CN212628184U - Humanoid binocular follow-up virtual reality system suitable for teleoperation of robot - Google Patents
Humanoid binocular follow-up virtual reality system suitable for teleoperation of robot Download PDFInfo
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- CN212628184U CN212628184U CN202021832598.8U CN202021832598U CN212628184U CN 212628184 U CN212628184 U CN 212628184U CN 202021832598 U CN202021832598 U CN 202021832598U CN 212628184 U CN212628184 U CN 212628184U
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Abstract
The utility model relates to a teleoperation technical field of robot specifically is an imitative people's two mesh follow-up virtual reality systems suitable for teleoperation of robot, include: the two-dimensional platform is arranged on the robot body and provided with a follow-up mechanism; a binocular camera disposed on the two-dimensional platform; the VR helmet is worn on the head of an operator, and a gyroscope is arranged in the VR helmet and used for detecting head movement information; and the control module is connected with the gyroscope and the follow-up mechanism.
Description
Technical Field
The utility model relates to a teleoperation's of robot technical field specifically is an imitative two mesh follow-up virtual reality systems of people suitable for teleoperation of robot.
Background
At present, the environment perception of the robot mainly adopts a visible light camera or a laser radar with a fixed position relative to a machine body, the field range of the robot is limited to a certain extent, the robot is difficult to aim at a target object when vibrating or shaking interference occurs, and particularly, the robot is remotely operated by using a master-slave control handle. The teleoperation system of robot usually adopts the camera to gather image information, shows image information through display or virtual reality helmet to make operating personnel watch the operation environment of robot in real time, reach the purpose of visual feedback. However, most of cameras in the conventional method are monocular cameras, the visual angle is relatively fixed, the stereoscopic impression of the operator is difficult to be brought to the scene, the visual angle of the camera cannot be adjusted in real time according to the observation requirement of the operator, and the visual field range is changed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a two mesh follow-up virtual reality systems of imitative people suitable for teleoperation of robot places two mesh cameras on two dimension cloud platforms, follows operating personnel's head motion synchronization every single move and rotation through following mechanism control two mesh cameras to change two mesh camera visual angles, with the problem of proposing in solving above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
a humanoid binocular follow-up virtual reality system suitable for teleoperation of a robot is characterized by comprising:
the two-dimensional platform is arranged on the robot body and provided with a follow-up mechanism;
a binocular camera disposed on the two-dimensional platform;
the VR helmet is worn on the head of an operator, and a gyroscope is arranged in the VR helmet and used for detecting head movement information;
and the control module is connected with the gyroscope and the follow-up mechanism.
Preferably, imitative two mesh follow-up virtual reality systems of people still include communication module, communication module with two mesh cameras with the VR helmet is connected.
Preferably, the two-dimensional platform further comprises an upper support frame and a lower support frame, the upper support frame is arranged on the lower support frame, and the binocular camera is arranged on the upper support frame.
Preferably, the following mechanism comprises a pitching motor for driving the upper support frame and a rotating motor for driving the lower support frame, and the pitching motor and the rotating motor are connected with the control module.
Preferably, a first encoder is arranged in the pitching motor, a second encoder is arranged in the rotating motor, and the first encoder and the second encoder are connected with the control module.
Preferably, the VR helmet further comprises a detection lens, the detection lens is used for detecting the interpupillary distance of an operator, the binocular camera is provided with two camera lenses, and the two camera lenses are connected with the control module.
Preferably, the binocular camera further comprises an electric slide rail connected with the control module, and the electric slide rail is used for driving the two camera lenses to approach or be far away.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) the utility model discloses an embodiment provides a suitable for imitative people's binocular follow-up virtual reality system of teleoperation of robot places the binocular camera on two-dimentional cloud platform, through following mechanism's every single move motor and rotating electrical machines control binocular camera follow operating personnel's head motion synchronization every single move and rotation to change binocular camera visual angle, change the field of view scope, thereby can obtain the binocular stereovision of a kind similar people's eye, the sense of distance, third dimension and the sense of immersing of object can all be better present in the three-dimensional space;
(2) the utility model discloses an embodiment provides a binocular camera suitable for imitative people's two mesh follow-up virtual reality systems of teleoperation of robot is provided with two camera lens, can adjust two camera lens's interval through electronic slide rail to match with the interpupillary distance of operating personnel both eyes, make VR helmet formation of image clear, accord with human vision custom simultaneously, reduce the dizzy sense of operating personnel, more be fit for operating personnel and watch.
Drawings
Fig. 1 is one of the block diagrams of the humanoid binocular follow-up virtual reality system suitable for teleoperation of a robot according to the embodiments of the present invention;
fig. 2 is a second structural block diagram of the humanoid binocular follow-up virtual reality system suitable for teleoperation of the robot according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a two-dimensional platform of a humanoid binocular follow-up virtual reality system suitable for teleoperation of a robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a binocular camera of the humanoid binocular follow-up virtual reality system suitable for teleoperation of the robot provided by the embodiment of the present invention.
In the figure: 1. a two-dimensional platform; 11. an upper support frame; 12. a lower support frame; 13. a pitch motor; 14. a rotating electric machine; 15. a first encoder; 16. a second encoder; 2. a binocular camera; 21. a camera lens; 22. an electric slide rail; 3. a VR helmet; 31. a gyroscope; 32. detecting a lens; 4. a communication module; 5. and a control module.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Fig. 1 is one of the block diagrams of the humanoid binocular follow-up virtual reality system suitable for the teleoperation of the robot according to the embodiment of the present invention. As shown in fig. 1, the utility model discloses an embodiment provides an imitative two mesh follow-up virtual reality systems of people suitable for teleoperation of robot, and this imitative two mesh follow-up virtual reality systems of people suitable for teleoperation of robot can include:
the robot comprises a two-dimensional platform 1, wherein the two-dimensional platform 1 can be arranged on a robot body;
a binocular camera 2, the binocular camera 2 may be disposed on the two-dimensional platform 1;
the VR helmet 3 is worn on the head of an operator;
the communication module 4 is connected with the binocular camera 2 and the VR helmet 3, and the communication module 4 can be used for transmitting image information shot by the binocular camera 2 to the VR helmet 3;
the utility model discloses an embodiment provides an imitative people's two mesh follow-up virtual reality system suitable for teleoperation of robot when using, operating personnel carries out teleoperation to the robot, and the image information that arrives of the two mesh camera 2 on the two-dimensional platform 1 of robot transmitted the VR helmet 3 that operating personnel wore through communication module 4 to make operating personnel watch the operation environment of robot in real time, reach the purpose of visual feedback.
In the embodiment of the present invention, examples of the communication module 4 may include, but are not limited to, bluetooth, WiFi, or serial bus known to those skilled in the art.
Fig. 2 is a second structural block diagram of the humanoid binocular follow-up virtual reality system suitable for teleoperation of the robot according to the embodiment of the present invention. As shown in fig. 2, the utility model discloses an in an embodiment, this two-dimensional platform 1 of imitative people's two mesh follow-up virtual reality system suitable for robot teleoperation is provided with the follower, set up gyroscope 31 in the VR helmet 3, gyroscope 31 is used for detecting head motion information, this imitative people's two mesh follow-up virtual reality system suitable for robot teleoperation still includes control module 5, control module 5 is connected with gyroscope 31 and follower, control module 5 is used for the head motion information control follower that detects according to gyroscope 31 and drives two mesh camera 2 and remove. Through the technical scheme, the binocular camera 2 can be controlled to move synchronously along with the head movement of an operator through the following mechanism of the two-dimensional platform 1, so that the visual angle of the binocular camera is changed, the field range is changed, binocular stereoscopic vision similar to human eyes can be obtained, and the distance sense, the stereoscopic sense and the immersion sense of an object in a three-dimensional space can be better presented.
Fig. 3 is a schematic structural diagram of a two-dimensional platform of the humanoid binocular follow-up virtual reality system suitable for teleoperation of the robot according to an embodiment of the present invention. Specifically, in an embodiment of the present invention, as shown in fig. 3, the two-dimensional platform 1 of the humanoid binocular follow-up virtual reality system suitable for the teleoperation of the robot may further include an upper support frame 11 and a lower support frame 12, the upper support frame 11 may be disposed on the lower support frame 12, and the binocular camera 2 may be disposed on the upper support frame 11.
Further, as shown in fig. 3, the following mechanism of the two-dimensional platform 1 includes a pitch motor 13 that can be used to drive the upper support frame 11 and a rotation motor 14 that can be used to drive the lower support frame 12.
As shown in fig. 2, the control module 5 of the humanoid binocular follow-up virtual reality system suitable for teleoperation of the robot generates a pitch rotation instruction and a horizontal rotation instruction after receiving head movement information detected by the gyroscope 31 of the VR helmet 3, and the pitch motor 13 and the rotating motor 14 respectively drive the upper support frame 11 and the lower support frame 12 to rotate according to the pitch rotation instruction and the horizontal rotation instruction. Through the technical scheme, when the head of an operator moves, the control module 5 receives head motion information detected by the gyroscope 31 and then resolves the posture of the VR helmet 3 to obtain the pitch angle and the rotation angle of the head of the operator, so that a pitch rotation instruction and a horizontal rotation instruction are generated, the pitch motor 13 and the rotation motor 14 of the two-dimensional holder 1 are synchronously or respectively controlled to rotate to change the visual angle of the binocular camera 2, and the telepresence of teleoperation is improved.
In embodiments of the present invention, examples of control module 5 may include, but are not limited to, a general purpose processor, a special purpose processor, a conventional processor, a Digital Signal Processor (DSP), a plurality of microprocessors, one or more microprocessors in association with a DSP core, a controller, a microcontroller, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) circuit, any other type of Integrated Circuit (IC), a state machine, a System On Chip (SOC), and the like.
As shown in fig. 2, in an embodiment of the present invention, a first encoder 15 may be disposed in the pitching motor 13 of the humanoid binocular follow-up virtual reality system suitable for the robot teleoperation, a second encoder 16 may be disposed in the rotating electrical machine 14, and the first encoder 15 and the second encoder 16 are used for detecting the pitching rotation angle and the horizontal rotation angle and feeding back to the control module 5. Through the detection and feedback of the pitching rotation angle and the horizontal rotation angle by the first encoder 15 and the second encoder 16, the control module 5 can more accurately control the visual angle of the binocular camera 2, so that the visual angle of the binocular camera is consistent with that of an operator, and the field information can be accurately and timely acquired by the operator.
Fig. 4 is a schematic structural diagram of a binocular camera of the humanoid binocular follow-up virtual reality system suitable for teleoperation of the robot provided by the embodiment of the present invention. As shown in fig. 4, the utility model discloses an in an implementation, this be applicable to the two mesh follow-up virtual reality system's of humanoid two mesh VR helmet 3 of robot teleoperation can also include detection lens 32, and detection lens 32 can be used for detecting operating personnel's interpupillary distance, and two mesh cameras 2 are provided with two camera lens 21, and control module 5 can also be used for adjusting the interval of two camera lens 21 according to the interpupillary distance of the operating personnel that detection lens 32 detected. Through above-mentioned technical scheme, can adjust two camera lens 21's of binocular camera 2 interval to match with the interpupillary distance of operating personnel two eyes, make VR helmet 3 imaging clear, accord with human vision custom simultaneously, reduce the dizzy sense of operating personnel, more be fit for operating personnel and watch.
Specifically, as shown in fig. 2 and 4, the binocular camera 2 of the humanoid binocular follow-up virtual reality system suitable for teleoperation of the robot may further include an electric slide rail 22 connected to the control module 5, and the electric slide rail 22 may be configured to drive the two camera lenses 21 to approach or move away from each other. Through the technical scheme, the control module 5 controls the two camera lenses 21 of the electric slide rail 22 to approach or leave according to the pupil distance of the operator detected by the detection lens 32, so that the distance between the two camera lenses 21 is adjusted, and the pupil distance of the two eyes of the operator is matched.
The using method comprises the following steps:
when the humanoid binocular follow-up virtual reality system suitable for remote operation of the robot provided by the embodiment of the utility model is used, after an operator wears the VR helmet 3, the pupil distance of the operator detected by the detection lens 32 in the VR helmet 3, and the control module 5 controls the two camera lenses 21 of the electric slide rail 22 to be close to or far away according to the pupil distance of the operator, so that the distance adjustment of the two camera lenses 21 is realized, and the pupil distance is matched with the pupil distance of two eyes of the operator; an operator remotely operates the robot body, and image information shot by the binocular camera 2 on the two-dimensional platform 1 of the robot body is transmitted to the VR helmet 3 worn by the operator through the communication module 4, so that the operator can view the operation environment of the robot body in real time to achieve the purpose of visual feedback; when the head of an operator moves, the control module 5 receives head motion information detected by the gyroscope 31, and then the head motion information is resolved by the posture of the VR helmet 3 to obtain the pitch angle and the rotation angle of the head of the operator, so as to generate a pitch rotation instruction and a horizontal rotation instruction, and synchronously or respectively control the pitch motor 13 and the rotation motor 14 of the two-dimensional pan-tilt 1 to rotate to change the visual angle of the binocular camera 2, so as to change the visual field range, thereby obtaining a binocular stereoscopic vision similar to human eyes, and the distance, the stereoscopic impression and the immersion impression of objects in the three-dimensional space can be better presented.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. A humanoid binocular follow-up virtual reality system suitable for teleoperation of a robot is characterized by comprising:
the robot comprises a two-dimensional platform (1), wherein the two-dimensional platform (1) is arranged on a robot body, and the two-dimensional platform (1) is provided with a follow-up mechanism;
the binocular camera (2), the said binocular camera (2) is set up on the said two-dimensional terrace (1);
a VR helmet (3), the VR helmet (3) being worn on the head of an operator, a gyroscope (31) being arranged in the VR helmet, the gyroscope (31) being used for detecting head movement information;
a control module (5), the control module (5) being connected with the gyroscope (31) and the follower mechanism.
2. The humanoid binocular follow-up virtual reality system suitable for teleoperation of a robot of claim 1, further comprising a communication module (4), wherein the communication module (4) is connected with the binocular camera (2) and the VR helmet (3).
3. The humanoid binocular follow-up virtual reality system suitable for teleoperation of a robot of claim 1, wherein the two-dimensional platform (1) further comprises an upper support frame (11) and a lower support frame (12), the upper support frame (11) is disposed on the lower support frame (12), and the binocular camera (2) is disposed on the upper support frame (11).
4. The humanoid binocular follow-up virtual reality system suitable for teleoperation of a robot according to claim 3, wherein the follow-up mechanism comprises a pitching motor (13) for driving the upper support frame (11) and a rotating motor (14) for driving the lower support frame (12), the pitching motor (13) and the rotating motor (14) being connected with the control module (5).
5. The binocular human-simulated follow-up virtual reality system suitable for teleoperation of the robot is characterized in that a first encoder (15) is arranged in the pitching motor (13), a second encoder (16) is arranged in the rotating motor (14), and the first encoder (15) and the second encoder (16) are connected with the control module (5).
6. The binocular human-simulated binocular follow-up virtual reality system suitable for teleoperation of a robot according to any one of claims 1 to 5, wherein the VR helmet (3) further comprises a detection lens (32), the detection lens (32) is used for detecting the interpupillary distance of an operator, the binocular camera (2) is provided with two camera lenses (21), and the two camera lenses (21) are connected with the control module (5).
7. The binocular head follow-up virtual reality system suitable for teleoperation of the robot as claimed in claim 6, wherein the binocular camera (2) further comprises an electric slide rail (22) connected with the control module (5), and the electric slide rail (22) is used for driving the two camera lenses (21) to approach or depart from each other.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021832598.8U CN212628184U (en) | 2020-08-28 | 2020-08-28 | Humanoid binocular follow-up virtual reality system suitable for teleoperation of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021832598.8U CN212628184U (en) | 2020-08-28 | 2020-08-28 | Humanoid binocular follow-up virtual reality system suitable for teleoperation of robot |
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| CN212628184U true CN212628184U (en) | 2021-02-26 |
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| CN202021832598.8U Active CN212628184U (en) | 2020-08-28 | 2020-08-28 | Humanoid binocular follow-up virtual reality system suitable for teleoperation of robot |
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