CN208497002U - A kind of polymorphic mould group of robot vision - Google Patents

Abstract

The utility model discloses a kind of polymorphic mould groups of robot vision, including tilt mount, the tilt mount is mounted on fixed bracket by bearing, the front surface of the tilt mount is equipped with left CCD camera and right CCD camera, and the top center of tilt mount is equipped with dial, the left CCD camera is symmetric with right CCD camera with the vertical center line of tilt mount, Full vision video camera is installed on the dial, the side of the tilt mount is equipped with motor, the motor and tilt mount and is sequentially connected by retarder.The utility model tilt mount can movement in vertical direction, cooperate Full vision video camera and two anterior optic video cameras, establish three-dimensional mixed image acquisition system, comprehensive image information can be acquired, vision is wide, and bionical visual perception is high, built-in communication chip, it realizes the transmission of long distance wireless data, improves device flexibility；Sensitivity is good, and identification is high.

Description

A kind of polymorphic mould group of robot vision

Technical field

The utility model relates to robotic technology field, specially a kind of polymorphic mould group of robot vision.

Background technique

Anthropomorphic robot is also known as " anthropomorphic robot ", " anthropomorphic robot ", is the in the narrow sense or real " machine in literal meaning Device people ", it is also that present age research is very active, using more and more extensive a kind of robot.Scientific investigations showed that the mankind are from outer In all information that the world of portion obtains, there is about 80%~90% vision system from the mankind.Equally, an expectation is reached To the anthropomorphic robot of more high-intelligentization, it is also desirable to make full use of its vision system to obtain enough information, to be it The evidence of enough abundances is provided in decision, obtains more accurate result.Therefore, vision system is that anthropomorphic robot is of crucial importance Component part.

Robot is only capable of obtaining the image information in limited range at present, and field range is restricted, can not be well Simulate human visual system.

Utility model content

The purpose of this utility model is to provide a kind of polymorphic mould groups of robot vision, solve existing robot and are only capable of obtaining Take the image information in limited range, field range is restricted, can not very well simulation human visual system the problem of.

In order to achieve the above object, the utility model is achieved by the following technical programs: a kind of robot vision is polymorphic Mould group, including tilt mount, the tilt mount are mounted on fixed bracket by bearing, the front surface peace of the tilt mount Top center equipped with left CCD camera and right CCD camera, and tilt mount is equipped with dial, and the left CCD takes the photograph Camera is symmetric with right CCD camera with the vertical center line of tilt mount, is equipped with Full vision on the dial and is taken the photograph Camera, the side of the tilt mount are equipped with motor, the motor and tilt mount and are sequentially connected by retarder.

Preferably, the fixed bracket is L-shaped structure.

Preferably, the Full vision video camera uses RGB color camera.

Preferably, the top inside the tilt mount is equipped with direct current generator, and the direct current generator and Full vision image Machine is sequentially connected by retarder.

Preferably, the front surface of the tilt mount is equipped with level meter, and the level meter is specially horizontal bubble.

Preferably, the inside of the tilt mount is equipped with imaging sensor and digital signal processor, the left CCD camera shooting The output end of machine, Full vision video camera and right CCD camera is electrically connected with image pick-up card by imaging sensor, described The output end of image pick-up card and the input terminal of digital signal processor are electrically connected.

Preferably, the output end of the digital signal processor is connect with host computer by communication chip signal.

Compared with prior art, the utility model has the beneficial effects that the utility model

(1) tilt mount can movement in vertical direction, cooperate Full vision video camera and two anterior optic video cameras, establish vertical Body mixed image acquisition system, can acquire comprehensive image information, and vision is wide, and bionical visual perception is high.

(2) built-in communication chip realizes the transmission of long distance wireless data, improves device flexibility；Sensitivity is good, identification It is high.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model entirety；

Fig. 2 is that figure is cutd open in whole the bowing of the utility model.

In figure: 1- fixed bracket, the left CCD camera of 2-, 3- Full vision video camera, 4- dial, 5- motor, the right CCD of 6- Video camera, 7- level meter, 8- tilt mount, 9- bearing, 10- image pick-up card, 11- imaging sensor, 12- data storage, 13- digital signal processor, 14- communication chip.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

The utility model provides a kind of technical solution referring to FIG. 1-2: a kind of polymorphic mould group of robot vision, including bows Bracket 8 is faced upward, tilt mount 8 is mounted on fixed bracket 1 by bearing 9, and the rotation angle of tilt mount 8 is less than 180 degree, pitching The front surface of bracket 8 is equipped with left CCD camera 2 and right CCD camera 6, and CCD is the contracting of Charge Coupled Device It writes, it is a kind of semiconductor imaging device, thus has high sensitivity, resists that strong light, distortion is small, small in size, the service life is long, anti-vibration The advantages that, and the top center of tilt mount 8 is equipped with dial 4, left CCD camera 2 is with right CCD camera 6 to bow The vertical center line for facing upward bracket 8 is symmetric, and Full vision video camera 3, the side peace of tilt mount 8 are equipped on dial 4 Equipped with motor 5, motor 5 and tilt mount 8 are sequentially connected by retarder.

Fixed bracket 1 is L-shaped structure；Full vision video camera 3 uses RGB color camera；Top inside tilt mount 8 Portion is equipped with direct current generator, direct current generator and Full vision video camera 3 and is sequentially connected by retarder, and Full vision video camera 3 absorbs Robot surrounding enviroment image, slewing area are broader；The front surface of tilt mount 8 is equipped with level meter 7, and level meter 7 is specific For horizontal bubble, guarantee its abswolute level when installing tilt mount 8；The inside of tilt mount 8 is equipped with imaging sensor 11 and digital signal processor 13, the output end of left CCD camera 2, Full vision video camera 3 and right CCD camera 6 is and image Capture card 10 is electrically connected by imaging sensor 11, and imaging sensor 11 uses OV7670CMOS sensor, image pick-up card 10 output end and the input terminal of digital signal processor 13 are electrically connected；The output end and host computer of digital signal processor 13 It is connected by 14 signal of communication chip, communication chip 14 uses wireless network card.

Working principle: after the polymorphic mould group of the robot vision is installed by normal procedure, during routine use, number The movement of 13 driving motor 5 of signal processor, and then 8 movement in vertical direction of tilt mount is driven, adjust left CCD camera 2, the right side The camera angle of CCD camera 6 and Full vision video camera 3, and expand its image pickup scope, there is digital signal processor 13 to drive interior Portion's direct current generator drives the rotation of Full vision video camera 3 that can be monitored to 8 periphery situation of tilt mount, left CCD camera 2, The image information of right CCD camera 6 and Full vision video camera 3 is summarized by imaging sensor 11 to image pick-up card 10, number Signal processor 13 receives the summary information of image pick-up card 10 and saves image information to the inside of data storage 12, together When information remote is sent to by terminal device by communication chip 14.

It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting Related claim.

Claims (7)

1. a kind of polymorphic mould group of robot vision, including tilt mount (8), it is characterised in that: the tilt mount (8) passes through axis It holds (9) to be mounted on fixed bracket (1), the front surface of the tilt mount (8) is equipped with left CCD camera (2) and right CCD takes the photograph Camera (6), and the top center of tilt mount (8) is equipped with dial (4), the left CCD camera (2) and right CCD Video camera (6) is symmetric with the vertical center line of tilt mount (8), and Full vision camera shooting is equipped on the dial (4) The side of machine (3), the tilt mount (8) is equipped with motor (5), and the motor (5) and tilt mount (8) are passed by retarder Dynamic connection.

2. the polymorphic mould group of a kind of robot vision according to claim 1, which is characterized in that the fixed bracket (1) is L-shaped structure.

3. the polymorphic mould group of a kind of robot vision according to claim 1, which is characterized in that the Full vision video camera (3) RGB color camera is used.

4. the polymorphic mould group of a kind of robot vision according to claim 1, which is characterized in that in the tilt mount (8) Direct current generator is installed, the direct current generator and Full vision video camera (3) are sequentially connected by retarder at the top of portion.

5. the polymorphic mould group of a kind of robot vision according to claim 1, which is characterized in that the tilt mount (8) Front surface is equipped with level meter (7), and the level meter (7) is specially horizontal bubble.

6. the polymorphic mould group of a kind of robot vision according to claim 1, which is characterized in that the tilt mount (8) Inside is equipped with imaging sensor (11) and digital signal processor (13), the left CCD camera (2), Full vision video camera (3) It is electrically connected with image pick-up card (10) by imaging sensor (11) with the output end of right CCD camera (6), described image The output end of capture card (10) and the input terminal of digital signal processor (13) are electrically connected.

7. the polymorphic mould group of a kind of robot vision according to claim 6, which is characterized in that the digital signal processor (13) output end is connect with host computer by communication chip (14) signal.