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Three degrees of freedom bionic stereo vision system

A technology of stereo vision and degree of freedom, applied in the field of bionic robots, can solve the problems of slow image processing speed, inaccurate positioning, and low precision

Active Publication Date: 2016-11-09
COMP APPL TECH INST OF CHINA NORTH IND GRP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, most of the existing bionic eyes have two degrees of freedom, only the horizontal and vertical degrees of freedom, and generally can only capture a small range of images, cannot be positioned precisely, and cannot achieve all-round capture. The processing speed of the collected image is slow and the accuracy is not high, so it is impossible to quickly and accurately realize the real-time tracking and three-dimensional positioning of the target

Method used

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  • Three degrees of freedom bionic stereo vision system
  • Three degrees of freedom bionic stereo vision system
  • Three degrees of freedom bionic stereo vision system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0095] Example 1, human anatomy shows that the human eye is approximately spherical and located in the orbit. Lens: Flexible, transparent body shaped like a double-convex lens. The function of the lens is to act as a convex lens to refract the light entering the eye into an image. The focal length of the lens becomes longer when the person looks at a distance, and the focal length of the lens becomes shorter when looking at a near distance. Each human eye has 6 muscles and three degrees of freedom. The eyes do not move independently, but under the control of nerves, they perform conjugate movements (saccade movement, smooth pursuit), anisotropic movement (vergence movement, divergent movement), stabilization Gaze movement (tremor, microsaccade, slow drift), reflex movement (vestibular oculomotor affine, optokinetic reflex) and other movements.

[0096] The neural layer consists of three levels of neurons from shallow to deep. The most superficial layer is photoreceptor cells...

Embodiment 2

[0119] Example 2, such as Figure 5 As shown, the present invention also provides a method for real-time tracking and three-dimensional positioning of a target using a three-degree-of-freedom bionic stereo vision system:

[0120] Step 1, the first camera device and the second camera device shoot video images of the whole scene through the movement of the first bionic eye and the second bionic eye, specifically including:

[0121] In a small range, the first bionic eye and the second bionic eye are pitched under the drive of the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, the fifth servo motor, and the sixth servo motor , move around the optical axis, left and right, and capture small-scale images;

[0122] In a large range, the first FPGA processing board sends control commands to the seventh servo motor, the eighth servo motor and the ninth servo motor, and the seventh servo motor, the eighth servo motor and the ninth servo motor...

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Abstract

The invention discloses a three-degree of freedom bionic stereo vision system, which comprises two bionic eyes, a bionic neck pan-tilt, three three-axis servo motor drivers, an FPGA signal processing board and a DSP, wherein each bionic eye comprises an eyeball camera device, three servo motors, an FPGA image acquisition board, a motor and a strain gauge force sensor. The three-degree of freedom bionic stereo vision system has the beneficial effects that the structure is simple, the servo motors are adopted for realizing quick position servo, the bionic neck pan-tilt controls three-degree of freedom movement of the bionic eye, and thus all-direction image capturing can be realized; and the FPGA parallelly processes an algorism in the image processing module, the processing efficiency and the processing precision are improved, and real-time tracking and three-dimensional positioning of a target can be realized.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a three-degree-of-freedom bionic stereoscopic vision system. Background technique [0002] The existing visual system has a big gap with the human eye in terms of perceptual positioning, motion tracking, and fast parallel processing. For example, most of the existing bionic eyes have two degrees of freedom, only horizontal and vertical degrees of freedom, generally can only capture a small range of images, can not be very precise positioning, and can not achieve all-round capture. The processing speed of the collected image is slow and the accuracy is not high, so it is impossible to quickly and accurately realize the real-time tracking and three-dimensional positioning of the target. These problems have become the bottleneck of the development of robot vision technology. Contents of the invention [0003] In order to solve the above problems, the object of the present ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00G06T7/20
CPCG06T2200/04G06T2207/10021
Inventor 刘培志赵小川陈晓鹏孔小梅施建昌李林徐英新
Owner COMP APPL TECH INST OF CHINA NORTH IND GRP
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