CN109167990A - Real-time volume optical projection system based on robot - Google Patents

Real-time volume optical projection system based on robot Download PDF

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Publication number
CN109167990A
CN109167990A CN201810924670.0A CN201810924670A CN109167990A CN 109167990 A CN109167990 A CN 109167990A CN 201810924670 A CN201810924670 A CN 201810924670A CN 109167990 A CN109167990 A CN 109167990A
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CN
China
Prior art keywords
robot
module
projection system
real
projector
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Application number
CN201810924670.0A
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Chinese (zh)
Inventor
刘建刚
石仁燕
唐肇蔚
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上海常仁信息科技有限公司
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Priority to CN201810924670.0A priority Critical patent/CN109167990A/en
Publication of CN109167990A publication Critical patent/CN109167990A/en

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    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS, OR APPARATUS
    • G02B30/00Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images
    • G02B30/20Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes
    • G02B30/26Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes of the autostereoscopic type
    • G02B30/27Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes of the autostereoscopic type involving lenticular arrays

Abstract

The invention discloses the real-time volume optical projection systems based on robot, including robot control system and stereo projection system, the robot control system includes that control host, energy supply control module, transducing signal detection processing module, driving and motion module, the stereo projection system include master synchronization, spatial digitizer, receiving module, computing module, memory module, solid 3D fusion treatment device and holographic projector.The real-time volume optical projection system based on robot that the present invention provides a kind of, stereo projection technology is combined with robot technology, three-dimensional digital image in kind is recorded using spatial digitizer, and in a storage module by receiving module and computing module analysis processing storage, three-dimensional processing is carried out to digitized video using master synchronization control solid 3D fusion treatment device, is finally projected by holographic projector.

Description

Real-time volume optical projection system based on robot

Technical field

The present invention relates to projection display technique fields, are based particularly on the real-time volume optical projection system of robot.

Background technique

3D shadow casting technique is that image is incident upon on projection carrier using high lumen projection machine, is generally spelled with more projectors Picture is connect to show dazzling and have relief 3D effect picture.This technology is also more and more applied to many aspects, Such as theme park, museum, the Art Museum, urban landmark building, commodity news conference, program celebration, display and demonstration.Currently, The 3D stereo display technique of mainstream, still cannot get rid of the constraint of Special spectacles, so that its application range and usage comfort All make a discount.And many 3D technologies can allow prolonged experiencer to have the feeling such as nausea, dizziness.

In China, robot technology research itself is started late, the research and advanced international standard of intelligent mobile robot There is very big gap.Specialized robot research in China's has been achieved with major progress with application.Operation type underwater robot, microoperation Robot, independent behaviour and mobile-robot system, lunar rover moving system, medical robot, pipeline operations robot, agricultural Biological operations robot, electrolytic aluminium under robot (fruit picking robot) and service robot, explosive-removal robot, complex environment Clean robot, non-ferrous metal automated production machine people have obtained promotion and application in corresponding field.

It is frequent to occur using Robot Scanning material object, then by image in kind with solid in some science fiction movies Form flash is in free space, it can be seen that, stereo projection technology is combined in robot science and technology, is realized a kind of based on machine The stereo projection technology of people is a kind of potential trend of development in science and technology of future, has great application value.

Summary of the invention

The purpose of the present invention is to provide the real-time volume optical projection systems based on robot, by robot technology and three-dimensional throwing Shadow technology combines, and realizes the real time scan to environmental objects and stereoprojection.

Real-time volume optical projection system based on robot, including robot body, robot control system and stereoprojection System, the robot control system and stereo projection system are mounted on robot body, the artificial crawler type of the machine or Wheeled robot;

The robot control system includes:

Host is controlled, for controlling the mutually coordinated of function between each module, realizes the operation of complete function;

Energy supply control module provides electric energy for modules component;

Transducing signal detection processing module, for the environment detection and information feedback in robot kinematics;

Driving and motion module complete regulation athletic performance for driving robot;

The stereo projection system includes:

Master synchronization realizes the feature operation of completion for controlling the coordination of the function between each modular unit;

Spatial digitizer records the image information of object or environment for surface sweeping;

Receiving module, for receiving image information and being converted to digital signal;

Computing module calculates the image digital information of recorded object or environment using mathematical model;

Memory module, the interim storage for digital image information;

Three-dimensional 3D fusion treatment device, the different images information pixels Overlapping display for that will export;

Holographic projector, for rendering three-dimensional three-dimensional influence recorded.

On the basis of above scheme, the signal output end and receiving module of the spatial digitizer are electrically connected, described to connect The signal output end and computing module for receiving module are electrically connected, and the signal output end of the computing module electrically connects with memory module It connects, the signal output end and master synchronization of the memory module are electrically connected, the signal input of the solid 3D fusion treatment device End is electrically connected with master synchronization, and the signal output end and holographic projector of the solid 3D fusion treatment device are electrically connected.

On the basis of above scheme, the transducing signal detection processing module in the robot control system is distance signal Detection processing module.

On the basis of above scheme, the spatial digitizer and holographic projector are arranged at the eyeball of robot head, The robot control system is arranged in the trunk of robot body.

On the basis of above scheme, using slit grating constitute stereo projection apparatus include LOOK LEFT projector, the right side Visual angle projector, preceding slit grating, diffuser screen and rear slit grating;

In the projection arrangement, LOOK LEFT projector only projects left-eye image, and LOOK RIGHT projector only projects eye image, benefit The effect of blocking with slit to light, so that left-eye image is only delivered to left eye, eye image is only delivered to right eye;According to human eye Visual theory, i.e., the compound stereoscopic image in human brain.

On the basis of above scheme, using the stereo projection apparatus of column optical grating constitution, including LOOK LEFT projector, right view Angular projection instrument, preceding column grating, diffuser screen and rear column grating.

In the projection arrangement, LOOK LEFT projector only projects left-eye image, and LOOK RIGHT projector only projects eye image, benefit With column grating to the focus characteristics of light, so that projection of the light of different projector projects on diffuser screen keeps independent Property, and then left-eye image is only delivered to left eye, eye image is only delivered to right eye, finally the compound stereoscopic image in human brain.

On the basis of above scheme, the robot control system and stereo projection system are powered by same power-supply system.

The invention has the advantages that: the real-time volume optical projection system based on robot that the present invention provides a kind of, Stereo projection technology is combined with robot technology, firstly, three-dimensional digital image in kind is recorded using spatial digitizer, And in a storage module by receiving module and computing module analysis processing storage, using master synchronization control solid 3D fusion Processor carries out three-dimensional processing to digitized video, is finally projected by holographic projector, makes in film robot to scanning Material object, and the science fiction technology of real-time volume projection is achieved, further, the stereo projection apparatus constituted using slit grating Or it uses the stereo projection apparatus of the stereo projection apparatus slit grating composition of column optical grating constitution or uses column optical grating constitution Stereo projection apparatus, the stereoprojection effect of naked eye can be presented, request dependence of the stereoprojection to 3D eyes and curtain, drop The visual fatigue of low people, it is intelligent, convenient, three-dimensional, lively, it is with a wide range of applications.

Detailed description of the invention

Fig. 1 is the structural framing figure of robot control system proposed by the present invention.

Fig. 2 is the structural framing figure of stereo projection system proposed by the present invention.

In figure: 1- controls host, 2- energy supply control module, 3- transducing signal detection processing module, 4- driving and movement mould Block, 5- master synchronization, 6- spatial digitizer, 7- receiving module, 8- computing module, 9- memory module, at 10- solid 3D fusion Manage device, 11- holographic projector.

Specific embodiment

The present invention will be further described with reference to the accompanying drawings.

Referring to Fig.1-2, the real-time volume optical projection system based on robot, including robot body, robot control system And stereo projection system, robot control system and stereo projection system are mounted on robot body, the artificial crawler type of machine Or wheeled robot;

Robot control system includes:

Host 1 is controlled, for controlling the mutually coordinated of function between each module, realizes the operation of complete function;

Energy supply control module 2 provides electric energy for modules component;

Transducing signal detection processing module 3, for the environment detection and information feedback in robot kinematics;

Driving and motion module 4 complete regulation athletic performance for driving robot;

Stereo projection system includes:

Master synchronization 5 realizes the feature operation of completion for controlling the coordination of the function between each modular unit;

Spatial digitizer 6 records the image information of object or environment for surface sweeping;

Receiving module 7, for receiving image information and being converted to digital signal;

Computing module 8 calculates the image digital information of recorded object or environment using mathematical model;

Memory module 9, the interim storage for digital image information;

Three-dimensional 3D fusion treatment device 10, the different images information pixels Overlapping display for that will export;

Holographic projector 11, for rendering three-dimensional three-dimensional influence recorded.

On the basis of above scheme, the signal output end and receiving module of spatial digitizer 6 are electrically connected, receiving module 7 Signal output end and computing module 8 be electrically connected, the signal output end of computing module 8 and memory module 9 are electrically connected, and are deposited Store up module 9 signal output end and master synchronization 5 be electrically connected, the signal input part of three-dimensional 3D fusion treatment device 10 with it is synchronous Host 5 is electrically connected, and the signal output end and holographic projector 11 of three-dimensional 3D fusion treatment device 10 are electrically connected.

On the basis of above scheme, the transducing signal detection processing module 3 in robot control system is distance signal inspection Survey processing module.

On the basis of above scheme, the eyeball on robot body head is arranged in spatial digitizer 6 and holographic projector 11 Place, robot control system are arranged in the trunk of robot body.

On the basis of above scheme, using slit grating constitute stereo projection apparatus include LOOK LEFT projector, the right side Visual angle projector, preceding slit grating, diffuser screen and rear slit grating.

In the projection arrangement, LOOK LEFT projector only projects left-eye image, and LOOK RIGHT projector only projects eye image, benefit The effect of blocking with slit to light, so that left-eye image is only delivered to left eye, eye image is only delivered to right eye.According to human eye Visual theory, i.e., the compound stereoscopic image in human brain.

On the basis of above scheme, using the stereo projection apparatus of column optical grating constitution, including LOOK LEFT projector, right view Angular projection instrument, preceding column grating, diffuser screen and rear column grating.

In the projection arrangement, LOOK LEFT projector only projects left-eye image, and LOOK RIGHT projector only projects eye image, benefit With column grating to the focus characteristics of light, so that projection of the light of different projector projects on diffuser screen keeps independent Property, and then left-eye image is only delivered to left eye, eye image is only delivered to right eye, finally the compound stereoscopic image in human brain.

On the basis of above scheme, the robot control system and stereo projection system are powered by same power-supply system.

Real-time volume optical projection system provided by the invention based on robot, is moved to certain objects using robot body Or certain distance before environment, the distance by 3 detection object of transducing signal detection processing module or environment apart from robot body, Guarantee the visual angle of image collection, record then be scanned to object or environment by stereo projection system control spatial digitizer 6, And handled by receiving module 7 and 8 analysis of computing module, image information is switched into digital signal and is stored in memory module 8, then Three-dimensional 3D fusion treatment device 10 is controlled by master synchronization 5 in real time, three-dimensional processing is carried out to image, most afterwards through line holographic projections Instrument 11 projects.Real-time volume optical projection system provided by the invention based on robot, by stereo projection technology and robot Technology combines, firstly, recording three-dimensional digital image in kind using spatial digitizer 6, and by receiving module 7 and calculates 8 analysis of module processing is stored in memory module 9, controls 10 pairs of three-dimensional 3D fusion treatment device digital shadows using master synchronization 5 As carrying out three-dimensional processing, is finally projected by holographic projector 11, keep robot in film in kind to scanning, and stand in real time The science fiction technology of body projection is achieved, further, using the stereo projection apparatus of slit grating composition or using column light The stereo projection apparatus or filled using the stereoprojection of column optical grating constitution that the stereo projection apparatus slit grating that grid are constituted is constituted It sets, the stereoprojection effect of naked eye can be presented, stereoprojection is requested to reduce the vision of people to the dependence of 3D eyes and curtain Fatigue, it is intelligent, convenient, three-dimensional, lively, it is with a wide range of applications.

Technical principle: it is to record using interference and diffraction principle and reproduce object that line holographic projections technology, which is also referred to as virtual image technology, The record of the true 3-D image of body and the technology of reproduction.

Its first step is to record object light-wave information using principle of interference, this i.e. shooting process: subject is in laser spoke According to the lower object beam for forming diffusion formula;Another part laser is mapped on holofilm as reference beam and object beam superposition produces The position phase and amplitude of each point on object light wave, are converted into the intensity being spatially varying, to utilize interference fringe by raw interference Between contrast and interval all information of object light wave is recorded.The egative film of interference fringe is record by development, fixing Etc. after processing routines, become as a hologram or hologram.

Its second step is using diffraction principle reconstructed object light-wave information, this is imaging procedures: hologram is multiple like one Miscellaneous grating, under coherent laser illumination, the diffraction light wave of the sinusoidal pattern hologram of a linear recording can generally provide two As that is, original as (also known as primary image) and conjugate image.The image three-dimensional sense of reproduction is strong, has true visual effect.Hologram Each section all have recorded the optical information of each point on object, therefore its each section can reproduce the entire figure of the original in principle Picture can also record multiple and different images by multiple exposure on same egative film, and can show respectively without interfering with each other It shows and.

Place is not described in detail by the present invention, is the well-known technique of those skilled in the art.

In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit Letter connection can be electrical property, mechanical or other forms.

It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.

The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer Equipment (can be personal computer, server or the network equipment etc.) or processing module (processor) execute the present invention The part steps of each embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk Etc. the various media that can store program code.

Above embodiments are used for illustrative purposes only, rather than limitation of the present invention, the technology people in relation to technical field Member, without departing from the spirit and scope of the present invention, can also make various transformation or modification, therefore all equivalent Technical solution also should belong to scope of the invention, should be limited by each claim.

Claims (9)

1. the real-time volume optical projection system based on robot, which is characterized in that including robot body, robot control system and Stereo projection system, the robot control system and stereo projection system are mounted on robot body, and the machine is artificial Crawler type or wheeled robot;
The robot control system includes:
Host is controlled, for controlling the mutually coordinated of function between each module, realizes the operation of complete function;
Energy supply control module provides electric energy for modules component;
Transducing signal detection processing module, for the environment detection and information feedback in robot kinematics;
Driving and motion module complete regulation athletic performance for driving robot;
The stereo projection system includes:
Master synchronization realizes the feature operation of completion for controlling the coordination of the function between each modular unit;
Spatial digitizer records the image information of object or environment for surface sweeping;
Receiving module, for receiving image information and being converted to digital signal;
Computing module calculates the image digital information of recorded object or environment using mathematical model;
Memory module, the interim storage for digital image information;
Three-dimensional 3D fusion treatment device, the different images information pixels Overlapping display for that will export;
Holographic projector, for rendering three-dimensional three-dimensional influence recorded.
2. the real-time volume optical projection system according to claim 1 based on robot, it is characterised in that: the power supply control Module, transducing signal detection processing module, driving and motion module are electrically connected with control host.
3. the real-time volume optical projection system according to claim 1 based on robot, it is characterised in that: the 3-D scanning The signal output end and receiving module of instrument are electrically connected, and the signal output end and computing module of the receiving module are electrically connected, The signal output end and memory module of the computing module are electrically connected, the signal output end and master synchronization of the memory module It is electrically connected, the signal input part and master synchronization of the solid 3D fusion treatment device are electrically connected, at the solid 3D fusion The signal output end and holographic projector for managing device are electrically connected.
4. the real-time volume optical projection system according to claim 1 based on robot, it is characterised in that: the robot control Transducing signal detection processing module in system processed is distance signal detection processing module.
5. the real-time volume optical projection system according to claim 1 based on robot, it is characterised in that: the 3-D scanning Instrument and holographic projector are arranged at the eyeball of robot head, and the body of robot body is arranged in the robot control system In dry.
6. the real-time volume optical projection system according to claim 1 based on robot, it is characterised in that: the line holographic projections Instrument is the stereo projection apparatus constituted using slit grating or the stereo projection apparatus using column optical grating constitution.
7. the real-time volume optical projection system according to claim 5 based on robot, it is characterised in that: use slit grating The stereo projection apparatus of composition includes LOOK LEFT projector, LOOK RIGHT projector, preceding slit grating, diffuser screen and rear slit light Grid;
In the projection arrangement, LOOK LEFT projector only projects left-eye image, and LOOK RIGHT projector only projects eye image, and utilization is narrow The effect of blocking to light is stitched, so that left-eye image is only delivered to left eye, eye image is only delivered to right eye;According to the view of human eye Feel principle, i.e., the compound stereoscopic image in human brain.
8. the real-time volume optical projection system according to claim 5 based on robot, it is characterised in that: use column grating The stereo projection apparatus of composition, including LOOK LEFT projector, LOOK RIGHT projector, preceding column grating, diffuser screen and rear column light Grid.
In the projection arrangement, LOOK LEFT projector only projects left-eye image, and LOOK RIGHT projector only projects eye image, utilizes column Shape grating is to the focus characteristics of light, so that projection of the light of different projector projects on diffuser screen keeps independence, into And left-eye image is only delivered to left eye, eye image is only delivered to right eye, finally the compound stereoscopic image in human brain.
9. the real-time volume optical projection system according to claim 1 based on robot, it is characterised in that: the robot control System processed and stereo projection system are powered by same power-supply system.
CN201810924670.0A 2018-08-14 2018-08-14 Real-time volume optical projection system based on robot CN109167990A (en)

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