Visual angle adjusting device, binocular camera, machine bionic vision system and robot
By designing a perspective adjustment device that includes a load platform, a boom assembly, and a drive assembly, mimicking the human eye muscles' adjustment of the camera perspective, and combining it with binocular camera baseline adjustment, the problems of limited perspective adjustment and fixed depth range in the prior art are solved, achieving flexible perspective adjustment and accurate depth measurement.
Patent Information
- Application Number
- CN202520444124.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-13
- Publication Date
- 2026-01-23
- Estimated Expiration
- 2035-03-13
AI Technical Summary
Existing camera perspective adjustment devices cannot adjust the perspective as flexibly as human eyes. They require the robot body or other mechanisms to move, which consumes a lot of power and reduces observation and response speed. The fixed binocular distance of binocular cameras limits the measurement accuracy of depth range.
Design a perspective adjustment device including a load platform, an arm assembly and a drive assembly. A ball joint connector enables bidirectional rotation and translation of the camera, mimicking the human eye muscles' adjustment of perspective. Combined with the baseline adjustment of a binocular camera, it expands the observation range and depth measurement accuracy.
It enables flexible adjustment of the camera's field of view, reduces power consumption, improves response speed and observation range, simplifies the structure, and enhances the robot's agility and accuracy in observation.
Smart Images
Figure CN223820577U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to bionic vision technical field relates to visual angle adjusting device, binocular camera, machine bionic vision system and robot. BACKGROUND
[0002] With the development and continuous application of artificial intelligence and robot technology, bionic vision technology has gradually become the infrastructure in the field of artificial intelligence technology. However, the existing camera visual angle adjusting device, because it does not have the muscle that adjusts the visual angle of the eye like human beings, can only move the camera left and right or up and down alone, if it needs to turn to the front in any angle like human eyeballs, it needs to realize by means of the movement and rotation of the robot body or the neck mechanism, which not only consumes a large amount of power, but also reduces the observation speed and response speed of the robot to the outside world, limits the agility and accuracy of the visual angle adjusting device. In addition, the distance between the two eyes of the general binocular camera is fixed and cannot be self-adaptively adjusted, so that the measurement accuracy of the depth distance is also determined, thus limiting the depth range of the binocular camera observation. SUMMARY
[0003] In view of the above analysis, the utility model aims at providing a visual angle adjusting device, binocular camera, machine bionic vision system and robot, which solves the technical problems of the limited camera visual angle adjusting angle of the existing visual angle adjusting device and the fixed depth range of the binocular camera observation.
[0004] The utility model mainly aims at realizing the following technical scheme.
[0005] Firstly, the utility model provides a visual angle adjusting device, which comprises a load platform, an arm rod assembly and a driving assembly; the load platform is used for installing a camera; the load platform comprises a first rotation center line and a second rotation center line; the first rotation center line, the second rotation center line and the optical axis line of the camera are perpendicular to each other and intersect; the driving assembly can make the camera rotate around the first rotation center line and the second rotation center line through driving the arm rod assembly, so that the visual line of the camera can be adjusted to any direction towards the front.
[0006] Further, the arm rod assembly comprises a first arm rod assembly, a second arm rod assembly and a third arm rod assembly; the first arm rod assembly, the second arm rod assembly and the third arm rod assembly respectively comprise a first small arm, a second small arm and a third small arm; the first small arm, the second small arm and the third small arm are respectively connected with the load platform through a first spherical hinge connecting piece, a second spherical hinge connecting piece and a third spherical hinge connecting piece.
[0007] Further, the second spherical hinge connecting piece is located on the second rotation center line; the first spherical hinge connecting piece and the third spherical hinge connecting piece are located on the first rotation center line and symmetrically arranged on the two sides of the second spherical hinge connecting piece.
[0008] Furthermore, the first boom assembly, the second boom assembly, and the third boom assembly also include a first main boom, a second main boom, and a third main boom, respectively; one end of the first main boom, the second main boom, and the third main boom are respectively hinged to one end of the first forearm, the second forearm, and the third forearm.
[0009] Furthermore, the drive ends of the three drive components are respectively connected to the other ends of the first, second, and third main arms and can drive the first, second, and third main arms to rotate around their other ends; the motion planes of the first and third main arms coincide and are perpendicular to the motion plane of the second main arm.
[0010] Furthermore, the three connection points of the first, second, and third main arms with the three sets of drive components form an isosceles triangle, with the base L of the isosceles triangle being greater than the height L*2.
[0011] Furthermore, the second upper arm and the second lower arm are ball-jointed by a fourth ball joint connector, enabling the drive assembly to drive the load platform to translate along the direction of the first rotation center line.
[0012] Secondly, this utility model also provides a binocular camera, including any of the viewing angle adjustment devices and a connecting frame of the first aspect, wherein two viewing angle adjustment devices are fixed side by side on the connecting frame along the direction of the first rotation center line.
[0013] Thirdly, this utility model also provides a machine bionic vision system, including a binocular camera, a sensor unit, a control unit, and a power supply unit as described in the second aspect.
[0014] Fourthly, this utility model also provides a robot, including the bionic vision system and robot body of the third aspect.
[0015] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:
[0016] 1. The viewing angle adjustment device of this utility model, by setting three sets of arm assemblies that are ball-jointed to the load platform, can mimic the human eye muscles to adjust the camera's viewing angle. It can not only rotate in two vertical directions, but also turn to any direction forward. The device can be moved as a whole without the need for other equipment, which reduces the power consumption. It also has a simple structure, is lightweight, and improves the camera's response speed.
[0017] 2. The viewing angle adjustment device of this utility model expands the degree of freedom of rotation between the load platform and the forearm by arranging the first ball joint connector and the third ball joint connector on the first rotation center line and arranging the second ball joint connector on the second rotation center line. This satisfies the motion condition that the load platform can rotate around the first rotation center line and the second rotation center line at the same time, thereby enabling the camera's viewing angle to be adjusted to any direction forward, and improving the observation range of the viewing angle adjustment device.
[0018] 3. The viewing angle adjustment device of this utility model, by arranging the distance between the three connection points of the three large arms and the drive component, makes the movement of the three sets of arm components more balanced and coordinated, and will not be offset due to gravity, making the control of the camera viewing angle simpler.
[0019] 4. The viewing angle adjustment device of this utility model increases the range of camera movement in the horizontal direction by setting the hinge between the second upper arm and the second lower arm as a ball joint connection, thus more accurately simulating the movement of the human eye.
[0020] 5. The binocular camera of this invention can adjust the baseline of the binoculars within a certain range, making the observation of the target more flexible and enabling accurate measurement of different depths and distances. At the same time, it simplifies the structure and reduces power consumption.
[0021] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objectives and other advantages of this invention can be realized and obtained through the embodiments described and the accompanying drawings, which are particularly pointed out. Attached Figure Description
[0022] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Throughout the drawings, the same reference numerals denote the same parts.
[0023] Figure 1 This is one of the structural schematic diagrams of the viewing angle adjustment device according to an embodiment of the present utility model;
[0024] Figure 2 This is a front view of the viewing angle adjustment device according to an embodiment of the present utility model;
[0025] Figure 3 This is a second schematic diagram of the viewing angle adjustment device according to an embodiment of the present utility model;
[0026] Figure 4 This is a schematic diagram of the binocular camera in Embodiment 3 of this utility model.
[0027] Figure label:
[0028] 10 - View adjustment device;
[0029] 1-Mounting frame; 2-Load platform; 3-Arm assembly; 31-First arm assembly; 311-First boom; 312-First forearm; 313-First ball joint connector; 32-Second arm assembly; 321-Second boom; 322-Second forearm; 323-Second ball joint connector; 324-Fourth ball joint connector; 33-Third arm assembly; 331-Third boom; 332-Third forearm; 333-Third ball joint connector; 4-Drive assembly; 41-Motor; 42-Motor reducer; 43-Encoder; 5-Camera;
[0030] 201 - First rotation center line; 202 - Second rotation center line;
[0031] 20-Connecting bracket. Detailed Implementation
[0032] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.
[0033] Example 1
[0034] This embodiment discloses a viewing angle adjustment device, such as... Figure 1 and Figure 2 As shown, the system includes a mounting frame 1, a load platform 2, an arm assembly 3, and a drive assembly 4. The load platform 2 is used to fix the camera 5. The load platform 2 includes a first rotation center line 201 and a second rotation center line 202, which intersect perpendicularly with the optical axis of the camera 5. The arm assembly 3 includes a first arm assembly 31, a second arm assembly 32, and a third arm assembly 33. Each of the three arm assemblies includes a large arm and a small arm. One end of each of the three large arms is rotatably connected to the mounting frame 1 via three sets of drive assemblies 4, and the other end is hinged to one end of each of the three small arms. The other end of each of the three small arms is ball-jointed to the load platform 2. The drive assembly 4 drives the arm assembly 3 to rotate the camera around the first and second axes, thereby allowing the camera's viewing angle to be adjusted to any forward direction.
[0035] The viewing angle adjustment device in this embodiment, by setting up a first arm assembly 31, a second arm assembly 32, and a third arm assembly 33, and through the ball joint between the arm assembly 3 and the load platform 2, allows the arm assembly 3 to mimic the human eye muscles to adjust the camera's viewing angle. Compared with existing camera viewing angle adjustment devices, it can not only rotate in two vertical directions separately, but also complete the coordinated rotation of two vertical directions, thereby enabling the camera's viewing angle to turn in any direction forward. This optimizes the current approach that typically requires the cooperation of other devices to move the device as a whole. For example, conventional visual robots need to rely on the movement and rotation of the robot body or neck mechanism to achieve more viewing angle adjustments, which consumes a lot of power and reduces the robot's observation and response speed, limiting the agility and accuracy of the viewing angle adjustment device. The viewing angle adjustment device of this invention reduces power consumption, has a simple structure, is lightweight, and offers flexible adjustment, improving the camera 5's response speed and control accuracy.
[0036] It should be noted that the camera viewing angle adjusted by this utility model refers to the adjustment of the rotation direction and angle of the optical axis of the camera; in addition, the control system and algorithm for controlling the viewing angle adjustment device in this embodiment are existing technologies and are not within the scope of the technical improvement of this utility model.
[0037] In a preferred embodiment, the mounting bracket 1 is used to install or support other components and also to connect and install the viewing angle adjustment device to the complete machine. For example, the mounting bracket 1 is a rectangular plate, and a set of drive components 4 are fixedly installed on each of the two wide sides and one long side of the mounting bracket 1.
[0038] A preferred embodiment of this solution is as follows: Figure 1 and Figure 2 As shown, the load platform 2 is a circular plate, and the camera 5 is fixed on the load platform 2 with the center lines of the camera 5 and the load platform 2 coinciding. The load platform 2 has a first rotation center line 201 and a second rotation center line 202. The first rotation center line 201 and the second rotation center line 202 are two mutually perpendicular diameters of the circular ring of the load platform 2, so that the first rotation center line 201, the second rotation center line 202 and the optical axis of the camera intersect each other perpendicularly.
[0039] A preferred embodiment of this solution is as follows: Figure 2 and Figure 3 As shown, the first boom assembly 31, the second boom assembly 32, and the third boom assembly 33 have the same structure, and respectively include the first forearm 312 of the first upper boom 311, the second upper boom 321 and the second forearm 322, the third upper boom 331, and the third forearm 332.
[0040] like Figure 1 and Figure 3As shown, the first arm 311 and the third arm 331 are located on both sides of the mounting frame 1, and the shaft ends of these two arms are respectively connected to a set of drive components 4 located on the two wide sides of the mounting frame 1. The second arm 321 is located between the first arm 311 and the third arm 331, and the shaft end of the second arm 321 is connected to a set of drive components 4 located on the long side of the mounting frame 1. The three sets of drive components 4 can drive the three arms to rotate relative to the mounting frame 1. The motion planes of the first arm 311 and the third arm 331 are perpendicular to the wide side of the mounting frame 1 and coincide with each other. The motion plane of the second arm 321 is perpendicular to the long side of the mounting frame 1 and coincides with the plane of symmetry of the first arm 311 and the third arm 331, so that the overall structure of the viewing angle adjustment device is symmetrical and the control is simpler.
[0041] like Figure 1 and Figure 3 As shown, the first forearm 312, the second forearm 322, and the third forearm 332 are respectively ball-jointed to the outer ring edge of the load platform 2 via the first ball joint connector 313, the second ball joint connector 323, and the third ball joint connector 333; the second ball joint connector 323 is located on the second rotation center line 202; the first ball joint connector 313 and the third ball joint connector 333 are located on the first rotation center line 201 and are symmetrically arranged on both sides of the second ball joint connector 323. Optionally, the first ball joint connector 313, the second ball joint connector 323, and the third ball joint connector 333 can be fisheye ball joint connectors.
[0042] The viewing angle adjustment device in this embodiment expands the degree of freedom of rotation between the load platform 2 and the forearm by arranging the first ball joint connector 313 and the third ball joint connector 333 on the first rotation center line 201 and arranging the second ball joint connector 323 on the second rotation center line 202. This satisfies the motion condition that the load platform 2 can rotate around the first rotation center line 201 and the second rotation center line 202 at the same time, thereby enabling the viewing angle of the camera 5 to be adjusted to face any direction forward.
[0043] Preferred, such as Figure 3 As shown, the first forearm 312, the second forearm 322 and the third forearm 332 are all rectangular frames. The two long sides of the rectangular frame are two parallel arm rods. The plane of the rectangular frame is perpendicular to the motion plane of the corresponding upper arm. This reduces the weight of the forearm, reduces the power consumption of the drive component 4, and improves the rigidity of the forearm, making the movement position of the arm rod assembly 3 more stable.
[0044] A preferred embodiment of this solution is as follows: Figure 3As shown, the drive assembly 4 includes a motor 41, a motor reducer 42, and an encoder 43; optionally, the motor 41 is a high-precision servo motor. The shaft ends of the three booms are fixed to the output shafts of the three drive assemblies 4 via shaft keys, thereby enabling the motor 41 to drive the boom 402 to rotate. The encoder 43 is installed at the rear end of the motor 41 and is used to monitor and send parameters such as current, speed, and relative position of the circumferential direction of the rotating shaft to the control unit in real time, so as to realize the precise adjustment of the viewing angle of the camera 5 by the drive assembly 4.
[0045] Furthermore, such as Figure 2 and Figure 3 As shown, since the camera 5 is usually horizontally arranged during use, and considering the effect of gravity, the second arm 321 needs to be arranged on the long side of the top of the mounting frame 1. Since the motion plane of the second arm 321 coincides with the symmetry plane of the first arm 311 and the third arm 331, the first arm 311, the second arm 321, and the third arm 331 form an isosceles triangle with the three connection points of the three sets of drive components 4.
[0046] Preferred, such as Figure 3 As shown, the distance between the connection points of the first arm 311 and the third arm 331 and the drive assembly 4, i.e., the base L1 of the isosceles triangle, is greater than the distance between the first ball joint connector 313 and the third ball joint connector 333. This is so that under the same motor 41 power, the first arm assembly 31 and the third arm assembly 33 apply a larger torque to the load platform 2, thereby making the camera 5 rotate more nimbly and respond faster.
[0047] Considering that the motor 41 driving the second boom 321 needs to compensate for the gravitational torque, preferably, such as Figure 3 As shown, the height L2 of the isosceles triangle is less than half of the base L1, so that the motor 41 driving the second arm 321 has a stronger torque capacity than the motor 41 driving the first arm 311 and the third arm 331, so as to compensate for the gravitational torque, making the movement of the first arm assembly 31, the second arm assembly 32 and the third arm assembly 33 with the same structure more balanced and coordinated, and will not be deflected due to gravity, making the control of the camera angle simpler.
[0048] When the camera 5 is horizontally positioned, the third arm assembly 33 can drive the load platform 2 to rotate up and down around the horizontal second rotation center line 202, and can also maintain the load platform 2 against gravity and prevent it from falling when it does not need to rotate up and down, while keeping the angle of up and down rotation unchanged.
[0049] Example 2
[0050] The difference between the viewing angle adjustment device disclosed in this embodiment and that in Embodiment 1 is that the hinge between the second upper arm 321 and the second lower arm 322 is a ball joint connection.
[0051] like Figure 3 As shown, the second large arm 321 and the second small arm 322 are ball-jointed by the fourth ball joint connector 324, so that the drive assembly 4 can also drive the load platform 2 to translate along the direction of the first rotation center line 201, increasing the range of movement of the camera 5 in the horizontal direction and more accurately simulating the movement of the human eye.
[0052] Example 3
[0053] This embodiment discloses a binocular camera, such as Figure 4 As shown, the device includes a viewing angle adjustment device 10 and a connecting frame 20 as described in Embodiment 1 or Embodiment 2. The two viewing angle adjustment devices 10 are fixed side by side on the connecting frame 20 along the direction of the first rotation center line 201, so that the baselines of the two cameras on the binocular camera can be adjusted to achieve accurate measurement and observation of different depth distances.
[0054] In this embodiment, the binocular camera uses two viewing angle adjustment devices 10 arranged side-by-side, as described in Embodiment 1 or Embodiment 2, allowing each camera to move independently to either side along the direction of the first rotation center line 201. Taking a horizontally arranged camera 5 as an example, when the left camera moves to the left and the right camera moves to the right, the binocular baseline (binocular center distance) on the binocular camera increases; when the left camera moves to the right and the right camera moves to the left, the binocular baseline on the binocular camera decreases. Under otherwise unchanged conditions, a larger binocular baseline on the binocular camera results in higher ranging accuracy for long distances.
[0055] Unlike existing technologies that require other mechanisms to adjust the binocular baseline, such as mounting the binocular camera on a bidirectional ball screw mechanism to adjust the binocular baseline, the binocular camera in this embodiment can adjust the binocular baseline within a certain range, making target observation more flexible and enabling accurate measurement of different depths and distances. At the same time, it simplifies the structure and significantly reduces power consumption.
[0056] Example 4
[0057] This embodiment discloses a machine bionic vision system, including a binocular camera, a sensor unit, a control unit, and a power supply unit as described in Embodiment 3.
[0058] For example, the sensor unit includes a gyroscope and a distance sensor for monitoring the environment and camera attitude, and feeding back the monitoring data to the control unit in real time; the control unit includes a core processor and an algorithm storage medium to realize motion control of the binocular camera, and the power supply unit is used to provide the power required by each unit of the system.
[0059] The machine bionic vision system of this embodiment has the beneficial effects of embodiments 1 to 3, which will not be repeated here.
[0060] Example 5
[0061] This embodiment discloses a robot, including the bionic vision system of Embodiment 4 and the robot body.
[0062] The robot in this embodiment has a human-like vision system and also has the ability to adaptively adjust the distance between its eyes, which surpasses the human eye muscles. This improves the robot's observation and response speed to the outside world, and gives it greater flexibility and agility.
[0063] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model should be included within the protection scope of the present utility model.
Claims
1. A viewing angle adjustment device, characterized in that, It includes a load platform (2), a boom assembly (3), and a drive assembly (4); The load platform (2) is used to mount the camera; the load platform (2) includes a first rotation center line (201) and a second rotation center line (202); the first rotation center line (201), the second rotation center line (202) and the optical axis of the camera intersect each other perpendicularly; The drive assembly (4) enables the camera to rotate in coordination around the first rotation center line (201) and the second rotation center line (202) via the drive arm assembly (3), thereby allowing the camera's line of sight to be adjusted to face any direction forward.
2. The viewing angle adjustment device according to claim 1, characterized in that, The boom assembly (3) includes a first boom assembly (31), a second boom assembly (32), and a third boom assembly (33); the first boom assembly (31), the second boom assembly (32), and the third boom assembly (33) respectively include a first forearm (312), a second forearm (322), and a third forearm (332); the first forearm (312), the second forearm (322), and the third forearm (332) are respectively ball-jointed to the load platform (2) via a first ball joint connector (313), a second ball joint connector (323), and a third ball joint connector (333).
3. The viewing angle adjustment device according to claim 2, characterized in that, The second ball joint connector (323) is located on the second rotation center line (202); the first ball joint connector (313) and the third ball joint connector (333) are located on the first rotation center line (201) and are symmetrically arranged on both sides of the second ball joint connector (323).
4. The viewing angle adjustment device according to claim 3, characterized in that, The first boom assembly (31), the second boom assembly (32), and the third boom assembly (33) further include a first upper arm (311), a second upper arm (321), and a third upper arm (331), respectively; one end of the first upper arm (311), the second upper arm (321), and the third upper arm (331) are respectively hinged to one end of the first forearm (312), the second forearm (322), and the third forearm (332).
5. The viewing angle adjustment device according to claim 4, characterized in that, The driving ends of the three sets of driving components (4) are respectively connected to the other ends of the first large arm (311), the second large arm (321) and the third large arm (331) and can drive the first large arm (311), the second large arm (321) and the third large arm (331) to rotate around their other ends respectively; The motion planes of the first large arm (311) and the third large arm (331) coincide and are perpendicular to the motion plane of the second large arm (321).
6. The viewing angle adjustment device according to claim 5, characterized in that, The first upper arm (311), the second upper arm (321) and the third upper arm (331) form an isosceles triangle with the three connection points of the three sets of drive components (4). The base L1 of the isosceles triangle is greater than the distance between the first ball joint connector (313) and the third ball joint connector (333), and the height L2 of the isosceles triangle is less than half of the base L1.
7. The viewing angle adjustment device according to claim 6, characterized in that, The second upper arm (321) and the second lower arm (322) are ball-jointed by a fourth ball joint connector (324), so that the drive assembly (4) can also drive the load platform (2) to translate along the direction of the first rotation center line (201).
8. A binocular camera, characterized in that, Includes the viewing angle adjustment device and the connecting frame (20) as described in any one of claims 1 to 7, wherein two of the viewing angle adjustment devices are fixed side by side on the connecting frame (20) along the direction of the first rotation center line (201).
9. A machine bionic vision system, characterized in that, It includes the binocular camera, sensor unit, control unit, and power supply unit as described in claim 8.
10. A robot, characterized in that, Includes the bionic vision system and robot body as described in claim 9.