CN110405784A - The bionical ocular structure of stabilization high dynamic - Google Patents
The bionical ocular structure of stabilization high dynamic Download PDFInfo
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- CN110405784A CN110405784A CN201910679801.8A CN201910679801A CN110405784A CN 110405784 A CN110405784 A CN 110405784A CN 201910679801 A CN201910679801 A CN 201910679801A CN 110405784 A CN110405784 A CN 110405784A
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- eyeball
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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Abstract
This application discloses a kind of bionical ocular structures of stabilization high dynamic.The bionical ocular structure of stabilization high dynamic includes binocular bionic eye and neck mechanism, and the neck mechanism drives the bionical eye movement of binocular, and the neck mechanism includes 3DOF neck joint, and the binocular bionic eye includes the eyeball mechanism of two 2DOFs；Wherein the neck mechanism drives the bionical eye movement of the binocular to refer to the Union Movement of up and down motion, side-to-side movement or rotary motion and the above three.Present application addresses the bionical ocular structure technical problems that structure is complicated, stabilization and dynamic property are bad.Simplify structure by the application, effective stabilization, improve dynamic property.In addition, the application can be used in binocular tracking and whole scene visual information.
Description
Technical field
This application involves bionic eye fields, in particular to a kind of bionical ocular structure of stabilization high dynamic.
Background technique
For bio-robot, the importance of bionic eye is self-evident.But eyes obtain the process of information, from not
The coordinated movement of various economic factors of body is opened, wherein the coordinated movement of various economic factors of eyes and head plays dominant role.
Inventors have found that due to more complicated in structure, it is many and diverse not tight enough in turn result in wiring for related bionic eye mechanism
It gathers.Further, due to two eyeballs from center of gravity farther out so the bad poor, dynamic property of anti-shudder performance is not also high.
For the bionical ocular structure problem that structure is complicated, stabilization and dynamic property are bad in the related technology, at present not yet
It puts forward effective solutions.
Summary of the invention
The main purpose of the application is to provide a kind of bionical ocular structure of stabilization high dynamic, to solve bionical ocular structure structure
Complicated, stabilization and the bad problem of dynamic property.
To achieve the goals above, according to the one aspect of the application, a kind of bionical ocular structure of stabilization high dynamic is provided.
The bionical ocular structure of stabilization high dynamic according to the application includes: binocular bionic eye and neck mechanism, the neck machine
Structure drives the bionical eye movement of binocular, and the neck mechanism includes 3DOF neck joint, and the binocular bionic eye includes two
The eyeball mechanism of a 2DOF；Wherein the neck mechanism drives the bionical eye movement of binocular to refer to up and down motion, left and right fortune
Dynamic or rotary motion.
Further, it when the neck mechanism drives the binocular bionical eye movement, is tracked for binocular.
Further, when the neck mechanism drives the binocular bionical eye movement, for obtaining whole scene visual information.
Further, the binocular bionic eye includes: the identical right eye ball machine structure of Inner Constitution and left eye ball machine structure, branch
Frame, the right eye ball machine structure and the left eye ball machine structure are respectively symmetrically installed on the end of the bracket.
Further, the eyeball mechanism includes: eyeball, camera mould group, First view ball motor, the second eyeball motor, institute
It states camera mould group to be installed in the eyeball, the First view ball motor is for controlling eyeball side-to-side movement, second eyeball
Motor is for controlling eyeball up and down motion.
Further, the neck mechanism further include: first neck motor, second neck motor, third neck motor, institute
First neck motor is stated, for driving binocular bionic eye to do left-right rotation；The second neck motor, for driving binocular
Bionic eye does roll motion；The third neck motor, by doing pitching movement up and down in driving binocular bionic eye；Wherein
The first neck motor, the second neck motor, the third neck motor output shaft be mutually plumbness.
To achieve the goals above, according to the another aspect of the application, a kind of bionical ocular structure of stabilization high dynamic is provided.
The bionical ocular structure of stabilization high dynamic according to the application includes: binocular bionic eye and neck mechanism, and the binocular is imitative
Raw eye includes left eye ball machine structure, right eye ball machine structure and bracket, and the neck mechanism includes master arm and pedestal, the left eye
Ball machine structure and the right eye ball machine structure use identical composition eyeball structure, comprising: eyeball, camera mould group, for controlling an eyeball left side
The first motor of right movement, the second motor for controlling eyeball up and down motion；The left eye ball machine structure and the right eye ball machine
Structure is separately mounted on bracket；The neck mechanism includes: that output shaft is mutually the first neck motor of plumbness, second neck
Motor and third neck motor；The output shaft of the first neck motor is vertically arranged, for driving binocular bionic eye to do a left side
The output shaft of right rotation campaign, the second neck motor is horizontally disposed, for driving binocular bionic eye to do roll motion；
The output shaft of the third neck motor is horizontally disposed, for driving binocular bionic eye to do pitching movement up and down.
Further, the eyeball in the left eye ball machine structure and the right eye ball machine structure is by preceding eyeball and rear eyeball and phase
Machine mould group composition, the camera mould group are located among eyeball.
Further, the bionical ocular structure of stabilization high dynamic further include: motor, by integrating absolute type code-disc, so that described
Binocular bionic eye and the neck mechanism are controllable in different freedom degree positions.
Further, the neck mechanism be connected with the binocular bionic eye by neck crosslinking apparatus, the neck machine
Structure connection pedestal, the neck mechanism are connected with support arm, and the first neck motor in neck mechanism is fixed by screws in bottom
The top of seat, the outer rotor of first neck motor are connect with master arm lower end；Second neck motor is fixed by screws in master
The upper end of support arm, and outer rotor is connect with neck crosslinking apparatus；Third neck motor is fixed by screws in neck crosslinking
In device, and the middle part junction of outer rotor and bracket is screwed.
The bionical ocular structure of stabilization high dynamic in the embodiment of the present application, by the way of binocular bionic eye and neck mechanism,
The bionical eye movement of binocular is driven by the neck mechanism, the neck mechanism includes 3DOF neck joint, described double
Mesh bionic eye includes the eyeball mechanism of two 2DOFs, has reached and has driven the binocular bionic eye fortune by the neck mechanism
The dynamic purpose for referring to up and down motion, side-to-side movement or rotary motion and the Union Movement of the above three, to realize simplification
Structure, effective stabilization and the technical effect for improving dynamic property, and then solve bionical ocular structure structure is complicated, stabilization and dynamic
The bad technical problem of state property energy.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the structural schematic diagram according to the bionical ocular structure of stabilization high dynamic of the embodiment of the present application；
Fig. 2 is the structural schematic diagram according to the bionical ocular structure of stabilization high dynamic of another embodiment of the application；
Fig. 3 is the eye explosive view in the bionical ocular structure of stabilization high dynamic according to the embodiment of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
The bionical ocular structure of stabilization high dynamic of the embodiment of the present application, bionic eye is compact-sized, wiring is succinct, anti-shudder performance
Well, fuselage is slim and graceful, movement is flexible.Meanwhile being also equipped with binocular tracking and whole scene acquisition of vision information ability.
As shown in Figure 1, the bionical ocular structure of stabilization high dynamic in the embodiment of the present application, comprising: binocular bionic eye 100 and neck
Portion mechanism 200, the neck mechanism 200 drive the binocular bionic eye 100 to move, and the neck mechanism 200 includes 3DOF
Neck joint, the binocular bionic eye 100 include the eyeball mechanism of two 2DOFs；Wherein the neck mechanism 200 drives institute
It states the movement of binocular bionic eye 100 and refers to up and down motion, side-to-side movement or rotary motion.
It should be noted that there are three freedom degrees by human eye according to Human physiology and anatomical correlative study, divide
It Shi Xian not the rotating upwardly and downwardly of eyeball, left-right rotation, roll motion；Human cervix also has 3 freedom degrees, realizes the upper of head respectively
Under, left-right rotation, side-to-side motion.Based on the above principles, the stabilization high dynamic that can be adapted in the embodiment of the present application is imitative
In raw ocular structure.
Specifically, each 100 freedom degree of binocular bionic eye be 2, due to eyeball roll movement to eyeball tracking object at
The contribution of picture can almost be ignored, so the freedom degree of eyeball roll is omitted.Two 2 can be passed through in embodiments herein
The bionical eyeball of freedom degree carries out the adjustment of the small range visual field, and adjusts large-scale scene switching by 3DOF neck joint,
To realize the acquisition of vision information of whole scene.
Preferably, it when the binocular bionic eye 100 movement is moved in the neck mechanism drive 200, is tracked for binocular.
Preferably, when the binocular bionic eye 100 movement is moved in the neck mechanism drive 200, for obtaining whole scene vision
Information.
It can be seen from the above description that the application realizes following technical effect:
The bionical ocular structure of stabilization high dynamic in the embodiment of the present application, by the way of binocular bionic eye and neck mechanism,
The bionical eye movement of binocular is driven by the neck mechanism, the neck mechanism includes 3DOF neck joint, described double
Mesh bionic eye includes the eyeball mechanism of two 2DOFs, has reached and has driven the binocular bionic eye fortune by the neck mechanism
The dynamic purpose for referring to up and down motion, side-to-side movement or rotary motion, to realize simplified structure, effective stabilization and improve dynamic
The technical effect of performance, and then solve the bionical ocular structure technical problem that structure is complicated, stabilization and dynamic property are bad.
The bionical ocular structure of stabilization high dynamic in the embodiment of the present application, mechanism is slim and graceful, has used outer rotor brushless motor, high
Effect, fast response time, dynamic property are good.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in Fig. 2, the binocular bionic eye 100 wraps
It includes: the identical right eye ball machine structure 2 of Inner Constitution and left eye ball machine structure 1, bracket 3, the right eye ball machine structure and the left eye ball machine
Structure is respectively symmetrically installed on the end of the bracket 3.Specifically, right eye ball machine structure is identical as the composition of left eye ball machine structure, right eye
Ball machine structure and left eye ball machine structure are mounted on the both ends of bracket 3 in a manner of mirror symmetry.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in Fig. 2, the left eye ball machine structure and described
Any eyeball structure in right eye mechanism includes: eyeball 10, camera mould group 20, First view ball motor 30, the second eyeball electricity
Machine 40, the camera mould group 20 are installed in the eyeball 10, and the First view ball motor 30 is for controlling the fortune of eyeball 10 or so
Dynamic, the second eyeball motor 40 is for controlling the up and down motion of eyeball 10.
According to the embodiment of the present application, as preferred in the present embodiment, as shown in Fig. 2, the neck mechanism 200 is also wrapped
It includes: first neck motor 201, second neck motor 202, third neck motor 203, the first neck motor 201, for driving
Dynamic binocular bionic eye does left-right rotation；The second neck motor 202, for driving binocular bionic eye to swing fortune
It is dynamic；The third neck motor 203, by doing pitching movement up and down in driving binocular bionic eye；The wherein first neck electricity
Machine, the second neck motor, the third neck motor output shaft be mutually plumbness.
Specifically, the neck mechanism 200 has three degree of freedom, it includes: first that output shaft is mutually plumbness
Neck motor 201, second neck motor 202, third neck motor 203；The first neck motor 201 is vertically arranged, and is used for
Binocular bionic eye is driven to make rotating motion, the second neck motor 202 is horizontally disposed, for driving binocular bionic eye to control
Pendulum motion；The third neck motor 203 is horizontally disposed, for driving binocular bionic eye to do pitching movement up and down.
In another embodiment of the application, to keep structure of the invention compact, simple and practical, can by binocular bionic eye and
Neck mechanism carries out related optimization.
The bionical ocular structure of stabilization high dynamic is provided in this embodiment, comprising: binocular bionic eye 100 and neck mechanism
200, the binocular bionic eye 100 includes left eye ball machine structure 1, right eye ball machine structure 2 and bracket 3, and the neck mechanism 200 includes
Master arm 4 and pedestal 5, the left eye ball machine structure 1 and the right eye ball machine structure 2 use identical composition eyeball structure, comprising: eye
Ball 10, camera mould group 20, the first eye motor 30 for controlling eyeball side-to-side movement, for controlling eyeball up and down motion
Two eye motors 40；The left eye ball machine structure 1 and the right eye ball machine structure 2 are separately mounted on bracket 3；The neck mechanism
200 include: the first neck motor 201, second neck motor 202 and third neck motor that output shaft is mutually plumbness
203；The output shaft of the first neck motor 201 is vertically arranged, described for driving binocular bionic eye to do left-right rotation
The output shaft of second neck motor 202 is horizontally disposed, for driving binocular bionic eye to do roll motion；The third neck
The output shaft of motor 203 is horizontally disposed, for driving binocular bionic eye to do pitching movement up and down.
There are two freedom degrees for the tool of left eye ball machine structure 1, it includes: the camera mould group 20 being mounted in eyeball 10, is used for
Control the First view ball motor 30 of eyeball side-to-side movement and the second eyeball motor 40 for controlling eyeball up and down motion.It is described
Left eye ball machine structure 1 is mounted on course bracket 11, and course bracket 11 is mounted on 3 left side junction of bracket.The left eye ball machine structure 2
It is identical as the composition of the left eye ball machine structure 1, it is mounted on 3 the right junction of bracket in a manner of mirror symmetry.
According to the embodiment of the present application, as preferred in the present embodiment, the left eye ball machine structure 1 and the right eye ball machine structure
Eyeball 10 in 2 is made of preceding eyeball and rear eyeball and camera mould group, and the camera mould group 20 is located among eyeball 10.
Specifically, as shown in figure 3, the eyeball 10 in the right eye ball machine structure 1 is by preceding eyeball and rear eyeball and camera mould
20 composition of group.The camera mould group 20 is included among eyeball 10, and camera mould group 20 is by assembled sequence by camera 101, camera
Bracket 102, motor connectors 103, gimbal 104, gyroscope 105, rear eyeball fixing seat 106 are constituted.In addition, passing through eyeball
Mechanism combines camera and gyroscope, more conducively algorithmically carries out stabilization.
According to the embodiment of the present application, as preferred in the present embodiment, the bionical ocular structure of stabilization high dynamic further include: electricity
Machine, by integrating absolute type code-disc, so that the binocular bionic eye and the neck mechanism are controllable in different freedom degree positions.Tool
Body, to keep the bionical ocular structure of stabilization high dynamic in the embodiment controllable in each freedom degree position, all motors are assembled with
Integrated absolute type code-disc is to guarantee positioning accuracy.
According to the embodiment of the present application, as preferred in the present embodiment, the neck mechanism 200 passes through neck crosslinking apparatus
6 are connected with the binocular bionic eye 100, the neck mechanism connect pedestal 5, the neck mechanism 200 is connected with support arm, neck
First neck motor 201 in portion mechanism is fixed by screws in the top of pedestal 5, the outer rotor of first neck motor and main branch
The lower end of brace 4 connects；Second neck motor 202 is fixed by screws in the upper end of master arm 4, and outer rotor and neck
Crosslinking apparatus 6 connects；Third neck motor 203 is fixed by screws in neck crosslinking apparatus 6, and outer rotor and bracket 3
Middle part junction be screwed.
Specifically, the first neck motor 201 in the neck mechanism 200 is fixed by screws in the top of pedestal 5, the
The outer rotor of one neck motor 201 is connect with 4 lower end of master arm；Second neck motor 202 is fixed by screws in main support
The upper end of arm 4, outer rotor are connect with the neck crosslinking apparatus 6；The third neck motor 203 is fixed by screws in neck
In portion's crosslinking apparatus 6, the middle part junction of outer rotor and bracket 3 is screwed.
The bionical ocular structure of stabilization high dynamic in the embodiment of the present application, compact-sized, center of gravity setting is reasonable, each articulation
Torque is optimal value, and eyes distance is close and closer apart from center of gravity, and the anti-shudder performance of physics is good, and eyeball mechanism is by camera and top
Spiral shell instrument combines, and more conducively algorithmically carries out stabilization.
In addition, the bionical ocular structure of stabilization high dynamic in the embodiment of the present application, is routed simple and beautiful, power supply line and signal wire
Shielding mutually is wrapped up using metallic film, realization low-and high-frequency is electrically isolated, and power is electrically isolated, and guarantees that power supply state, signal transmit
Stability.
Obviously, those skilled in the art should be understood that each module of above-mentioned the application or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the application be not limited to it is any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of bionical ocular structure of stabilization high dynamic characterized by comprising binocular bionic eye and neck mechanism, the neck
Mechanism drives the bionical eye movement of binocular, and the neck mechanism includes 3DOF neck joint, and the binocular bionic eye includes
The eyeball mechanism of two 2DOFs；
Wherein the neck mechanism drive the bionical eye movement of binocular refer to up and down motion, side-to-side movement or rotary motion and
The Union Movement of the above three.
2. the bionical ocular structure of stabilization high dynamic according to claim 1, which is characterized in that described in the neck mechanism driving
When the bionical eye movement of binocular, tracked for binocular.
3. the bionical ocular structure of stabilization high dynamic according to claim 1, which is characterized in that described in the neck mechanism driving
When the bionical eye movement of binocular, for obtaining whole scene visual information.
4. the bionical ocular structure of stabilization high dynamic according to claim 1, which is characterized in that the binocular bionic eye includes:
The identical right eye ball machine structure of Inner Constitution and left eye ball machine structure, bracket, the right eye ball machine structure and the left eye ball machine structure are distinguished
It is symmetrically arranged on the end of the bracket.
5. the bionical ocular structure of stabilization high dynamic according to claim 4, which is characterized in that the left eye ball machine structure and described
Any eyeball structure in right eye mechanism includes: eyeball, camera mould group, First view ball motor, the second eyeball motor, described
Camera mould group is installed in the eyeball, and the First view ball motor is for controlling eyeball side-to-side movement, the second eyeball electricity
Machine is for controlling eyeball up and down motion.
6. the bionical ocular structure of stabilization high dynamic according to claim 1, which is characterized in that the neck mechanism further include:
First neck motor, second neck motor, third neck motor,
The first neck motor, for driving binocular bionic eye to do left-right rotation；
The second neck motor, for driving binocular bionic eye to do roll motion；
The third neck motor, by doing pitching movement up and down in driving binocular bionic eye；
Wherein the first neck motor, the second neck motor, the third neck motor output shaft be mutually vertical configuration
State.
7. a kind of bionical ocular structure of stabilization high dynamic characterized by comprising binocular bionic eye and neck mechanism, the binocular
Bionic eye includes left eye ball machine structure, right eye ball machine structure and bracket, and the neck mechanism includes master arm and pedestal,
The left eye ball machine structure and the right eye ball machine structure use identical composition eyeball structure, comprising: eyeball, is used camera mould group
The first eye motor in control eyeball side-to-side movement, the second eye motor for controlling eyeball up and down motion；The left eye
Ball machine structure and the right eye ball machine structure are separately mounted on bracket；
The neck mechanism includes: the first neck motor, second neck motor and third neck that output shaft is mutually plumbness
Portion's motor；The output shaft of the first neck motor is vertically arranged, described for driving binocular bionic eye to do left-right rotation
The output shaft of second neck motor is horizontally disposed, for driving binocular bionic eye to do roll motion；The third neck electricity
The output shaft of machine is horizontally disposed, for driving binocular bionic eye to do pitching movement up and down.
8. the bionical ocular structure of stabilization high dynamic according to claim 7, which is characterized in that the left eye ball machine structure and described
Eyeball in right eye ball machine structure is made of preceding eyeball and rear eyeball and camera mould group, the camera mould group be located at eyeball it
In.
9. the bionical ocular structure of stabilization high dynamic according to claim 7, which is characterized in that further include: motor, by integrated
Absolute type code-disc, so that the binocular bionic eye and the neck mechanism are controllable in different freedom degree positions.
10. the bionical ocular structure of stabilization high dynamic according to claim 7, which is characterized in that the neck mechanism passes through neck
Portion's crosslinking apparatus is connected with the binocular bionic eye, the neck mechanism connect pedestal, the neck mechanism and is connected with support arm,
First neck motor in neck mechanism is fixed by screws in the top of pedestal, the outer rotor of first neck motor and master
The connection of support arm lower end；
Second neck motor is fixed by screws in the upper end of master arm, and outer rotor is connect with neck crosslinking apparatus；
Third neck motor is fixed by screws in neck crosslinking apparatus, and the middle part junction of outer rotor and bracket passes through
Screw is fixed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910679801.8A CN110405784A (en) | 2019-07-25 | 2019-07-25 | The bionical ocular structure of stabilization high dynamic |
| US16/742,542 US11614719B2 (en) | 2019-07-25 | 2020-01-14 | Wide-field-of-view anti-shake high-dynamic bionic eye |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910679801.8A CN110405784A (en) | 2019-07-25 | 2019-07-25 | The bionical ocular structure of stabilization high dynamic |
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| CN110405784A true CN110405784A (en) | 2019-11-05 |
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| CN111604918A (en) * | 2020-05-22 | 2020-09-01 | 北京理工大学 | Five-degree-of-freedom binocular anti-shake bionic eye mechanism |
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| CN107932524A (en) * | 2017-11-30 | 2018-04-20 | 北京理工大学 | A kind of Three-degree-of-freedom bionic eye neck mechanism for eliminating gravity torque |
| CN208982932U (en) * | 2018-09-25 | 2019-06-14 | 哈尔滨理工大学 | A kind of binocular vision camera support structure |
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| CN111604918A (en) * | 2020-05-22 | 2020-09-01 | 北京理工大学 | Five-degree-of-freedom binocular anti-shake bionic eye mechanism |
| CN111604918B (en) * | 2020-05-22 | 2022-09-13 | 北京理工大学 | Five-degree-of-freedom binocular anti-shake bionic eye mechanism |
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