A parallel bionic eye device and its control method
A control method and bionic eye technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of difficult processing and assembly, complex structure, poor structural accuracy and rigidity of pneumatic muscles, etc., to reduce target recognition errors, Control precise, responsive effects
Inactive Publication Date: 2018-10-30
XI AN JIAOTONG UNIV
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Problems solved by technology
Although these mechanisms can realize the eye movement function, the accuracy and rigidity of the pneumatic muscle structure are poor; the structure of the spherical parallel mechanism is relatively complicated, and the processing and assembly are difficult; the response speed of the screw nut mechanism is relatively slow, and the structure is also relatively complicated; The tricept bionic eye mechanism increases the driven chain, and the response speed is also slower
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[0044] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, and the present invention is not limited to the following embodiments.
[0045] see Figure 1 to Figure 4 , a parallel bionic eye device, including a moving platform 2, a static platform 7, three active chains and a control system; a CCD camera 1 is installed at the center of the upper plane of the moving platform 2 for obtaining image information, and a CCD camera 1 is installed at the center of the lower plane. The gyroscope 3 is used to obtain the attitude of the moving platform; the three active links are evenly distributed in space, and are used to connect the moving platform 1 and the static platform 7, and realize the adjustment of the pose of the moving platform. The active link is composed of a push rod 4 and a swing rod 5 Composed of a servo motor 6, the push rod 4 is connected to the moving platform 2 through a spherical hinge, the swi...
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The invention relates to a parallel-connected bionic eye device and a control method thereof. The device is mainly composed of a movable platform, a fixed platform, three driving chains, a gyro, a CCD vidicon and a control system. The CCD vidicon and the gyro are mounted on the movable platform. The CCD vidicon is used for imitating an eye visual imaging system. The gyro is used for feeding back the inclined angle of the movable platform. Each driving chain comprises a push rod, a swing rod and a servo motor and is used for imitating the function of extraocular muscle so as to drive the movable platform to move. The control system comprises a computer or a special image processing unit used for processing vidicon image information and a controller used for controlling mechanical motion, so that processing of the vidicon image information and adjusting of the pose of the movable platform are achieved. The device has the advantages of being simple in structure, high in respond speed, high in control precision and the like, and can be conveniently applied to the aspects such as the industry, the agriculture, medical treatment, scientific research and the war industry.
Description
【Technical field】 [0001] The invention relates to the field of robot bionic vision system and automatic control, is a parallel bionic eye device and its control method, a bionic eye device imitating the function of animal extraocular muscles and its control method, specifically a three-dimensional robot driven by a pendulum Degree of freedom parallel bionic eye device and its control method. 【Background technique】 [0002] With the development of electronic technology, control technology, sensing measurement technology, signal processing technology, computer technology and bionic technology, machine vision has been widely used in agriculture, service industry, medical treatment, scientific research and industrial production. The bionic eye is to build an artificial vision system by simulating the animal vision system, so as to better apply machine vision to production and life processes. The current parallel bionic eye devices include Zhejiang University's six pneumatic mus...
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IPC IPC(8): B25J9/00B25J9/22B25J9/16
CPCB25J9/0045B25J9/1623B25J9/1628B25J9/1697
Inventor 王孙安程元皓王冰心张斌权于德弘
Owner XI AN JIAOTONG UNIV