description of the invention.As shown in Figure 3, bionic eye equipment of the present invention comprises two separate bionic eye devices 11, in the present embodiment, two bionic eye devices 11 are linked together by the link 12 be positioned between the two, here link 12 is such as straight connecting plate, two bionic eye devices 11 be respectively in link 12 opposite end and for same as (forward).But, it should be noted that, the structure of above-mentioned link 12 and the setting of two bionic eye devices 11 are only an example explanation, not for limiting the present invention, in other embodiments, the structure of link 12 still can have other to change, such as: in an alternate embodiment, link 12 is triangle boomerang type or arcuate structure, thus makes the visual field of two the bionic eye devices 11 connected by link 12 towards having certain angle; In another alternate embodiment, link inessential structure, namely, in bionic eye equipment of the present invention, also link can be dispensed, without the need to linking together by link between two bionic eye devices 11, as long as two bionic eye devices 11 are supported by other supporting constructions, such two bionic eye devices 11 can have more set-up mode, and they coordinate the bionic eye equipment formed just can realize the change of the more visual field, can be adapted in more application scenarios.
Composition graphs 1, Fig. 2 and Fig. 3, bionic eye equipment provided by the invention, include two separate bionic eye devices 11, each bionic eye device 11 comprises bionical eyeball frame 101, bionical wall of eyeball 103, bionical eyeball 105, video camera 107, the electric rotating machine 109 laid successively from outside to inside in bionical eyeball 105, advance motor 111 and runner 113 along the diameter shaft by the centre of sphere and bionical eyeball frame 101.
The process that we realize watching attentively for two bionic eye devices in bionic eye equipment of the present invention is below described:
1) position of bionical eyeball 105 and the angle (such as level 0 degree) of runner 113, is initialized;
2) the 2D image that video camera 107 is taken, is extracted;
3), the center of the 2D image of this picked-up is current fixation point C (0,0), and suppose that the next object coordinates that will watch attentively is N, on two dimensional image, coordinate is set to N (x, y), identifies N place body form;
4), according to coordinate N (x, y), obtain anglec of rotation tan α=x/y, control the second electromagnetic switch 117 and the first electromagnetic switch successively, the contact of the bionical eyeball of locking 105 and separation runner 113 and bionical eyeball socket of the eye 101 inwall;
5), by electric rotating machine 109 drive runner to rotate α degree, control the first electromagnetic switch and the second electromagnetic switch 117 successively, after making runner 113 and bionical eyeball frame 101 contact internal walls, start motor of advancing;
6), electric machine rotation of advancing, control runner 113 advance at bionical eyeball frame 101 inwall;
7), from current fixation point C (0,0) in target blinkpunkt N (x, y) process, the body form at body form that each two field picture center or specific region constantly change and N place is contrasted, when comparing result is identical, motor 111 of advancing stops operating;
8), now the object of the central point (that is, target blinkpunkt) of image be the object at N (x, y) place on original image, complete from C (0,0) point to N (x, y) put watch process attentively.
When two, left and right bionic eye watches this N (x, y) point attentively simultaneously, circulate this process, and that can simulate human eye watches process attentively.
Utilize bionic eye equipment of the present invention to carry out three-dimensional reconstruction process to be described in detail:
(1), in the ideal case (optical axis of video camera and overlap with the diameter shaft of bionical eyeball frame, the center of the photo-sensitive cell in video camera overlaps with the centre of sphere of bionical eyeball frame)
By the movable information of bionical eyeball in the bionic eye device 11 of two, left and right, set up following Mathematical Modeling, three-dimensional reconstruction carried out to space object:
For arbitrary bionic eye device 11, with the centre of sphere of bionical eyeball 105 for initial point sets up a coordinate system xyz, wherein, x-axis represents left and right, and up and down, before and after z-axis overlaps with described diameter shaft and represents, R is the radius of sphericity of described bionical eyeball frame in y-axis representative;
X-axis is parallel with the first time direction of motion, the coordinate (0,0, R) of the initial position of runner 113, initial motion direction (R, 0,0);
If it is p (x that runner 113 rotates the coordinate position after any distance with the contact internal walls point of bionical eyeball frame 101 towards any direction
end, y
end, z
end), then there is following corresponding relation:
Wherein, φ
i=d
i/ R degree, d
ifor the distance of rotating at every turn, θ
ifor each angle towards rotating;
Utilize formula (1), (2), (3), obtain p (x
end, y
end, z
end), by being converted to the p ' (-x of second half spherical coordinates corresponding
end,-y
end,-z
end);
Through laying respectively at the origin of coordinates line of two bionical eyeballs 105 in two bionic eye devices 11, two coordinate system xyz axles are parallel to each other, be the new origin of coordinates with Two coordinate system initial point through the intermediate point of x-axis line, set up new coordinate system XYZ, when the bionical eyeball 105 of two in two bionic eye devices 11 watches same point P attentively simultaneously, their optical axis meets at this point simultaneously, and thus this point P and two, the left and right origin of coordinates form triangle, obtain the space coordinates of P point according to trigonometric function.
Suppose: in left bionic eye device 11, the z-axis of bionical eyeball 105 and the angle of X-axis are A angle, in right bionic eye device 11, the z-axis of bionical eyeball 105 and the angle of X-axis are B angle, and described A angle plane or described B angle plane and X-axis horizontal plane angle are C angle;
Can obtain according to trigonometric function:
cosA＝-x/R， (4)
cosB＝-x
f/R
f， (5)
tanC＝-z/-y， (6)
Utilize formula (4), (5), (6), obtain A, the angle of B, C;
Suppose: the distance D in two bionic eyes between two coordinate origin lines; According to formula:
Or
Above formula (7), (8), (9) or (10), (11), (12) and obtain space any point coordinate P (X, Y, Z) will be substituted into apart from D.
(2), under non-ideal condition (namely worker artistic skill now make the optical axis of video camera as far as possible and half journal axle overlapping, try one's best and centre of sphere overlap in the center of video camera photo-sensitive cell, but be difficult to accomplish complete overlap), after the position of video camera 107 in bionical eyeball 105 is fixing, the point of movable information namely and in two bit images of eyeball fixes process produces corresponding relation, this relation can draw function by the mode of Mathematical Fitting, carries out three-dimensional reconstruction.
In sum, the invention provides bionic eye device and comprise the bionic eye equipment of two separate bionic eye devices, bionic eye device comprises bionical eyeball frame, bionical wall of eyeball, bionical eyeball, the video camera laid successively from outside to inside in bionical eyeball along the diameter shaft by the centre of sphere and bionical eyeball frame, electric rotating machine, to advance motor, and runner, the motion on bionical eyeball frame inwall that electric rotating machine and motor coordination running of advancing control runner towards and move distance, thus drive bionical eyeball in bionical wall of eyeball around centre of sphere flexible rotating, realize imitation biochemistry, make the machinery equipment being equipped with this bionic eye device can accomplish to watch attentively, tracking objects moves, identify, to surrounding environment three-dimensional reconstruction.Our bionic eye mainly utilizes Eyeball motion information to carry out three-dimensional reconstruction, and coordinate for the trick in later stage, head eye and eyes and displacement, this technology has incomparable advantage.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any person skilled in the art scholar all without prejudice under spirit of the present invention and category, can modify above-described embodiment or changes.Therefore, such as have in art usually know the knowledgeable do not depart from complete under disclosed spirit and technological thought all equivalence modify or change, must be contained by claim of the present invention.
Claims (13)
1. can arbitrarily angledly watch attentively, the bionic eye device of three-dimensional reconstruction, it is characterized in that, comprising:
Bionical eyeball frame, has the spherical spatial accommodation of indent;
Be suspended in the bionical wall of eyeball at the open centre place of described bionical eyeball frame;
Movable inner sleeve is in the bionical eyeball of described bionical wall of eyeball, and described bionical eyeball, described bionical wall of eyeball and described bionical eyeball frame belong to the same centre of sphere altogether, and described bionical eyeball rotates around the described centre of sphere in described bionical wall of eyeball;
Video camera, the electric rotating machine laid successively from outside to inside in described bionical eyeball, advance motor and runner along the diameter shaft by the described centre of sphere and described bionical eyeball frame, wherein, the contact point of the motor shaft of the described centre of sphere, described electric rotating machine and described runner and described bionical eyeball frame inwall in line, the motor moving on described bionical eyeball frame inwall under the drive of described motor of advancing of advancing described in described runner is connected and fixed on by gear; Described motor of advancing is socketed on the motor shaft of described electric rotating machine, advance described in described electric rotating machine drives motor and described runner around diameter shaft rotate to control described runner towards, described electric rotating machine and described motor coordination running of advancing control the motion of described runner on described bionical eyeball frame inwall towards and move distance, thus drive described bionical Rotation of eyeball.
2. bionic eye device as claimed in claim 1, it is characterized in that, described bionical wall of eyeball is the open centre place being fixed on described bionical eyeball frame by the first radial fixed mount.
3. bionic eye device as claimed in claim 1, it is characterized in that, described electric rotating machine is the central axis being fixed on described bionical eyeball by the second radial fixed mount.
4. bionic eye device as claimed in claim 1, is characterized in that, described electric rotating machine and described advancing to be provided with between motor for motor of advancing described in controlling along flexible back and forth the first electromagnetic switch of the motor shaft of described electric rotating machine.
5. bionic eye device as claimed in claim 1, is characterized in that, described in motor periphery of advancing be provided with for its flexible and bearing arrangement of rotating back and forth, described bearing arrangement is connected and fixed on described bionical eyeball by the 3rd radial fixed mount.
6. bionic eye device as claimed in claim 5, it is characterized in that, described bearing arrangement comprises:
Be connected and fixed on the bearing fixed sleeves of described bionical eyeball by described 3rd radial fixed mount, described bearing fixed sleeves has polygonal fixed sleeves inner ring;
Be embedded in the bearing outside in described bearing fixed sleeves, described bearing outside has the bearing outside outer ring and rounded outer race inner ring that match with the fixed sleeves inner ring of described bearing fixed sleeves; And
Be embedded in the bearing in described bearing outside, the rolling element comprising bearing outer ring, bearing inner race and be positioned between described bearing outer ring and described bearing inner race, described bearing outer ring and described outer race inner ring suitable, the motor casing of described bearing inner race and described motor of advancing is suitable.
7. bionic eye device as claimed in claim 1, is characterized in that,
Advance described in described runner is positioned by a support motor, the wheel shaft of described runner rotates in described support; And
Described motor of advancing is provided with turning cylinder, and the end of described turning cylinder is with fluted disc, and described runner is provided with the toothholder engaged with described fluted disc.
8. bionic eye device as claimed in claim 7, is characterized in that, the wheel shaft of described runner is provided with displacement transducer to determine the position of described runner relative to described bionical eyeball frame inwall.
9. bionic eye device as claimed in claim 1, is characterized in that, described bionical wall of eyeball offers through hole, being equipped with the second electromagnetic switch for controlling described bionical eyeball locking/startup in described through hole.
10. bionic eye device as claimed in claim 1, it is characterized in that, the periphery of described bionical wall of eyeball is provided with multiple first limiting structure, described first limiting structure has via hole, the periphery of described bearing fixed sleeves is provided with multiple second limiting structure, described second limiting structure has via hole, utilizes a nonelastic line successively through end to end after the via hole of described first limiting structure and the via hole of described second limiting structure; Described first limiting structure is suspension ring or suspension type universal wheel, and described second limiting structure is suspension ring or suspension type universal wheel.
11. bionic eye devices as claimed in claim 1, is characterized in that, described electric rotating machine is that steering wheel or stepper motor add displacement transducer, described in motor of advancing be that stepper motor adds displacement transducer.
12. 1 kinds of bionic eye equipment, is characterized in that, comprise separate two bionic eye devices according to any one of claim 1 to 11.
13. bionic eye equipment as claimed in claim 12, is characterized in that,
When the photo-sensitive cell imaging center of described video camera is overlapping with the described centre of sphere, by each autokinesis of the described bionical eyeball of two in two bionic eye devices, realize carrying out three-dimensional reconstruction to space object:
For arbitrary bionic eye device, with the centre of sphere of described bionical eyeball for initial point sets up a coordinate system xyz, wherein, x-axis represents left and right, and up and down, before and after z-axis overlaps with described diameter shaft and represents, R is the radius of sphericity of described bionical eyeball frame in y-axis representative;
X-axis is parallel with the first time direction of motion, the coordinate (0,0, R) of the initial position of described runner, initial motion direction (R, 0,0);
If it is p (x that the contact internal walls point of described runner and described bionical eyeball frame rotates the coordinate position after any distance towards any direction
end, y
end, z
end), then there is following corresponding relation:
Wherein, φ
i=d
i/ R degree, d
ifor the distance of rotating at every turn, θ
ifor each angle towards rotating;
Utilize formula (1), (2), (3), obtain p (x
end, y
end, z
end), by being converted to the p ' (-x of second half spherical coordinates corresponding
end,-y
end,-z
end);
Through laying respectively at the origin of coordinates line of two bionical eyeballs in two bionic eye devices, two coordinate system xyz axles are parallel to each other, be the new origin of coordinates with Two coordinate system initial point through the intermediate point of x-axis line, set up new coordinate system XYZ, when the bionical eyeball of two in two bionic eye devices watches same point P attentively simultaneously, their optical axis meets at this point simultaneously, and thus this point P and two, the left and right origin of coordinates form triangle, obtain the space coordinates of P point according to trigonometric function;
Obtain the space coordinates of P point according to trigonometric function, comprising:
Suppose: in the first bionic eye device, the z-axis of bionical eyeball and the angle of X-axis are A angle, in the second bionic eye device, the z-axis of bionical eyeball and the angle of X-axis are B angle, and described A angle plane or described B angle plane and X-axis horizontal plane angle are C angle;
Can obtain according to trigonometric function:
cosA＝-x/R， (4)
cosB＝-x
f/R
f， (5)
tanC＝-z/-y， (6)
Utilize formula (4), (5), (6), obtain A, the angle of B, C;
Suppose: the distance D in two bionic eyes between two coordinate origin lines; According to formula:
Or
Above formula (7), (8), (9) or (10), (11), (12) and obtain space any point coordinate P (X, Y, Z) will be substituted into apart from D.
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