Absolute position acquisition device of parallel bionic eye

Abstract

The present invention relates to an absolute position acquisition device for a parallel bionic eye, comprising a sensor component; a substrate fixed below the sensor component; a turntable assembly comprising three turntables arranged in sequence, an upper fixed base provided above the first turntable and a lower fixed base provided below the third turntable, the three turntables being rotatable relative to the upper and lower fixed bases; three connecting rod assemblies, through which the substrate is respectively connected to the three turntables; a motor assembly comprising three motors, which extend through the lower fixed base and into the three turntables and are respectively rotatably connected thereto; a code disk provided on the upper fixed base, and a position reading device provided on each connecting rod assembly, which cooperates with the code disk to obtain the absolute position information of the connecting rod assembly. The absolute position acquisition device for a parallel bionic eye of the present invention can obtain the absolute position information of the sensor component through a code disk, thereby improving the accuracy of sensor posture estimation and avoiding the problem of device jamming during initialization.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, and more particularly to an absolute position acquisition device for a parallel bionic eye. Background Art

[0002] The bionic eye is an artificial vision system constructed by simulating the animal vision system. It is to robots what the eyeball is to humans, an important perception device for obtaining information about the objective world. Improving the performance indicators of the bionic eye in control, sensor data processing, etc. can enable robots to be better applied in production and life processes.

[0003] The parallel-type movable bionic eye is an important direction for the development of bionic eye technology because of its advantages such as compact structure, small terminal size, large range of motion and low power consumption. The precise eye movement control, visual tracking, stereoscopic vision ranging and other functions of the parallel bionic eye are closely related to the acquisition of the absolute position of the parallel three-axis turntable. Chinese patent ZL202111115399.4 discloses a parallel three-degree-of-freedom bionic eye device, which obtains the position information of the three motors through a position acquisition device installed at the motor end, thereby obtaining the position information of the three turntables connected to the three motors, and then obtains the position information of the sensor component based on the position information of the three turntables.

[0004] However, the motor of the existing parallel three-degree-of-freedom bionic eye device is connected to the turntable through gears, and the gear ratio between the motor and the turntable is greater than 1, that is, the motor needs to rotate multiple times before the corresponding turntable rotates one circle, which will result in the position information of the turntable cannot be directly obtained through the position acquisition device; a commonly used method is to control the three motors to perform multiple movements, and use the information collected by the end sensors (such as cameras, IMU sensors, etc.) to assist in calculating the initial posture state of the bionic eye. However, since the initial posture of the bionic eye is unknown, blindly controlling the rotation of the motors can easily cause the six connecting rods to move to certain extreme positions and self-lock, and after self-locking, they cannot be restored to normal working state through the three motors; and the above method is relatively complicated and time-consuming, which increases the complexity of using the bionic eye device. Summary of the Invention

[0005] The object of the present invention is to provide an absolute position acquisition device for a parallel bionic eye, so as to directly and quickly acquire the absolute position information of a turntable, thereby obtaining the absolute position information of a sensor component.

[0006] Based on the above objectives, the present invention provides an absolute position acquisition device for a parallel bionic eye, comprising:

[0007] sensor components;

[0008] a substrate, fixed below the sensor component;

[0009] The turntable assembly includes a first turntable, a second turntable, and a third turntable arranged in sequence from top to bottom, an upper fixed base being provided above the first turntable, and a lower fixed base being provided below the third turntable, the first turntable, the second turntable, and the third turntable being rotatable relative to the upper fixed base and the lower fixed base;

[0010] three connecting rod assemblies, wherein the base plate is respectively connected to the first turntable, the second turntable and the third turntable via the three connecting rod assemblies;

[0011] a motor assembly comprising three motors, the three motors extending through the lower fixed base and into the interiors of the first turntable, the second turntable, and the third turntable, respectively, and being rotatably connected to the first turntable, the second turntable, and the third turntable, respectively;

[0012] A code disk is provided on the upper fixed base, and a position reading device is provided on each connecting rod assembly. The position reading device cooperates with the code disk to obtain absolute position information of the connecting rod assembly.

[0013] Furthermore, each connecting rod assembly includes an upper connecting rod and a lower connecting rod, one end of the upper connecting rod is hinged to the base plate, the other end of the upper connecting rod is hinged to one end of the lower connecting rod, and the other end of the lower connecting rod is fixedly connected to the first turntable, the second turntable or the third turntable.

[0014] Furthermore, one end of the upper connecting rod is hinged to the base plate through an upper deep groove ball bearing, and the other end of the upper connecting rod is hinged to one end of the lower connecting rod through a lower deep groove ball bearing.

[0015] Furthermore, an axial angle between the lower connecting rod and the deep groove ball bearing hinged to the lower connecting rod is 0°-180°.

[0016] Furthermore, the axes of the upper deep groove ball bearing and the lower deep groove ball bearing intersect at one point.

[0017] Furthermore, the motor has an end gear, and the inner surfaces of the first turntable, the second turntable and the third turntable have inner ring gears, and the end gears of the three motors are respectively engaged with the inner ring gears of the first turntable, the second turntable and the third turntable.

[0018] Furthermore, the sensor component is a camera sensor, a laser sensor, a TOF sensor, an ultrasonic sensor or a millimeter wave radar.

[0019] Furthermore, the code disc is an incremental code disc or an absolute code disc.

[0020] Furthermore, when the code disc is an incremental code disc, at least one zero position mark is provided on the code disc.

[0021] Furthermore, when the code disc is an absolute code disc, the absolute position information of the three connecting rod assemblies is obtained respectively by reading the code disc through three position reading devices.

[0022] The absolute position acquisition device of the parallel bionic eye of the present invention sets a code disk on an upper fixed base, and three position reading devices are respectively fixed on the lower connecting rods of the three connecting rod assemblies. The three position reading devices read the information of the code disk to obtain the absolute position information of the three lower connecting rods, and then obtain the absolute position information of the sensor component. In other words, the present invention can obtain the absolute position information of the sensor component through a code disk, which reduces the cost and eliminates the risk of other methods causing the terminal mechanism to lock due to blindly rotating the turntable to calculate the position information of the sensor component when the initial state of the bionic eye is unknown. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 2 is a schematic structural diagram of an absolute position acquisition device for a parallel bionic eye according to an embodiment of the present invention;

[0024] Figure 2 This is a front view of an absolute position acquisition device for a parallel bionic eye according to an embodiment of the present invention;

[0025] Figure 3 A half-section diagram of an absolute position acquisition device of a parallel bionic eye according to an embodiment of the present invention;

[0026] Figure 4 A top view of an absolute position acquisition device for a parallel bionic eye according to an embodiment of the present invention;

[0027] Figure 5 2. It is a bottom view of the absolute position acquisition device of the parallel bionic eye according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The preferred embodiments of the present invention are given below in conjunction with the accompanying drawings and described in detail.

[0029] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5As shown, the present invention provides an absolute position acquisition device for a parallel bionic eye, comprising a sensor component 100, a substrate 200 fixed below the sensor component 100 and used to carry the sensor component 100, three connecting rod assemblies 300, and a turntable assembly 400. The turntable assembly 400 comprises a first turntable 410, a second turntable 420, and a third turntable 430 arranged in sequence from top to bottom. An upper fixed base 500 is fixed above the first turntable 410, and a lower fixed base 600 is fixed below the third turntable 430. The upper fixed base 500 and the lower fixed base 600 are fixed relative to each other. The first turntable 410, the second turntable 420, and the third turntable 430 are fixed to each other. The disks 430 can all rotate relative to the upper fixed base 500 and the lower fixed base 600; the first turntable 410, the second turntable 420 and the third turntable 430 are respectively connected to the base plate 200 through three connecting rod assemblies 300; a motor assembly 700 is provided under the lower fixed base 600; a code disk 810 is provided on the upper fixed base 500, and a position reading device 820 (i.e., a reading head) is provided on each of the three connecting rod assemblies 300 to obtain the absolute position information of the connecting rod assembly 300 through the cooperation between the position reading device 820 and the code disk 810 (the code disk 810 and the position reading device 820 are encoders, and the absolute position information is obtained through the encoder).

[0030] In some embodiments, sensor component 100 is used to simulate the function of the eye's retina. It can be any type of sensor capable of acquiring scene data, including but not limited to camera sensors, laser sensors, time-of-flight sensors, ultrasonic sensors, millimeter-wave radars, and other sensors. It is used to acquire information about various scenes or objects in the scene, such as distance, position, posture, color, shape, area, name, and outline. The relative fixed position of sensor component 100 and substrate 200 is not restricted and can be in any orientation.

[0031] In some embodiments, three connecting rod assemblies 300 may be evenly arranged around the circumference of the base plate 200. The connecting rod assembly 300 includes an upper connecting rod 310 having an arc shape and a lower connecting rod 320 that is substantially vertical. One end of the upper connecting rod 310 can be hinged to the base plate 200 through the upper deep groove ball bearing 330, so that the rotational posture of the base plate 200 is jointly controlled by the states of the three upper connecting rods 310; the other end of the upper connecting rod 310 can be hinged to one end of the lower connecting rod 320 through the lower deep groove ball bearing 340, and the other end of the lower connecting rod 320 is fixed to the outer surface of the first turntable 410, the second turntable 420 or the third turntable 430. When the first turntable 410, the second turntable 420 and the third turntable 430 rotate, they will respectively drive the lower connecting rod 320 connected thereto to produce rotational motion, and the lower connecting rod 320 will drive the upper connecting rod 310 connected thereto to produce linkage, thereby affecting the posture of the base plate 200 through the rotation of the three turntables, and then affecting the posture of the sensor component 100 fixed on the base plate 200.

[0032] In some embodiments, the axial angle between the lower connecting rod 320 and the lower deep groove ball bearing 340 connected thereto is between 0° and 180°, and the axes of the three upper deep groove ball bearings 330 and the axes of the three lower deep groove ball bearings 340 intersect at a point (i.e., all six axes intersect at a point). It should be noted that the middle portions of the three upper connecting rods 310 may have different shapes, but the relative positions of the ends must be the same.

[0033] In some embodiments, the position reading device 820 can be fixed on the lower connecting rod 320 so as to rotate along with the three turntables 410 , 420 and 430 . The three position reading devices 820 can obtain the absolute position information of the three turntables 410 , 420 and 430 by cooperating with the code disk 810 .

[0034] The motor assembly 700 includes three motors 710, each of which has an end gear 720. The three motors 710 pass through the lower fixed base 600 and extend into the interior of the first turntable 410, the second turntable 420 and the third turntable 430 respectively. The inner surfaces of the first turntable 410, the second turntable 420 and the third turntable 430 are all provided with inner ring gears 440. The end gears 720 of the three motors 710 are respectively engaged with the inner ring gears 440 of the first turntable 410, the second turntable 420 and the third turntable 430, so that each motor 710 can drive a turntable to rotate, and the three turntables 410, 420 and 430 are respectively driven by the three motors 710 to rotate. When the rotational speeds of the three motors 710 are different, the three turntables 410, 420 and 430 will also rotate at different speeds. In some embodiments, the three turntables 410, 420 and 430, the upper fixed base 500 and the lower fixed base 600 can be nested with each other through four deep groove ball bearings 900, that is, the upper fixed base 500 and the first turntable 410 are connected through a deep groove ball bearing 900, the lower fixed base 600 and the third turntable 430 are connected through a deep groove ball bearing 900, and the first turntable 410 and the second turntable 420, as well as the second turntable 420 and the third turntable 430 are respectively connected through two deep groove ball bearings 900, so that any turntable can rotate.

[0035] When the first turntable 410, the second turntable 420 and the third turntable 430 rotate, the position reading devices 820 on the three lower connecting rods 320 will also rotate with them, so that the three position reading devices 820 rotate relative to the code disk 810. In this way, the three position reading devices 820 can respectively obtain the rotation angle information of the three lower connecting rods 320 connected to the first turntable 410, the second turntable 420 and the third turntable 430.

[0036] In some embodiments, the code disk 810 can be an incremental code disk or an absolute code disk. When an absolute code disk is used, the three position reading devices 820 can directly obtain the absolute position information of the three lower connecting rods 320, that is, the absolute position information of the three rotating disks. When an incremental code disk is used, a number of zero position marks can be set on the incremental code disk. During the startup phase of the absolute position acquisition device of the parallel bionic eye, when the position of the sensor component 100 is unknown, the three motors 710 control the first rotating disk 410, the second rotating disk 420, and the third rotating disk 430 to rotate in the same direction and speed. When all three position reading devices 820 read the zero position marks, the absolute positions of the three position reading devices 820 can be calculated. Then, the absolute position information of the sensor component 100 can be calculated using the bionic eye motion relationship model. This method not only reduces costs by allowing absolute position acquisition to be completed using only a single code disk 810, but also eliminates the risk of blindly rotating the rotating disk when the initial state of the bionic eye is unknown, which may cause the end mechanism to lock. The code disk 810 and the position reading device 820 cooperate with each other to obtain position information, which is a conventional technology in the field, and its principle will not be repeated here.

[0037] In some embodiments, the sensor component 100, the three motors 710, and the three position reading devices 820 can all be electrically connected to an external control processing module (not shown) via cables. The control processing module can be various computers or data processors, which provide real-time feedback of position information through the three position reading devices 820 to control the three motors 710 to rotate to corresponding angles, thereby driving the first turntable 410, the second turntable 420, and the third turntable 430 to rotate. By combining the specific posture position information with the bionic eye movement relationship model, the angle that the corresponding motor 710 needs to rotate can be calculated, and then the control processing module controls the motor 710 to rotate, thereby achieving control of the specific posture of the sensor component 100.

[0038] The bionic eye movement relationship model can be found in Chinese patent ZL202111115399.4, which will not be repeated here.

[0039] In some embodiments, the size of the code disk 810 can be as large as possible, thereby achieving a smaller code disk resolution at the same code disk density and processing level, thereby achieving higher accuracy in obtaining the turntable angle. Because the position reading device 820 is mounted on the lower connecting rod 320, it obtains information about the rotation angle of the lower connecting rod 320. In contrast, the existing technology obtains information about the rotation angle of the motor. Due to errors in gear transmission, this information may also differ from the actual rotation angle of the lower connecting rod 320. In other words, the bionic eye of the present invention has higher accuracy.

[0040] The absolute position acquisition device of the parallel bionic eye of the present invention sets the code disk 810 on the upper fixed base 500, and the three position reading devices 820 are respectively fixed on the lower connecting rods 320 of the three connecting rod assemblies 300. The three position reading devices 820 read the information of the code disk 810 to obtain the absolute position information of the three lower connecting rods 320, and then obtain the absolute position information of the sensor component 100. That is to say, the present invention can obtain the absolute position information of the sensor component 100 through a code disk 810, eliminating the error caused by gear clearance in the prior art, improving the accuracy of sensor posture estimation, and reducing costs, and eliminating the risk of other methods of blindly rotating the turntable to calculate the position information of the sensor component when the initial state of the bionic eye is unknown, which may cause the terminal mechanism to lock.

[0041] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. Various modifications are possible. In other words, any simple, equivalent changes and modifications made in accordance with the claims and description of the present invention are within the scope of protection of the patent claims. Anything not fully described in this invention constitutes conventional technology.

Claims

1. A device for obtaining the absolute position of a parallel bionic eye, characterized in that: include: sensor components; a substrate, fixed below the sensor component; The turntable assembly includes a first turntable, a second turntable, and a third turntable arranged in sequence from top to bottom, an upper fixed base being provided above the first turntable, and a lower fixed base being provided below the third turntable, the first turntable, the second turntable, and the third turntable being rotatable relative to the upper fixed base and the lower fixed base; three connecting rod assemblies, wherein the base plate is respectively connected to the first turntable, the second turntable and the third turntable via the three connecting rod assemblies; a motor assembly comprising three motors, the three motors extending through the lower fixed base and into the interiors of the first turntable, the second turntable, and the third turntable, respectively, and being rotatably connected to the first turntable, the second turntable, and the third turntable, respectively; A code disk is provided on the upper fixed base, and a position reading device is provided on each connecting rod assembly. The position reading device cooperates with the code disk to obtain absolute position information of the connecting rod assembly.

2. The device for obtaining the absolute position of a parallel bionic eye according to claim 1, characterized in that: Each connecting rod assembly includes an upper connecting rod and a lower connecting rod, one end of the upper connecting rod is hinged to the base plate, the other end of the upper connecting rod is hinged to one end of the lower connecting rod, and the other end of the lower connecting rod is fixedly connected to the first turntable, the second turntable or the third turntable.

3. The device for obtaining the absolute position of a parallel bionic eye according to claim 2, characterized in that: One end of the upper connecting rod is hinged to the base plate through an upper deep groove ball bearing, and the other end of the upper connecting rod is hinged to one end of the lower connecting rod through a lower deep groove ball bearing.

4. The device for obtaining the absolute position of a parallel bionic eye according to claim 3, characterized in that: The axial angle between the lower connecting rod and the deep groove ball bearing hinged to the lower connecting rod is 0°-180°.

5. The device for obtaining the absolute position of a parallel bionic eye according to claim 3, characterized in that: The axes of the upper deep groove ball bearing and the lower deep groove ball bearing intersect at one point.

6. The device for obtaining the absolute position of a parallel bionic eye according to claim 1, characterized in that: The motor has an end gear, and the inner surfaces of the first turntable, the second turntable and the third turntable have inner ring gears, and the end gears of the three motors are respectively engaged with the inner ring gears of the first turntable, the second turntable and the third turntable.

7. The device for obtaining the absolute position of a parallel bionic eye according to claim 1, characterized in that: The sensor component is a camera sensor, a laser sensor, a TOF sensor, an ultrasonic sensor or a millimeter wave radar.

8. The device for obtaining the absolute position of a parallel bionic eye according to claim 1, characterized in that: The code disc is an incremental code disc or an absolute code disc.

9. The device for obtaining the absolute position of a parallel bionic eye according to claim 8, characterized in that: When the code disc is an incremental code disc, at least one zero position mark is provided on the code disc.

10. The device for obtaining the absolute position of a parallel bionic eye according to claim 8, characterized in that: When the code disc is an absolute code disc, the absolute position information of the three connecting rod assemblies is obtained by reading the code disc through three position reading devices.

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