CN105828021A - Specialized robot image acquisition control method and system based on augmented reality technology - Google Patents
Specialized robot image acquisition control method and system based on augmented reality technology Download PDFInfo
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- CN105828021A CN105828021A CN201510003004.XA CN201510003004A CN105828021A CN 105828021 A CN105828021 A CN 105828021A CN 201510003004 A CN201510003004 A CN 201510003004A CN 105828021 A CN105828021 A CN 105828021A
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Abstract
The invention relates to the technical field of specialized robots, and discloses a specialized robot image acquisition control method based on the augmented reality technology. The method comprises the following steps: S1, carrying out surface projection from a wide-angle lens to a glasses display image; S2, transmitting image data in real time; S3, carrying out human eye position correction and wide-angle lens zooming; and S4, carrying out mapping and adjustment from helmet attitude sensing to 3D holder control. According to the invention, video monitoring of a specialized robot is converted from 2D image to 3D image, and more immersive operation is achieved; and 3D holder control is converted from a rocker button mode to a body feeling operation mode, hands are freed in holder control operation, and a specialized robot can be controlled in a more flexible and focused way.
Description
Technical field
The present invention relates to specialized robot technical field, particularly to a kind of specialized robot image acquisition control method based on augmented reality and system.
Background technology
Specialized robot is that one has track structure, have/not there is multiple swing arm, there is/not have the field movable robot of operating robotic arm；There is one or more photographic head in order to gather ambient image.
In moving process, environment to external world is needed to carry out video acquisition and be transferred to control end, to reach to understand the function of specialized robot car body surrounding.In existing scheme, use one or more photographic head, with the image capturing device such as monocular cam of The Cloud Terrace, use wired or wireless communication mode, show video signal transmission to the screen controlling end.
Prior art belongs to dynamic image and checks, robot body surrounding is not truly reduced to stereo-picture and presents to observer, observer is the most directly perceived for the state of robot and the impression of environment, and existing photographic head cradle head control still uses the control mode such as rocking bar or button, it is very inconvenient that user controls to observe surrounding environment during robot body motion.
Summary of the invention
It is contemplated that overcome the defect of existing specialized robot, it is achieved the true reduction of specialized robot environmental visual image, it is provided that a kind of specialized robot image acquisition control method based on augmented reality and system.
For achieving the above object, the present invention is by the following technical solutions:
The present invention provides a kind of specialized robot image acquisition control method based on augmented reality, comprises the steps: S1, carries out the wide-angle lens curved surface projection to glasses display image；S2, realtime image data transmit；S3, carry out position of human eye correction and process with the zoom of wide-angle lens；S4, carry out helmet attitude and sense mapping and the adjustment of three-dimensional cradle head control.
In some embodiments, two width images captured by described wide-angle lens process through cutting, deformation pattern, transmit two curve lens to glasses display.
In some embodiments, described realtime image data transmits, for the most smooth observer robot surrounding 3-D view.
In some embodiments, the correction of described position of human eye is processed as with the zoom of wide-angle lens, adjusts the spacing of three-dimensional two wide-angle cameras of The Cloud Terrace according to human eye interpupillary distance, and according to the zoom parameters of people's oculopupillary positioning correcting camera lens.
In some embodiments, described helmet attitude senses the mapping of three-dimensional cradle head control and is adjusted to, after sensing wearer's head motion equipped with the glasses of inertial navigation sensors, send control instruction to robot body, control the horizontal rotation of robot three-dimensional The Cloud Terrace and vertical landing.
The present invention also provides for a kind of specialized robot image acquisition control system based on augmented reality, including wide-angle lens, glasses, three-dimensional The Cloud Terrace, wherein, carries out the wide-angle lens curved surface projection to glasses display image；Transport module realtime image data transmits；Carry out the zoom process of position of human eye correction and wide-angle lens；Carry out helmet attitude and sense mapping and the adjustment of three-dimensional cradle head control.
In some embodiments, described wide-angle lens is that electronic variable is burnt.
In some embodiments, described three-dimensional The Cloud Terrace can rotate with horizontal 360-degree, vertical 150 degree of motions.
In some embodiments, equipped with inertial navigation sensors on described glasses, it is used for detecting wear a pair of spectacles human body posture, to synchronize the horizontal movement attitude of three-dimensional The Cloud Terrace and vertically movable attitude.
The beneficial effects of the present invention is: the video monitoring of specialized robot becomes 3-D view from two dimensional image, have more operation sense on the spot in person, the control of three-dimensional The Cloud Terrace becomes human body temperature type operation from rocker button mode, the operation of liberation hand control The Cloud Terrace, makes control specialized robot more flexibly and is absorbed in.
Accompanying drawing explanation
Fig. 1 schematically shows the flow chart of collection control method according to an embodiment of the invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and the specific embodiments, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, and is not construed as limiting the invention.
As it is shown in figure 1, the present invention provides a kind of specialized robot image acquisition control method based on augmented reality, comprise the steps:
S1, carry out wide-angle lens to glasses display image curved surface project；
S2, realtime image data transmit；
S3, carry out position of human eye correction and process with the zoom of wide-angle lens；
S4, carry out helmet attitude and sense mapping and the adjustment of three-dimensional cradle head control.
The beneficial effects of the present invention is: the video monitoring of specialized robot becomes 3-D view from two dimensional image, have more operation sense on the spot in person, the control of three-dimensional The Cloud Terrace becomes human body temperature type operation from rocker button mode, the operation of liberation hand control The Cloud Terrace, makes control specialized robot more flexibly and is absorbed in.
In some embodiments, two width images captured by described wide-angle lens process through cutting, deformation pattern, transmit to two curve lens of glasses display, are observed to obtain image effect to reach to simulate human eye.
Described realtime image data transmits, and in real time smooth observer robot surrounding 3-D view, is specially that the user of operating console smoothness can observe the basic guarantee of robot 3-D view in real time.
The correction of described position of human eye is processed as with the zoom of wide-angle lens, adjusts the spacing of three-dimensional two wide-angle cameras of The Cloud Terrace according to human eye interpupillary distance, and according to the zoom parameters of people's oculopupillary positioning correcting camera lens.
Preferably, the described helmet (helmet) attitude senses the mapping of three-dimensional cradle head control and is adjusted to, after sensing wearer's head motion equipped with the glasses of inertial navigation sensors, send control instruction to robot body, control the horizontal rotation of robot three-dimensional The Cloud Terrace and vertical landing.
The present invention also provides for a kind of specialized robot image acquisition control system based on augmented reality, including wide-angle lens, glasses, three-dimensional The Cloud Terrace, wherein, carries out the wide-angle lens curved surface projection to glasses display image；Transport module realtime image data transmits；Carry out the zoom process of position of human eye correction and wide-angle lens；Carry out helmet attitude and sense mapping and the adjustment of three-dimensional cradle head control.
This system concrete is that install in outdoor robotic end is the dual camera visual system of band three-dimensional The Cloud Terrace, uses that electronic variable is burnt, wide-angle lens.
In some embodiments, described three-dimensional The Cloud Terrace can rotate with horizontal 360-degree, vertical 150 degree of motions.The horizontal spacing of two photographic head can be furthered by the operation of third dimension or zoom out.
Equipped with inertial navigation sensors on described glasses, it is used for detecting wear a pair of spectacles human body posture, to synchronize the horizontal movement attitude of three-dimensional The Cloud Terrace and vertically movable attitude.
The glasses (helmet) strengthening visual effect are installed at control you, two eyeglasses of glasses (helmet) are that cambered surface shows, can show through the image captured by two wide-angle lens that projection processes respectively, just the photographic head of eyes is being obtained position and the interpupillary distance of human eye by glasses (helmet), by being calculated the information such as the distance of two wide-angle lens that robotic end is installed, robot adjusts and corrective lens automatically, to adapt to different user and to observe the environmental scenery of different distance.
In actual applications, as crawler type specialized robot use image acquisition of the present invention can control method time, it is possible that following scenario:
When robot ambulation is to field, operator the situation of observer robot surrounding the most freely can need not switch camera angles or Non-follow control camera cradle head.
The present invention is not limited only to crawler type specialized robot range of application, also includes that other indoor and outdoor packaged type robot (equipment) uses the program for the application scenarios of environment of observation image.
The detailed description of the invention of present invention described above, is not intended that limiting the scope of the present invention.Any according to other changes accordingly various done by the technology design of the present invention and deformation, should be included in the protection domain of the claims in the present invention.
Claims (9)
1. a specialized robot image acquisition control method based on augmented reality, it is characterised in that comprise the steps:
S1, carry out wide-angle lens to glasses display image curved surface project；
S2, realtime image data transmit；
S3, carry out position of human eye correction and process with the zoom of wide-angle lens；
S4, carry out helmet attitude and sense mapping and the adjustment of three-dimensional cradle head control.
2. specialized robot image acquisition control method as claimed in claim 1, it is characterised in that two width images captured by described wide-angle lens process through cutting, deformation pattern, transmit two curve lens to glasses display.
3. specialized robot image acquisition control method as claimed in claim 1, it is characterised in that described realtime image data transmits, for the most smooth observer robot surrounding 3-D view.
4. specialized robot image acquisition control method as claimed in claim 1, it is characterized in that, the correction of described position of human eye is processed as with the zoom of wide-angle lens, adjusts the spacing of three-dimensional two wide-angle cameras of The Cloud Terrace according to human eye interpupillary distance, and according to the zoom parameters of people's oculopupillary positioning correcting camera lens.
5. specialized robot image acquisition control method as claimed in claim 1, it is characterized in that, described helmet attitude senses the mapping of three-dimensional cradle head control and is adjusted to, after sensing wearer's head motion equipped with the glasses of inertial navigation sensors, send control instruction to robot body, control the horizontal rotation of robot three-dimensional The Cloud Terrace and vertical landing.
6. a specialized robot image acquisition control system based on augmented reality, it is characterised in that include wide-angle lens, glasses, three-dimensional The Cloud Terrace, wherein, carry out the wide-angle lens curved surface projection to glasses display image；Transport module realtime image data transmits；Carry out the zoom process of position of human eye correction and wide-angle lens；Carry out helmet attitude and sense mapping and the adjustment of three-dimensional cradle head control.
7. specialized robot image acquisition control system as claimed in claim 6, it is characterised in that described wide-angle lens is that electronic variable is burnt.
8. specialized robot image acquisition control system as claimed in claim 6, it is characterised in that described three-dimensional The Cloud Terrace can rotate with horizontal 360-degree, vertical 150 degree of motions.
9. specialized robot image acquisition control system as claimed in claim 6, it is characterised in that equipped with inertial navigation sensors on described glasses, be used for detecting wear a pair of spectacles human body posture, to synchronize the horizontal movement attitude of three-dimensional The Cloud Terrace and vertically movable attitude.
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| CN201510003004.XA CN105828021A (en) | 2015-01-05 | 2015-01-05 | Specialized robot image acquisition control method and system based on augmented reality technology |
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| CN201510003004.XA CN105828021A (en) | 2015-01-05 | 2015-01-05 | Specialized robot image acquisition control method and system based on augmented reality technology |
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| CN107426531A (en) * | 2017-05-16 | 2017-12-01 | 上海欧忆能源科技有限公司 | Posture visual angle remote control remote viewing intelligent helmet, method, camera device and system |
| CN107943282A (en) * | 2017-11-06 | 2018-04-20 | 上海念通智能科技有限公司 | A kind of man-machine interactive system and method based on augmented reality and wearable device |
| WO2020063307A1 (en) * | 2018-09-29 | 2020-04-02 | 桂林智神信息技术股份有限公司 | Method for monitoring photography device, cradle head system and mobile device |
| US10777012B2 (en) | 2018-09-27 | 2020-09-15 | Universal City Studios Llc | Display systems in an entertainment environment |
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