CN113771099A

CN113771099A - Parallel type three-degree-of-freedom bionic eye device

Info

Publication number: CN113771099A
Application number: CN202111115399.4A
Authority: CN
Inventors: 王开放; 周诚喆; 柳俊; 夏剑峰; 胡杨红; 李嘉茂; 张晓林
Original assignee: Shanghai Institute of Microsystem and Information Technology of CAS
Current assignee: Shanghai Institute of Microsystem and Information Technology of CAS
Priority date: 2021-09-23
Filing date: 2021-09-23
Publication date: 2021-12-10
Anticipated expiration: 2041-09-23
Also published as: CN113771099B

Abstract

The invention relates to a parallel type three-degree-of-freedom bionic eye device, which comprises a sensor component; a substrate fixed below the sensor member; the connecting rod assembly comprises three upper connecting rods and three lower connecting rods, one end of each upper connecting rod is connected with the substrate, and the other end of each upper connecting rod is connected with the upper end of one lower connecting rod; the rotary table assembly sequentially comprises a first rotary table, a second rotary table and a third rotary table from top to bottom, the outer surfaces of the three rotary tables are respectively connected with the lower end of one lower connecting rod, an upper fixed base is arranged above the first rotary table, and a lower fixed base is arranged below the third rotary table; the motor assembly is arranged below the lower fixing base and comprises three motors, the motors penetrate through the lower fixing base and respectively extend into the three turntables, and the motors are respectively connected with the three turntables in a rotating mode. The bionic eye device is convenient to miniaturize, small and compact in size and low in cost. Meanwhile, the invention also has the characteristics of high motion precision, high response speed and the like.

Description

Parallel type three-degree-of-freedom bionic eye device

Technical Field

The invention relates to the field of bionic robots, in particular to a parallel three-degree-of-freedom bionic eye device.

Background

The bionic eye is an artificial vision system constructed by simulating an animal vision system, and is an important perception device for acquiring objective world information for a robot just like an eyeball for a human being. The performance indexes of the bionic eye in all aspects such as control precision and sensor data processing are improved, and the robot can be better applied to the production and life processes.

As a movable sensing system, the current realization modes of the bionic eye device mainly comprise a serial structural scheme (CN 201810107465.5), a parallel structural scheme (CN 201610292738.9) and a serial-parallel combined structural scheme (CN 201610846074.6). The structure and the motion control strategy of the serial structure scheme are relatively simple, but the miniaturization is difficult, and the direct drive scheme of the motor has high requirements on the performance of the motor. The parallel type structure scheme is based on magnetic suspension driving, and has high threshold and high equipment cost for the current magnetic suspension technology. The structure scheme of series-parallel connection combination is large in size, and the peripheral attachments of the eyeballs are more, so that the integration into a robot is not facilitated.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a parallel type three-degree-of-freedom bionic eye device which is small and exquisite in structure, easy to integrate, low in cost and high in movement performance.

The invention provides a parallel three-degree-of-freedom bionic eye device which comprises a sensor component; a substrate fixed below the sensor member; the connecting rod assembly comprises three upper connecting rods and three lower connecting rods, one end of each upper connecting rod is movably connected with the same substrate, and the other end of each upper connecting rod is movably connected with the upper end of one lower connecting rod; the rotary table assembly sequentially comprises a first rotary table, a second rotary table and a third rotary table from top to bottom, the outer surface of each of the first rotary table, the second rotary table and the third rotary table is fixedly connected with the lower end of one of the lower connecting rods, an upper fixing base is arranged above the first rotary table, and a lower fixing base is arranged below the third rotary table; the motor assembly is arranged below the lower fixing base and comprises three motors, the motors penetrate through the lower fixing base and respectively extend into the first rotary table, the second rotary table and the third rotary table, and the motors are respectively connected with the first rotary table, the second rotary table and the third rotary table in a rotating mode.

Further, the sensor component and the motor assembly are connected with a control processing module.

Furthermore, one end of each upper connecting rod is hinged to the same base plate through an upper deep groove ball bearing, and the other end of each upper connecting rod is hinged to the upper end of the corresponding lower connecting rod through a lower deep groove ball bearing.

Further, an axial included angle between the lower connecting rod and a lower deep groove ball bearing hinged with the lower connecting rod is 0-180 degrees.

Further, the axis of the upper deep groove ball bearing and the axis of the lower deep groove ball bearing intersect at a point.

Further, inner ring gears are arranged on the inner surfaces of the first rotary disc, the second rotary disc and the third rotary disc.

Further, the end gear of the motor is respectively in rotating connection with the inner ring gears of the first turntable, the second turntable and the third turntable.

Further, the motor has a position acquisition device.

Further, the sensor part is an image pickup sensor, a laser sensor, a TOF sensor, an ultrasonic sensor, or a millimeter wave radar.

Preferably, the sensor component is a camera sensor.

The three-degree-of-freedom bionic eye device controls the specific postures of the sensor components in a mode that the three turntables drive the connecting rods to move, and the motor is embedded in the turntables, so that the outer diameter of the whole three-degree-of-freedom bionic eye is effectively reduced, and the miniaturization of the bionic eye device is facilitated. In addition, the sensor component of the invention has no accessories, is convenient to be embedded into an eyebox or other narrow equipment, and has small and compact volume and low cost. Meanwhile, the invention also has the characteristics of high motion precision, high response speed and the like.

Drawings

Fig. 1 is a schematic structural diagram of a parallel three-degree-of-freedom bionic eye device according to the invention.

Fig. 2 is a bottom view of fig. 1.

Fig. 3 is a cross-sectional view of a parallel three-degree-of-freedom bionic eye device according to the invention.

Fig. 4 is a top view of fig. 1.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1-4, the parallel type three-degree-of-freedom bionic eye device provided by the invention comprises a sensor component 1, a substrate 2 fixed below the sensor component 1 and used for bearing the sensor component 1, and a turntable assembly 4 connected with the substrate 2 through a connecting rod assembly 3, wherein an upper fixed base 5 and a lower fixed base 6 are respectively arranged on the upper side and the lower side of the turntable assembly 4, and a motor assembly 7 is arranged below the lower fixed base 6.

The sensor component 1 simulates the function of the retina of an eyeball, and may be various sensor devices capable of acquiring scene data, including but not limited to a camera sensor, a laser sensor, a TOF sensor, an ultrasonic sensor, a millimeter wave radar and other sensor devices, and is used for acquiring information of various scenes or scene objects such as distance, position, posture, color, shape, area, name, contour and the like. The relative fixed posture of the sensor part 1 and the substrate 2 is not limited, and may be any direction.

The connecting-rod assembly 3 comprises three arc-shaped upper connecting rods 31 and three substantially vertical lower connecting rods 32. One end of each of the three upper connecting rods 31 is hinged with the same substrate 2 through the upper deep groove ball bearing 8, so that the rotating posture of the substrate 2 is controlled by the states of the three upper connecting rods 31; the other end of each upper connecting rod 31 is hinged with the upper end of one lower connecting rod 32 through a lower deep groove ball bearing 9. The axial included angle between each lower connecting rod 32 and the lower deep groove ball bearing 9 connected with the lower connecting rod is 0-180 degrees, and the axes of the three upper deep groove ball bearings 8 and the axes of the three lower deep groove ball bearings 9 are intersected at one point (namely, the six axes are intersected at one point). It should be noted that the middle portions of the three upper links may have different shapes, but the relative positional relationship between the two ends must be the same.

The turntable assembly 4 comprises a first turntable 41, a second turntable 42 and a third turntable 43 in sequence from top to bottom, the outer surfaces of the three

turntables

41, 42 and 43 are respectively fixedly connected with the lower end of one of the lower connecting rods 32, the inner surfaces are respectively provided with an inner ring gear and an inner ring deep groove ball bearing 11, the upper fixing base 5 is arranged above the first turntable 41, and the lower fixing base 6 is arranged below the third turntable 43. When the first turntable 41, the second turntable 42 and the third turntable 43 rotate, the lower connecting rod 32 connected with the first turntable is driven to rotate, and the lower connecting rod 32 drives the upper connecting rod 31 connected with the second turntable to be linked, so that the posture of the substrate 2 is influenced by the rotation of the three

turntables

41, 42 and 43, and further the sensor component 1 fixed on the substrate 2 is influenced. In the present embodiment, the sensor section 1 simulates the eyeball retina function using an image pickup sensor, thereby acquiring continuous scene image information.

The motor assembly 7 comprises three motors which penetrate through the lower fixed base 6 and respectively extend into the three

turntables

41, 42 and 43, and the end gears 10 of the three motors are respectively and rotationally connected with the inner ring gears of the three

turntables

41, 42 and 43 corresponding to the three motors. When the three motors generate different movement speeds, the three motors are transmitted to the

corresponding turntables

41, 42 and 43 through gear connection, and then the corresponding turntables are influenced to generate rotation with different speeds. In addition, position acquisition devices are arranged on the three motors to acquire motor rotation information.

In the present embodiment, the sensor unit 1 and the motor assembly 7 are connected to an external control processing module (not shown) through cables. The control processing module may be various computers or data processors, and feeds back the position information in real time through the position obtaining device to drive the three motors to rotate by corresponding angles, and then drives the three rotating

discs

41, 42, 43 to rotate. The information that the corresponding motor needs to rotate can be calculated by combining the position information of the specific posture and the bionic eye motion relation model, namely, the control of the specific posture of the sensor component 1 can be realized by controlling the corresponding motor to rotate by a corresponding angle.

As shown in FIGS. 1 and 4, the axes of the three upper deep groove ball bearings 8 are v₁、v₂And v₃The axes of the three lower deep groove ball bearings 9 are w respectively₁、w₂And w₃Then, the parallel three-degree-of-freedom bionic eye device of the invention has the following motion relationship:

in the formula (I), the compound is shown in the specification,

and

are respectively an axis v₁、v₂、v₃The unit vector of (a) is,

and

are respectively an axis w₁、w₂、w₃Unit vector of (b), beta being the axis w₁And axis v₁Angle (the angle and the axis w)₂And axis v₂Angle of (w) and axis (w)₃And axis v₃Are the same).

The direction of the negative z-axis can be derived from the z-axis in fig. 1, where the pointing direction n indicates a direction perpendicular to the plane of the

turntable

41, 42, 43. Let alpha be the axis w₁Angle to the negative z-axis (the angle and the axis w)₂Angle with negative z-axis, axis w₃Same angle as the negative z-axis), t)₁To the corresponding axis w₁The rotating angle, t, of the turntable fixedly connected with the lower connecting rod₂To the corresponding axis w₂The rotating angle, t, of the turntable fixedly connected with the lower connecting rod₃To the corresponding axis w₃The lower connecting rod is fixedly connected with the rotating angle of the rotating disc. Then

And

can be expressed by the following formula:

(Vector)

and

the initial point is the original point of the rotary platform, the cut-off point is the point on the spherical surface with the original point as the circle center and a certain radius length,

and

the included angle between the projection on the xy plane of the horizontal plane and the x axis is the rotation angle of the corresponding turntable.

Let R be the initial state (t) of the substrate 2 in the coordinate system₁＝t₂＝t₃0) is obtained by the rotation transformation matrix of the substrate pose,

and

are respectively as

And

the unit vector in the initial state of the substrate 2 is based on the current t₁、t₂、t₃And the above formula to obtain the current

And

then, R is obtained by the following formula to obtain t₁、t₂、t₃Correlation with substrate pose attitude:

the above embodiments are merely preferred embodiments of the present invention, which are not intended to limit the scope of the present invention, and various changes may be made in the above embodiments of the present invention. All simple and equivalent changes and modifications made according to the claims and the content of the specification of the present application fall within the scope of the claims of the present patent application. The invention has not been described in detail in order to avoid obscuring the invention.

Claims

1. A parallel three-degree-of-freedom bionic eye device is characterized by comprising:

a sensor component;

a substrate fixed below the sensor member;

the connecting rod assembly comprises three upper connecting rods and three lower connecting rods, one end of each upper connecting rod is movably connected with the same substrate, and the other end of each upper connecting rod is movably connected with the upper end of one lower connecting rod;

the rotary table assembly sequentially comprises a first rotary table, a second rotary table and a third rotary table from top to bottom, the outer surface of each of the first rotary table, the second rotary table and the third rotary table is fixedly connected with the lower end of one of the lower connecting rods, an upper fixing base is arranged above the first rotary table, and a lower fixing base is arranged below the third rotary table;

the motor assembly is arranged below the lower fixing base and comprises three motors, the motors penetrate through the lower fixing base and respectively extend into the first rotary table, the second rotary table and the third rotary table, and the motors are respectively connected with the first rotary table, the second rotary table and the third rotary table in a rotating mode.

2. A parallel three-degree-of-freedom bionic eye device according to claim 1, wherein the sensor component and the motor assembly are both connected with a control processing module.

3. A parallel three-degree-of-freedom bionic eye device according to claim 1, wherein one end of each of the upper connecting rods is hinged to the same base plate through an upper deep groove ball bearing, and the other end of each of the upper connecting rods is hinged to the upper end of the lower connecting rod through a lower deep groove ball bearing.

4. A parallel three-degree-of-freedom bionic eye device according to claim 3, wherein an axial included angle between the lower connecting rod and a lower deep groove ball bearing hinged to the lower connecting rod is 0-180 °.

5. A parallel three-degree-of-freedom bionic eye device according to claim 3, wherein the axis of the upper deep groove ball bearing intersects with the axis of the lower deep groove ball bearing at a point.

6. A parallel three-degree-of-freedom bionic eye device according to claim 1, wherein inner ring gears are arranged on the inner surfaces of the first turntable, the second turntable and the third turntable.

7. A parallel three-degree-of-freedom bionic eye device according to claim 6, wherein a tail gear of the motor is rotatably connected with inner ring gears of the first turntable, the second turntable and the third turntable, respectively.

8. A parallel three degree-of-freedom biomimetic eye device in accordance with claim 1, wherein the motor has a position acquisition device.

9. A parallel three-degree-of-freedom bionic eye device according to claim 1, wherein the sensor component is a camera sensor, a laser sensor, a TOF sensor, an ultrasonic sensor or a millimeter wave radar.

10. A parallel three-degree-of-freedom bionic eye device according to claim 9, wherein the sensor component is a camera sensor.