CN104999480B - Arbitrarily angled can watch attentively, the bionical eye device of three-dimensional reconstruction and bionic eye equipment - Google Patents

Abstract

The present invention provide a kind of arbitrarily angled can watch attentively, the bionical eye device of three-dimensional reconstruction and bionic eye equipment, bionical eye device includes：Bionical eyeball frame, with spherical or subsphaeroidal receiving space；It is suspended in the bionical wall of eyeball of bionical eyeball frame opening；The bionical eyeball of bionic eye ball wall is inside placed on, and bionical eyeball, bionical wall of eyeball and bionical eyeball frame belong to the same centre of sphere altogether；Video camera, motor and the runner that is laid successively in bionical eyeball from outside to inside by diameter shaft；Operated by motor come the motion direction and move distance that runner are controlled on bionical eyeball inframe wall, so as to drive bionical Rotation of eyeball in bionical wall of eyeball around centre of sphere flexible rotating, realize the arbitrarily angled rotation of bionical eyeball, watch attentively and three-dimensional reconstruction.

Description

Arbitrarily angled can watch attentively, the bionical eye device of three-dimensional reconstruction and bionic eye equipment

Technical field

The invention belongs to Intelligent bionic machinery people's technical field, more particularly to one kind arbitrarily angled can watch attentively, three-dimensional reconstruction Bionical eye device and bionic eye equipment.

Background technology

Human perception objective world overwhelming majority information is all the visual information for needing to obtain by eyes, to robot For, " robot eyes " are also important awareness apparatus.Current robot needs to have human eye various functions in a hurry Bionic machine human eye.There are such robot eye, robot vision technology and robot technology obtain huge development.

Although through the development of more than 20 years, from the point of view of practical application angle, existing stereovision technique is not also in The stage of ripeness, this not exclusively to arrive technical reason, also in that the mankind are not also understood thoroughly to itself vision mechanism. Current computer vision adopts relatively-stationary two camera systems in position or moveable single camera device mostly, Obvious and the rotatable eyeball formation of mankind's a pair of the vision of this visual manner is disagreed.Graphics is obtained by two dimensional image As there is a problem of much being difficult to overcome, such as：Need to demarcate thing, cumbersome；Data volume is big, calculates effect bad；Gray scale Distortion, geometric distortion, noise jamming etc.；Current equipment precision requirement is high, expensive, complex disposal process etc., also affects Use in engineering.In addition, in actual man-machine interaction application, the experience of fixed eyeball (video camera) is far from flexibly The eyeball experience of rotation is superior, interactive strong.

Content of the invention

It is an object of the invention to provide a kind of arbitrarily angled can watch attentively, the bionical eye device of three-dimensional reconstruction and bionic eye set Standby, to solve to fix in prior art, cumbersome, equipment and computation complexity produced by eyeball (video camera) is high, Yi Jiti The problems such as testing less effective.

For solving above-mentioned technical problem and other technical problems, the present invention provides a kind of bionical eye device, including：Bionic eye Ball frame, the spherical or subsphaeroidal receiving space with indent；It is suspended in the bionic eye of the opening center of the bionical eyeball frame Ball wall；Movable inner sleeve in the bionical eyeball of the bionical wall of eyeball, the bionical eyeball, the bionical wall of eyeball and described Bionical eyeball frame belongs to the same centre of sphere altogether, and the bionical eyeball can be rotated around the centre of sphere in the bionical wall of eyeball；Along logical Cross video camera that the centre of sphere laid in the bionical eyeball from outside to inside successively with the diameter shaft of the bionical eyeball frame, Motor and runner；Motion direction of the runner on the bionical eyeball inframe wall is controlled by motor running And move distance, so as to drive the bionical Rotation of eyeball.

As described above, the bionical eye device that the present invention is provided, including bionical eyeball frame, bionical wall of eyeball, bionical eyeball, edge The video camera laid successively in bionical eyeball from outside to inside with the diameter shaft of bionical eyeball frame by the centre of sphere, motor and Runner, controls the motion direction on bionical eyeball inframe wall and the move distance of runner by motor running, so as to Drive bionical eyeball in bionical wall of eyeball around centre of sphere flexible rotating, realize imitation biochemistry so that be equipped with the bionical eye device Machinery equipment can be accomplished arbitrarily angled rotation, be watched attentively, follow the trail of object movement, and identification, to surrounding environment three-dimensional reconstruction.We Bionic eye mainly carries out three-dimensional reconstruction using Eyeball motion information, the trick, head eye and eyes and displacement for the later stage In coordination, this technology has incomparable advantage.

Of the invention bionical eye device further improvement is that the bionical wall of eyeball is by the first radial fixed mount It is fixed on the opening center of the bionical eyeball frame.

Of the invention bionical eye device further improvement is that the motor includes electric rotating machine and traveling motor, described The contact point of the centre of sphere, the motor shaft of the electric rotating machine and the runner and the bionical eyeball inframe wall in line, institute State runner and the traveling motor is connected and fixed on and under the drive of the traveling motor in the bionical eyeball by gear Move on inframe wall；The traveling motor is socketed on the motor shaft of the electric rotating machine, and the electric rotating machine drives the row Stepper motor and the runner rotate to control the direction of the runner around diameter shaft.

Bionical eye device of the invention further improvement is that the electric rotating machine is solid by the second radial fixed mount Central axis due to the bionical eyeball；And, it is provided with for controlling between the electric rotating machine and the traveling motor Traveling motor is stated along the first flexible back and forth electromagnetic switch of the motor shaft of the electric rotating machine.

Bionical eye device of the invention further improvement is that the traveling motor periphery is provided with The bearing arrangement for turning, the bearing arrangement are connected and fixed on the bionical eyeball by the 3rd radial fixed mount.

Of the invention bionical eye device further improvement is that the bearing arrangement includes：Radial by the described 3rd Fixed mount is connected and fixed on the bearing fixed sleeves of the bionical eyeball, and the bearing fixed sleeves have polygonal outer fixation Set inner ring；The bearing outside being embedded in the bearing fixed sleeves, the bearing outside have and the bearing fixed sleeves Fixed sleeves inner ring match bearing outside outer ring and rounded outer race inner ring；And it is embedded in the bearing outside Interior bearing, including bearing outer ring, bearing inner race and the rolling element being positioned between the bearing outer ring and the bearing inner race, The bearing outer ring is adapted with the outer race inner ring, and the bearing inner race is suitable with the motor shell phase of the traveling motor Match somebody with somebody.

Bionical eye device of the invention further improvement is that, the runner by a support be positioned at described advance electric Machine, the wheel shaft of the runner rotate in the support；And the traveling motor is provided with rotary shaft, the end of the rotary shaft Fluted disc is carried, the runner is provided with the toothholder engaged with the fluted disc.

Further improvement is that for bionical eye device of the invention, is provided with displacement transducer really on the wheel shaft of the runner Position of the fixed runner relative to the bionical eyeball inframe wall.

Of the invention bionical eye device further improvement is that the electric rotating machine is that steering wheel or stepper motor add position Displacement sensor, the traveling motor are that stepper motor adds displacement transducer.

Further improvement is that for bionical eye device of the invention, offers through hole on the bionical wall of eyeball, described logical It is equipped with hole for controlling the second electromagnetic switch of the bionical eyeball locking/startup.

Bionical eye device of the invention further improvement is that the periphery of the bionical wall of eyeball is provided with multiple first and limits Structure, the periphery that first limiting structure has via, the bearing fixed sleeves are provided with multiple second limiting structures, described Second limiting structure has via, sequentially passes through the via of first limiting structure and second limit using a nonelastic line End to end after the via of structure processed；First limiting structure is suspension ring or suspension type universal wheel, second limiting structure For suspension ring or suspension type universal wheel.

The present invention separately provides a kind of bionic eye equipment, including two separate bionical eye devices.

Bionic eye equipment of the present invention further improvement is that, the video camera photo-sensitive cell imaging center with described In the case that the centre of sphere is overlapped, by each autokinesis of two bionical eyeballs in two bionical eye devices, realize to space Object carries out three-dimensional reconstruction：

For arbitrary bionical eye device, a coordinate system xyz, wherein, x-axis are set up as origin with the centre of sphere of the bionical eyeball Represent left and right, y-axis is represented up and down, z-axis and the diameter overlapping of axles and before and after representing, R is the spheroid half of the bionical eyeball frame Footpath；

X-axis is parallel with the first time direction of motion, the coordinate (0,0, R) of the initial position of the runner, initial motion direction (R,0,0)；

If the runner rotates the coordinate after any distance with the inwall contact point of the bionical eyeball frame towards any direction Position is p (x_end,y_end,z_end), then there is following corresponding relation：

Wherein, φ_i=d_i/ R degree, d_iFor the distance for rotating every time, θ_iFor every time towards the angle for rotating；

Using formula (1), (2), (3), p (x are obtained_end,y_end,z_end), by being converted to second half spherical coordinates corresponding p’(-x_end,-y_end,-z_end)；

Through being located at the origin of coordinates line of two bionical eyeballs in two bionical eye devices, two coordinate system xyz respectively Axle is parallel to each other, with Two coordinate system origin through x-axis line intermediate point as the new origin of coordinates, set up new coordinate system XYZ, when two When two bionical eyeballs in bionical eye device watch same point P attentively simultaneously, their optical axis meets at this point simultaneously, thus this Point P and the origin of coordinates of left and right two form triangle, obtain the space coordinates of P points according to trigonometric function；

The space coordinates of P points is obtained according to trigonometric function, including：

Assume：In first bionical eye device, the z-axis of bionical eyeball is A angles with the angle of X-axis, in the second bionical eye device The z-axis of bionical eyeball is B angles with the angle of X-axis, and the A angles plane or the B angles plane with X-axis horizontal plane angle are C angles；

Can be obtained according to trigonometric function：

CosA=-x/R, (4)

CosB=-x_f/R_f, (5)

TanC=-z/-y, (6)

Using formula (4), (5), (6), A, the angle of B, C is obtained；

Assume：The distance between two coordinate origin lines D in two bionic eyes；According to formula：

Or

Will apart from D substitute into above formula (7), (8), (9) or (10), (11), (12) and obtain space any point coordinate P (X,Y,Z).

Description of the drawings

Fig. 1 is three-dimensional side view of the bionical eye device of the invention in a specific embodiment.

Decomposing schematic representations of the Fig. 2 for Fig. 1.

Fig. 3 is bionic eye equipment of the present invention integrally-built three-dimensional side view in a specific embodiment.

Specific embodiment

The invention provides a kind of bionical eye device and the bionic eye equipment including two separate bionical eye devices, Bionical eye device includes using rotating mechanism and realizes the bionical eyeball of flexible rotating and be assemblied in bionical epibulbar take the photograph Camera so that the machinery equipment for being equipped with bionical eye device can accomplish to watch attentively, follows the trail of object movement, and identification, to surrounding environment Three-dimensional reconstruction.

Embodiments of the present invention are described below by way of specific instantiation, those skilled in the art can be by this specification Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through in addition different concrete realities The mode of applying is carried out or applies, and the every details in this specification can also be based on different viewpoints and application, without departing from Various modifications and changes are carried out under the spirit of the present invention.

It should be noted that structure, ratio, size depicted in this specification institute accompanying drawings etc., only in order to coordinating Content disclosed in bright book, so that those skilled in the art understands and reads, is not limited to enforceable limit of the invention Fixed condition, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size, not Affect, under effect that can be generated of the invention and the purpose that can be reached, still to fall In the range of covering.Meanwhile, in this specification cited as " on ", D score, "left", "right", " centre " and " one " etc. Term, be merely convenient to describe understand, and be not used to limit enforceable scope of the invention, the change of its relativeness or tune Whole, under without essence change technology contents, when being also considered as enforceable category of the invention.

Referring again to Fig. 1 and Fig. 2, wherein, Fig. 1 is three-dimensional side view of the bionical eye device in a specific embodiment, Decomposing schematic representations of the Fig. 2 for Fig. 1.In conjunction with Fig. 1 and Fig. 2, bionical eye device 11 of the invention includes：Bionical eyeball frame 101, bionical Wall of eyeball 103 and the bionical eyeball structure rotated relative to bionical eyeball frame 101 and bionical wall of eyeball 103.

Bionical eyeball frame 101, is hemispherical dome structure, and the spherical or subsphaeroidal receiving space with indent is used as eye socket.

Bionical wall of eyeball 103, is suspended in the opening center of bionical eyeball frame 101, in the present embodiment, bionical wall of eyeball 103 is ball structure, and which is the opening center for being fixed on bionical eyeball frame 101 by the first radial fixed mount 102, first Radial fixed mount 102 includes the multiple installation spokes being uniformly arranged.

Movable inner sleeve is included in the bionical eyeball structure in the bionical eyeball that arbitrarily can be rotated of bionical wall of eyeball 103 105.In the present embodiment, bionical eyeball 105 is the ball structure with bionical wall of eyeball 103.Especially, in a preferred situation Under, bionical eyeball 105, bionical wall of eyeball 103 and bionical eyeball frame 101 all have hollow ball structure, and three is the same centre of sphere Arrange, i.e. bionical eyeball 105, bionical wall of eyeball 103 and bionical eyeball frame 101 belong to the same centre of sphere altogether, thus, bionical eyeball 105 rotate around the centre of sphere in bionical wall of eyeball 103.

Also include in bionical eyeball structure along by the diameter shaft of the centre of sphere and bionical eyeball frame 101 in bionical eyeball Video camera 107, electric rotating machine 109, traveling motor 111 and the runner 113 that is laid successively in 105 from outside to inside, wherein, bag The contact point that the centre of sphere, the motor shaft of electric rotating machine 109 and runner 113 are included with the inwall of bionical eyeball frame 101 is interior Three parts are in line (that is, the straight line and the diameter overlapping of axles).In the present embodiment, video camera 107 can be according to application The corresponding camera lens of scene configuration (such as wide-angle lens).

Electric rotating machine 109 is the central axis for being connected and fixed on bionical eyeball 105 by the second radial fixed mount 104, Second radial fixed mount 104 includes the multiple installation spokes being uniformly arranged.In the present embodiment, electric rotating machine 109 can be adopted With steering wheel, but be not limited thereto, in other embodiments, electric rotating machine 109 may also be employed stepper motor, at the same be configured with The displacement transducer that the stepper motor is combined.

Traveling motor 111 is socketed on the motor shaft 108 of electric rotating machine 109, and 111 periphery of traveling motor is provided with stretches back and forth for which Contracting and the bearing arrangement of rotation, the bearing arrangement are connected and fixed on bionical eyeball 105 by the 3rd radial fixed mount 106, Thus, traveling motor 111 can be driven to revolve entirely through the bearing arrangement in the case where the motor shaft 108 of electric rotating machine 109 operates Turn.In the present embodiment, electric rotating machine 109 can adopt stepper motor, while being configured with the displacement combined with the stepper motor Sensor.Further, the bearing arrangement is further included：By 106 (the 3rd radial fixed mount of the 3rd radial fixed mount 106 include the multiple installation spokes being uniformly arranged) the bearing fixed sleeves 121 of bionical eyeball 105 are convexly equipped in, fixed outside bearing Set 121 has polygonal fixed sleeves inner ring；The bearing outside 123 being embedded in bearing fixed sleeves 121, bearing outside 123 have in bearing outside outer ring and rounded outer race that the fixed sleeves inner ring with bearing fixed sleeves 121 matches Circle；And the bearing 125 being embedded in bearing outside 123, including bearing outer ring, bearing inner race and it is positioned in the bearing outer ring And the rolling element between the bearing inner race, the bearing outer ring is adapted with the outer race inner ring, the bearing inner race It is adapted with the motor casing 110 of traveling motor 111, the motor casing 110 of traveling motor 111 has the motor for electric rotating machine 109 The inserting hole that axle 108 is plugged, the motor 112 of traveling motor 111 are then built in motor casing 110.Traveling motor 111 not only can It is rotated by electric rotating machine 109 by the motor shaft 108 of electric rotating machine 109, can also be along the motor shaft of electric rotating machine 109 Therefore 108 movable telescopics, are additionally provided with the first electromagnetic switch (not on the motor shaft 108 of electric rotating machine 109 in electric rotating machine 109 Shown in the drawings), so, traveling motor 111 can be controlled along motor shaft 108 by first electromagnetic switch Movable telescopic is in electric rotating machine 109.Preferably, elastic component (such as extension spring, elasticity can be also arranged with motor shaft 108 Packing ring etc.) or elastic component (the such as extension spring, bullet corresponding to 108 end of motor shaft is set in the bottom of the inserting hole Property packing ring etc.), thus, under the control of first electromagnetic switch, better controling over 111 edge of traveling motor using elastic component Motor shaft 108 and movable telescopic is in electric rotating machine 109.

Runner 113 is connected and fixed on traveling motor 111 by gear, and in the present embodiment, runner 113 passes through a support 114 are positioned at traveling motor 111 and by gear-linked in traveling motor 111, and the wheel shaft of runner 113 rotates in support 114, enters One step ground, traveling motor 111 are provided with the rotary shaft being connected with motor 112, and the end of rotary shaft carries fluted disc, on runner 113 The toothholder that with the fluted disc engage then is provided with.Further, the wheel shaft of runner 113 is provided with displacement transducer 115, it is preferable that displacement Sensor 115 is photoelectric displacement sensor, for feeding back the self-position of runner 113, such that it is able to directly determine bionical eyeball 105 relative to the spherical inner wall of bionical eyeball frame 101 position.Further, since runner 113 is positioned at traveling motor 111, Therefore, in the diameter shaft of bionical eyeball frame 101, runner 113 and traveling motor 111 are synchronized with the movement.In the present embodiment, As it was previously stated, by first electromagnetic switch can control traveling motor 111 along motor shaft 108 movable telescopic in rotation Motor 109, in fact, strictly speaking, i.e. can control 113 edge of traveling motor 111 and runner by first electromagnetic switch Motor shaft 108 and movable telescopic is in electric rotating machine 109, wherein：When traveling motor 111 and runner 113 are along motor shaft 108 Activity is stretched out and during away from electric rotating machine 109, and runner 113 now is against the spherical inner wall of bionical eyeball frame 101；Work as row Stepper motor 111 and runner 113 along motor shaft 108 active contractile and near electric rotating machine 109 when, runner 113 now is It is away from the spherical inner wall of bionical eyeball frame 101 and in vacant state.

Dynamic for avoiding bionical eyeball 105 from producing relative to bionical wall of eyeball 103 misrouting, occur or unnecessary turn Dynamic, it is preferable that on bionical wall of eyeball 103, to be further opened with through hole 116, it is equipped with for control biomimetics eyeball 105 in through hole 116 Second electromagnetic switch 117 of locking/startup.Specifically, a braking latch pin is equipped with the through hole, and the braking latch pin is received Second electromagnetic switch 117 controls and can achieve to stretch to play a part of brake.Specifically：When the second electromagnetic switch 117 is closed When (or startup), the braking latch pin controlled activity stretches out in the through hole (towards the bionical eyeball in bionical wall of eyeball 103 105 motions) and the outer wall of bionical eyeball 105 in bionical wall of eyeball 103 is relied on, play 105 locking of control biomimetics eyeball work With；When opening (or closing) when the second electromagnetic switch 117, the braking latch pin controlled activity is shunk in the through hole (towards imitative The second electromagnetic switch 117 outside raw wall of eyeball 103 is moved) so that braking latch pin is no longer to the bionic eye in bionical wall of eyeball 103 Ball 105 produces interference, plays 105 startup of control biomimetics eyeball effect.

Further, in running, asking around the diameter shaft itself rotation is produced for preventing bionical eyeball 105 Topic, the periphery of bionical wall of eyeball 103 are provided with multiple first limiting structures 118, and the first limiting structure 118 has via, outside bearing The periphery of fixed cover 121 is provided with multiple second limiting structures 122, and the second limiting structure 122 has via, using a nonelastic line End to end after the via of the via and the second limiting structure 122 that sequentially pass through the first limiting structure 118.In a preferred embodiment In：First limiting structure 118 and the second limiting structure 122 are affixed suspension ring, or, the first limiting structure 118 and the second limit Structure processed 122 is affixed suspension type universal wheel.The steel wire rope that the nonelastic line can adopt degree of drawing extremely low.With suspension type ten thousand To as a example by wheel and steel wire rope, the periphery of bionical wall of eyeball 103 is provided with 4 suspension type universal wheels, the week of bearing fixed sleeves 121 Edge is provided with 4 suspension type universal wheels, sequentially passes through this 8 suspension types up and down with one nonelastic line (such as steel wire rope) universal End to end after the via of wheel, you can to prevent bionical eyeball 105 from rotating around the diameter shaft itself, while can also random angle Degree movement.

One general description of overall operation below for single bionical eye device 11：

Under ideal conditions, it is intended that the optical axis of video camera 107 and the diameter overlapping of axles with bionical eyeball frame 101, take the photograph The center of the photo-sensitive cell in camera 107 is overlapped with the centre of sphere of bionical eyeball frame 101.Assume that we have drafted being configured with advance to take the photograph The target location of the bionical eyeball 105 of camera 107, according to current location (can by located at runner 113 wheel shaft on be used as position The photoelectric displacement sensor of displacement sensor 115 is determining) and the target location drafted determining the motion rail of bionical eyeball 105 Mark；(stretched out in using the control braking latch pin activity of the second electromagnetic switch 117 described logical in the case of bionical 105 locking of eyeball Hole (moving towards the bionical eyeball 105 in bionical wall of eyeball 103) simultaneously relies on the bionical eyeball 105 in bionical wall of eyeball 103 Outer wall, locking live bionical eyeball 105), using the first electromagnetic switch control traveling motor 111 movable along motor shaft 108 Shrink and near electric rotating machine 109 so that traveling motor 111 drives runner 113 to leave the inwall of bionical eyeball frame 101 and be in Vacant state；Electric rotating machine 109 starts, and drives traveling motor 111 and runner by the motor shaft 108 on electric rotating machine 109 113 rotations, so that runner 113 deflects corresponding walking angle to obtain bionical according to the movement locus for determining Motion direction on 101 inwall of eyeball frame, and after runner 113 is deflected in place, electric rotating machine 109 stops；Using described Stretch out along motor shaft 108 one electromagnetic switch control traveling motor 111 away from electric rotating machine 109 by activity so that electricity of advancing Machine 111 drives runner 113 close to bionical eyeball frame 101 and the final motion direction to adjust is contacted with bionical eyeball frame 101 inwall；The braking latch pin active contractile is controlled in the through hole (towards bionical eyeball using the second electromagnetic switch 117 The second electromagnetic switch 117 outside wall 103 is moved) so that braking latch pin is no longer to the bionical eyeball 105 in bionical wall of eyeball 103 Interference is produced, starts bionical eyeball 105；Traveling motor 111 operates, and the rotary shaft of traveling motor 111 is rotated, by rotary shaft end The cooperation of the toothholder on the fluted disc in portion and runner 113, drives runner 113 to rotate, with adjustment on the inwall of bionical eyeball frame 101 Good motion drives bionical eyeball 105 to rotate towards advancing, and using traveling motor 111, can control runner 113 in bionical eyeball Move distance on 103 inwall of frame；By the operating of above-mentioned first electromagnetic switch, electric rotating machine 109 and traveling motor 111, So that runner 113 ultimately proceeds to target location, after advancing in place, the control braking latch pin activity of the second electromagnetic switch 117 is stretched out In the through hole (moving towards the bionical eyeball 105 in bionical wall of eyeball 103) and rely on bionical in bionical wall of eyeball 103 The outer wall of eyeball 105, locking live bionical eyeball 105.Thus, completing the activity of bionical eyeball structure.

We realize watching attentively for bionical eye device of the invention and three-dimensional reconstruction is illustrated below：For arbitrarily watching attentively Point, obtains coordinate (x, y) by two dimensional image, represents upper and lower and left and right respectively, draws (z) by focal length of camera, before expression Depth, combines (x, y, z) and represents any blinkpunkt space coordinates afterwards.

Fig. 3 is referred to, is bionic eye equipment of the present invention integrally-built three-dimensional side view in a specific embodiment.Such as Shown in Fig. 3, bionic eye equipment of the present invention includes the bionical eye device 11 of separate two, and in the present embodiment, two bionical Eye device 11 is linked together by the link 12 being located between the two, and link 12 here is, for example, straight company Fishplate bar, two bionical eye devices 11 are respectively in the opposite end of link 12 and are same direction (forward).But, should be noted It is that the setting of the structure of above-mentioned link 12 and two bionical eye devices 11 is only example explanation, is not intended to limit this Bright, in other embodiments, the structure of link 12 can still have other changes, for example：In an alternate embodiment, link 12 For triangle boomerang type or arcuate structure, so that the visual field of the two bionical eye devices 11 connected by link 12 is towards having one Fixed angle；In another alternate embodiment, link not necessarily structure, i.e. in bionic eye equipment of the present invention, can also save Link is omitted, is linked together without link between two bionical eye devices 11, as long as two bionical eye devices 11 can be supported by other supporting constructions, and the bionical eye device 11 of two such can have more set-up modes, it The bionic eye equipment that cooperatively forms achieve that more visuals field changes, adapt in more application scenarios.

In conjunction with the bionic eye equipment that Fig. 1, Fig. 2 and Fig. 3, the present invention are provided, separate two bionic eye dress is included 11 are put, each bionical eye device 11 includes bionical eyeball frame 101, bionical wall of eyeball 103, bionical eyeball 105, edge by the centre of sphere With the diameter shaft of bionical eyeball frame 101 and the video camera 107, electric rotating machine laid successively in bionical eyeball 105 from outside to inside 109th, traveling motor 111 and runner 113.

For two bionical eye devices in bionic eye equipment of the present invention, we realize that the process that watches attentively is illustrated below：

1), the position of bionical eyeball 105 and the angle (such as 0 degree of level) of runner 113 are initialized；

2), the 2D images that video camera 107 shoots are extracted；

3), the center of the 2D images of the intake be current fixation point C (0,0), it is assumed that next object to be watched attentively is sat N is designated as, coordinate is set to N (x, y) on two dimensional image, identifies body form at N；

4), according to coordinate N (x, y), anglec of rotation tan α=x/y is obtained, controls the second electromagnetic switch 117 and first successively Electromagnetic switch, the bionical eyeball 105 of locking and the separation contact with bionical 101 inwall of eyeball socket of the eye of runner 113；

5), drive runner to rotate α degree by electric rotating machine 109, control the first electromagnetic switch and the second electromagnetic switch successively 117, start traveling motor with bionical 101 inwall of eyeball frame after runner 113 is contacted；

6), traveling motor is rotated, and control runner 113 is advanced in bionical 101 inwall of eyeball frame；

7), from current fixation point C (0,0) to during target blinkpunkt N (x, y), contrast each two field picture center or specific Body form at body form that region is continually changing and N, when comparing result is identical, traveling motor 111 stops operating；

8), now the object of the central point (that is, target blinkpunkt) of image is the object at N (x, y) place on original image, complete Process is watched into putting from C (0,0) attentively to what N (x, y) put.

When left and right two, bionic eye watches this N (x, y) point attentively simultaneously, circulates this process, you can simulate watching attentively for human eye Journey.

Three-dimensional reconstruction process is carried out using bionic eye equipment of the present invention to be described in detail：

(1) (optical axis of video camera and the diameter overlapping of axles with bionical eyeball frame, the sense in video camera, in the ideal case The center of optical element is overlapped with the centre of sphere of bionical eyeball frame)

By the movable information of bionical eyeball in the two bionical eye devices 11 in left and right, following Mathematical Modeling is set up, to space Object carries out three-dimensional reconstruction：

For arbitrary bionical eye device 11, a coordinate system xyz, wherein, x are set up as origin with the centre of sphere of bionical eyeball 105 Axle represents left and right, and y-axis is represented up and down, z-axis and the diameter overlapping of axles and before and after representing, R is the spheroid of the bionical eyeball frame Radius；

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 runner 113 rotates the coordinate bit after any distance with the inwall contact point of bionical eyeball frame 101 towards any direction It is set to p (x_end,y_end,z_end), then there is following corresponding relation：

Wherein, φ_i=d_i/ R degree, d_iFor the distance for rotating every time, θ_iFor every time towards the angle for rotating；

Using formula (1), (2), (3), p (x are obtained_end,y_end,z_end), by being converted to second half spherical coordinates corresponding p’(-x_end,-y_end,-z_end)；

Through being located at the origin of coordinates line of two bionical eyeballs 105 in two bionical eye devices 11, two coordinates respectively Be that xyz axles are parallel to each other, with Two coordinate system origin through x-axis line intermediate point as the new origin of coordinates, set up new coordinate system XYZ, When the two bionical eyeballs 105 in two bionical eye devices 11 watch same point P attentively simultaneously, their optical axis meets at this simultaneously Point, thus this point P and the origin of coordinates of left and right two form triangle, obtain the space coordinates of P points according to trigonometric function.

Assume：In left bionical eye device 11, the z-axis of bionical eyeball 105 is A angles with the angle of X-axis, right bionical eye device In 11, the z-axis of bionical eyeball 105 and the angle of X-axis are B angles, the A angles plane or the B angles plane and X-axis level Face angle is C angles；

Can be obtained according to trigonometric function：

CosA=-x/R, (4)

CosB=-x_f/R_f, (5)

TanC=-z/-y, (6)

Using formula (4), (5), (6), A, the angle of B, C is obtained；

Assume：The distance between two coordinate origin lines D in two bionic eyes；According to formula：

Or

Will apart from D substitute into above formula (7), (8), (9) or (10), (11), (12) and obtain space any point coordinate P (X,Y,Z).

(2), under non-ideal condition (manufacturing process i.e. now can be such that the optical axis of video camera as far as possible overlaps with half journal axle, The center of video camera photo-sensitive cell is overlapped with the centre of sphere as far as possible, but it is difficult to can be accomplished completely overlapped), when video camera 107 is in bionic eye After position in ball 105 is fixed, the movable information of eyeball fixes process produces corresponding relation with the point in two bit images, this Relation can draw function by way of Mathematical Fitting, carry out three-dimensional reconstruction.

In sum, the invention provides bionical eye device and the bionic eye including two separate bionical eye devices Equipment, bionical eye device include that bionical eyeball frame, bionical wall of eyeball, bionical eyeball, edge are straight with bionical eyeball frame by the centre of sphere Journal axle and video camera, electric rotating machine, traveling motor and the runner laid successively in bionical eyeball from outside to inside, electric rotating Machine and the running of traveling motor coordination controlling the motion direction on bionical eyeball inframe wall and the move distance of runner, so as to band Bionical eyeball is moved in bionical wall of eyeball around centre of sphere flexible rotating, imitation biochemistry is realized so that be equipped with the machine of the bionical eye device Device equipment can be accomplished to watch attentively, follow the trail of object movement, and identification, to surrounding environment three-dimensional reconstruction.Our bionic eye is mainly utilized Eyeball motion information carries out three-dimensional reconstruction, on trick, head eye and eyes for the later stage and displacement coordination, this technology Have incomparable advantage.

The principle and its effect of above-described embodiment only illustrative present invention, of the invention not for limiting.Any ripe The personage for knowing this technology all can carry out modifications and changes to above-described embodiment under the spirit and the scope without prejudice to the present invention.Cause This, those of ordinary skill in the art is complete with institute under technological thought without departing from disclosed spirit such as Into all equivalent modifications or change, should by the present invention claim be covered.

Claims (12)

1. a kind of arbitrarily angled can watch attentively, the bionical eye device of three-dimensional reconstruction, it is characterised in that include：

Bionical eyeball frame, the spherical or subsphaeroidal receiving space with indent；

It is suspended in the bionical wall of eyeball of the opening center of the bionical eyeball frame；

Movable inner sleeve in the bionical eyeball of the bionical wall of eyeball, the bionical eyeball, the bionical wall of eyeball and described imitative Raw eyeball frame belongs to the same centre of sphere altogether, and the bionical eyeball can be rotated around the centre of sphere in the bionical wall of eyeball；

Along cloth successively from outside to inside by the diameter shaft of the centre of sphere and the bionical eyeball frame and in the bionical eyeball If video camera, motor and runner；The runner is controlled on the bionical eyeball inframe wall by motor running Motion direction and move distance, so as to drive the bionical Rotation of eyeball；

Further, the motor includes electric rotating machine and traveling motor, the centre of sphere, the motor shaft of the electric rotating machine, with And the contact point of the runner and the bionical eyeball inframe wall is in line, the runner is connected and fixed on described by gear Traveling motor is simultaneously moved under the drive of the traveling motor on the bionical eyeball inframe wall；The traveling motor socket On the motor shaft of the electric rotating machine, the electric rotating machine drive the traveling motor and the runner around diameter shaft rotate with Control the direction of the runner.

2. bionical eye device as claimed in claim 1, it is characterised in that the bionical wall of eyeball is radial solid by first Determine the opening center that frame is fixed on the bionical eyeball frame.

3. bionical eye device as claimed in claim 1, it is characterised in that

The electric rotating machine is the central axis for being fixed on the bionical eyeball by the second radial fixed mount；And

Be provided with the electricity for the traveling motor being controlled along the electric rotating machine between the electric rotating machine and the traveling motor The first electromagnetic switch that arbor stretches back and forth.

4. bionical eye device as claimed in claim 1, it is characterised in that the traveling motor periphery is provided with stretches back and forth for which With the bearing arrangement of rotation, the bearing arrangement is connected and fixed on the bionical eyeball by the 3rd radial fixed mount.

5. bionical eye device as claimed in claim 4, it is characterised in that the bearing arrangement includes：

The bearing fixed sleeves that the bionical eyeball is connected and fixed on by the 3rd radial fixed mount, solid outside the bearing Fixed set has polygonal fixed sleeves inner ring；

The bearing outside being embedded in the bearing fixed sleeves, the bearing outside have outer with the bearing fixed sleeves Bearing outside outer ring and rounded outer race inner ring that fixed cover inner ring matches；And

The bearing being embedded in the bearing outside, including bearing outer ring, bearing inner race and is positioned in the bearing outer ring and institute The rolling element between bearing inner race is stated, the bearing outer ring is adapted with the outer race inner ring, the bearing inner race and institute The motor casing for stating traveling motor is adapted.

6. bionical eye device as claimed in claim 1, it is characterised in that

The runner is positioned at the traveling motor by a support, and the wheel shaft of the runner rotates in the support；And

The traveling motor is provided with rotary shaft, and the end of the rotary shaft carries fluted disc, and the runner is provided with and the fluted disc The toothholder of engagement.

7. bionical eye device as claimed in claim 6, it is characterised in that be provided with displacement transducer on the wheel shaft of the runner To determine position of the runner relative to the bionical eyeball inframe wall.

8. bionical eye device as claimed in claim 1, it is characterised in that the electric rotating machine is steering wheel or stepper motor Plus displacement transducer, the traveling motor is that stepper motor adds displacement transducer.

9. bionical eye device as claimed in claim 1, it is characterised in that offer through hole on the bionical wall of eyeball, in institute State and be equipped with through hole for controlling the second electromagnetic switch of the bionical eyeball locking/startup.

10. bionical eye device as claimed in claim 1, it is characterised in that the periphery of the bionical wall of eyeball is provided with multiple One limiting structure, first limiting structure have a via, and the periphery of the bearing fixed sleeves of the bionical eyeball is provided with multiple Second limiting structure, second limiting structure have via, sequentially pass through first limiting structure using a nonelastic line Via and second limiting structure via after end to end；First limiting structure is that suspension ring or suspension type are universal Wheel, second limiting structure are suspension ring or suspension type universal wheel.

11. a kind of bionic eye equipment, it is characterised in that including separate two such as any one of claim 1 to 10 institutes The bionical eye device that states.

12. bionic eye equipment as claimed in claim 11, it is characterised in that

In the case where the photo-sensitive cell imaging center of the video camera is Chong Die with the centre of sphere, by two bionical eye devices in Two bionical eyeballs each autokinesis, realize three-dimensional reconstruction is carried out to space object：

For arbitrary bionical eye device, a coordinate system xyz is set up as origin with the centre of sphere of the bionical eyeball, wherein, x-axis is represented Left and right, y-axis represent up and down, z-axis and the diameter overlapping of axles and before and after representing, R is the radius of sphericity of the bionical eyeball frame；

X-axis is parallel with the first time direction of motion, the coordinate (0,0, R) of the initial position of the runner, initial motion direction (R, 0, 0)；

If the runner rotates the coordinate position after any distance with the inwall contact point of the bionical eyeball frame towards any direction For p (x_end,y_end,z_end), then there is following corresponding relation：

$\left(\begin{array}{c}{x}_{end}\\ y_{end}\\ z_{end}\end{array}\right)=Y\left({\mathrm{\φ}}_1\right)Z\left({\mathrm{\θ}}_2\right)Y\left({\mathrm{\φ}}_2\right)...Z\left({\mathrm{\θ}}_n\right)Y\left({\mathrm{\φ}}_n\right)\left(\begin{array}{c}0\\ 0\\ R\end{array}\right),---\left(1\right)$

$Z\left({\mathrm{\θ}}_i\right)=\left[\begin{array}{ccc}{\mathrm{cos\θ}}_i& -{\mathrm{sin\θ}}_i& 0\\ {\mathrm{sin\θ}}_i& {\mathrm{cos\θ}}_i& 0\\ 0& 0& 1\end{array}\right],---\left(2\right)$

$Y\left({\mathrm{\φ}}_1\right)=\left[\begin{array}{ccc}{\mathrm{cos\φ}}_i& 0& {\mathrm{sin\φ}}_i\\ 0& 1& 0\\ -{\mathrm{sin\φ}}_i& 0& {\mathrm{cos\φ}}_i\end{array}\right],---\left(3\right)$

Wherein, φ_i=d_i/ R degree, d_iFor the distance for rotating every time, θ_iFor every time towards the angle for rotating；

Using formula (1), (2), (3), p (x are obtained_end,y_end,z_end), by be converted to second half spherical coordinates corresponding p ' (- x_end,-y_end,-z_end)；

Through being located at the origin of coordinates line of two bionical eyeballs in two bionical eye devices, two coordinate system xyz axle phases respectively Mutually parallel, with Two coordinate system origin through x-axis line intermediate point as the new origin of coordinates, set up new coordinate system XYZ, when two bionical When two bionical eyeballs in eye device watch same point P attentively simultaneously, their optical axis meets at this point simultaneously, thus this point P Triangle is formed with the origin of coordinates of left and right two, and the space coordinates of P points is obtained according to trigonometric function；

The space coordinates of P points is obtained according to trigonometric function, including：

Assume：In first bionical eye device, the z-axis of bionical eyeball is A angles with the angle of X-axis, bionical in the second bionical eye device The z-axis of eyeball is B angles with the angle of X-axis, and the A angles plane or the B angles plane are pressed from both sides for C with X-axis horizontal plane angle Angle；

Can be obtained according to trigonometric function：

CosA=-x/R, (4)

CosB=-x_f/R_f, (5)

TanC=-z/-y, (6)

Using formula (4), (5), (6), A, the angle of B, C is obtained；

Assume：The distance between two coordinate origin lines D in two bionic eyes；According to formula：

$X=\frac{1}{2}D\frac{\tan B-\tan A}{\tan B+\tan A},---\left(7\right)$

$Y=\frac{1}{2}D*\sin C*\tan A*(1+\frac{\tan B-\tan A}{\tan B+\tan A}),---\left(8\right)$

$Z=\frac{1}{2}D*\cos C*\tan A*(1+\frac{\tan B-\tan A}{\tan B+\tan A}),---\left(9\right)$

Or

$X=\frac{1}{2}D\frac{\tan B-\tan A}{\tan B+\tan A},---\left(10\right)$

$Y=\frac{1}{2}D*\sin C*\tan B*(1-\frac{\tan B-\tan A}{\tan B+\tan A}),---\left(11\right)$

$Z=\frac{1}{2}D*\cos C*\tan B*(1-\frac{\tan B-\tan A}{\tan B+\tan A}),---\left(12\right)$

Will apart from D substitute into above formula (7), (8), (9) or (10), (11), (12) and obtain space any point coordinate P (X, Y,Z).