Seven-degree-of-freedom series-parallel bionic eye structure

Abstract

The utility model belongs to the technical field of robot bionics, and particularly relates to a seven-degree-of-freedom series-parallel bionic eye structure. The series-parallel connection bionic eye structure comprises a base, the neck parallel connection device and the eye movement device are sequentially installed on the base from bottom to top. The neck parallel connection device comprises a neck lower platform installed on the base, a neck rear support installed on the neck lower platform and a neck upper platform rotationally installed at the upper end of the neck rear support. The first muscle mechanism is arranged between the neck upper platform and the neck lower platform; the second muscle mechanism is arranged between the neck upper platform and the eye movement device; the first muscle mechanism drives the eye movement device to rotate up and down and / or swing left and right and / or shake the head, and the second muscle mechanism drives the eye movement device to rotate left and right. According to the utility model, the neck parallel connection device and the eye movement device are connected in series, so that the whole working space is enlarged, namely, a target position is tracked in a maximum range.

Description

Technical Field

[0001] This utility model belongs to the field of robot bionics technology, specifically relating to a seven-degree-of-freedom serial-parallel bionic eye structure. Background Technology

[0002] In the field of bionic eyes for robots, on the one hand, research focuses on mimicking the structure, movement, and visual information acquisition of biological eyeballs or insect compound eyes, achieving significant results in human-like stereoscopic vision acquisition systems, robots with bionic compound eye structures, and applications of bionic eyes. On the other hand, researchers have designed mechanical eyes that can mimic the movement of biological eyeballs by comprehensively utilizing optoelectronic, mechanical, information, and control technologies, studied the use of new materials to manufacture lighter and more durable bionic eye structures, and applied bionic eyes for robots in target detection and tracking, human-computer interaction and emotion recognition, and visual servo control.

[0003] Despite significant progress made in the research of bionic eyes for robots both domestically and internationally, there are still shortcomings:

[0004] (1) The target tracking range of the existing bionic eye is limited. It can only rely on the bionic eyeball itself to move up and down and left and right, and the target tracking range of the eyeball is small.

[0005] (2) The existing bionic eyes have a large working space, do not conform to the movement mechanism and morphological characteristics of living organisms, and are not very flexible. Utility Model Content

[0006] To address the limitations and low flexibility of target tracking range in existing bionic eyes, a seven-DOF serial-parallel bionic eye structure is provided. The eye module tracks slowly moving targets, and when the target goes out of range, the overall position of the eye module can be adjusted to re-track the target, thereby increasing the tracking range. Furthermore, by mimicking the joint structure, muscle distribution, and movement patterns of living organisms, it conforms to the movement mechanisms and morphological characteristics of living organisms, thus improving flexibility and load-bearing capacity.

[0007] The technical solution adopted by this utility model to solve its technical problem is:

[0008] The first aspect is a seven-degree-of-freedom serial-parallel bionic eye structure, including a base; a neck parallel device and an eye movement device, which are sequentially mounted on the base from bottom to top;

[0009] The neck parallel device includes: a lower neck platform mounted on the base, a posterior neck support mounted on the lower neck platform, an upper neck platform rotatably mounted on the upper end of the posterior neck support, a first muscle mechanism disposed between the upper neck platform and the lower neck platform, and a second muscle mechanism disposed between the upper neck platform and the eye movement device.

[0010] The first muscle mechanism drives the eye movement device to rotate up and down and / or swing left and right and / or shake its head, while the second muscle mechanism drives the eye movement device to rotate left and right.

[0011] Specifically, the first muscle mechanism includes:

[0012] Two push rod motors, one end of which is rotatably mounted to the lower neck platform, and the other end of which is rotatably mounted to the upper neck platform;

[0013] Universal joint, both ends of the push rod motor are rotatably connected to the corresponding lower neck platform or upper neck platform through the universal joint;

[0014] The push rod motor includes a first push rod motor and a second push rod motor. The first push rod motor and the second push rod motor are symmetrically arranged along a biomimetic sagittal plane. The distance L between the upper connection points of the first push rod motor and the second push rod motor is... 上 Greater than or equal to the distance L of its lower connection point 下 .

[0015] Specifically, when the first push rod motor and the second push rod motor perform telescopic movements synchronously, they drive the eye movement device to rotate up and down.

[0016] When the first push rod motor and the second push rod motor perform opposite, equal-length extension and retraction movements, they drive the eye movement device to swing left and right.

[0017] When the first push rod motor and the second push rod motor move together according to the set parameters, the eye movement device is driven to make a head-shaking motion.

[0018] Specifically, the second muscle mechanism includes a motor mounting bracket mounted on the lower end face of the upper neck platform and a second muscle motor mounted on the motor mounting bracket;

[0019] The output shaft of the second muscle motor passes through the upper neck platform and is coaxially arranged with the eye movement device, driving the eye movement device to rotate around the Z-axis.

[0020] Specifically, the eye movement device includes a C-shaped mounting bracket and two eye movement mechanisms symmetrically mounted on the C-shaped mounting bracket;

[0021] The eye-tracking mechanism includes:

[0022] A bionic eye-tracking support is rotatably mounted to the upper end of the C-shaped mounting bracket;

[0023] An outer ring of the eyeball is fixedly installed on the bionic eye-tracking support, and a collection space for visual acquisition is provided in the middle of the outer ring of the eyeball;

[0024] A visual plate is installed inside the outer ring of the eyeball, and the visual plate is rotatably connected to the outer ring of the eyeball;

[0025] The first driving component is installed on the outside of the bionic eye-tracking bracket, driving the visual plate to rotate synchronously up and down relative to the bionic eye-tracking bracket around the X-axis.

[0026] The second drive component is installed on the corresponding C-shaped mounting bracket below the bionic eye-tracking bracket, driving the bionic eye-tracking bracket to rotate left and right around the Z-axis.

[0027] Specifically, the first driving component includes a motor support frame mounted on the outside of the bionic eye-tracking bracket and a first rotary motor mounted on the motor support frame; the output shaft of the first rotary motor is coaxially arranged with the visual plate through a first connector;

[0028] The second drive assembly includes a second rotary motor mounted on the C-shaped mounting bracket; the output shaft of the second rotary motor is coaxially arranged with the bionic eye-tracking bracket via a second connector.

[0029] Specifically, it also includes a control system; the control system includes:

[0030] A camera is mounted on the vision panel to mimic the eyeballs of a living organism for real-time visual acquisition;

[0031] An industrial control module, mounted on the base, is used to receive and process real-time data collected by the camera and output control commands.

[0032] A RS232 to RS485 converter module is installed on the lower platform of the neck and is used to convert the RS232 signal output by the industrial control module into an RS485 signal.

[0033] The 485 drive module, located on the lower platform of the neck, is used to activate the eye movement device and the neck parallel device for real-time bionic adjustment.

[0034] Terminal blocks are used for connecting the wiring of each module;

[0035] The emergency stop button is used to perform emergency stop operations on each module.

[0036] The second aspect is a control method for a seven-degree-of-freedom serial-parallel bionic eye structure, including the following:

[0037] Obtain current location data, that is, obtain current location data through the camera;

[0038] External target information is input to the industrial control module, and the industrial control module calculates the deviation between the target information and the current position data;

[0039] The corresponding motion trajectories of the eye rotation device and the neck parallel device are calculated based on the calculated deviation data.

[0040] The industrial control module converts RS232 signals to RS485 signals and sends control commands to the RS485 driver module.

[0041] The eye rotation device and the neck parallel device move according to the corresponding motion trajectory based on the received instructions until they reach the target position.

[0042] Specifically, the control commands include the following motion modes:

[0043] The first driving component and / or the second driving component are activated to perform a biomimetic eyeball rotation movement;

[0044] When performing the nodding and tilting head bionic movements, the first push rod motor and the second push rod motor in the first muscle mechanism are activated to move synchronously.

[0045] When performing the left and right head-swaying bionic movement, the first push rod motor and the second push rod motor extend and retract in opposite directions with equal lengths.

[0046] When the head-shaking motion is performed, the first push rod motor and the second push rod motor move together according to the set parameters;

[0047] When the target position is outside the current field of vision, the second muscle mechanism is activated to drive the eye movement device to rotate to the right or left, based on the input rotation parameters.

[0048] Specifically, the biomimetic eye movement includes eye movement up and down, eye movement left and right, and eye movement inward and outward.

[0049] When the first driving component is activated, it drives the visual plate to rotate up and down to correspond to the up and down movement of the eyeball;

[0050] When the second drive component is activated, it drives the visual plate to rotate left and right to correspond to the left and right rotation of the eyeball;

[0051] When the first driving component and the second driving component are activated simultaneously, the visual plate is driven to rotate inward and outward to correspond to the inward and outward rotation of the eyeball.

[0052] The beneficial effects of this seven-degree-of-freedom series-parallel bionic eye structure are:

[0053] This invention connects a neck parallel device and an eye movement device in series, increasing the overall workspace and maximizing target position tracking. The neck parallel device, through the parallel design and combination of a first muscle mechanism and a second muscle mechanism, achieves a compact and robust bionic eye structure. When the target position exceeds the current field of vision of the bionic eye, the neck parallel module activates an adjustment function, rotating the second muscle mechanism to drive the entire eye movement device, thereby expanding the tracking range of the bionic eye.

[0054] The first muscle component of this invention corresponds to the sternocleidomastoid muscle of a living organism, and the second muscle component corresponds to the trapezius muscle. The upper neck platform is designed as a moving platform, and the lower neck platform is designed as a fixed platform. By using the moving and fixed platforms in conjunction with the first and second muscle components, the eye movement device can achieve four degrees of freedom of movement: nodding, tilting the head back, swaying left and right, shaking the head, and turning the head left and right. At the same time, through the combined relationship of the first and second drive components on the eye movement device, corresponding to the rectus and oblique muscles of a living organism, three degrees of freedom of movement of the eyeballs are achieved: vertical rotation, horizontal rotation, and inward and outward rotation. This invention, by imitating the joint structure, muscle distribution, and movement mode of a living organism, combines seven degrees of freedom in parallel and serial connection, enabling the completion of complex movements and operations. Even when a joint malfunctions or is damaged, it can still maintain normal operation through the synergistic action of other joints, thus improving the fault tolerance and robustness of the system. Attached Figure Description

[0055] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0056] Figure 1 This is a three-dimensional view of the seven-degree-of-freedom serial-parallel bionic eye and structure of Embodiment 1 of this utility model.

[0057] Figure 2 This is a first-view perspective perspective view of the neck parallel device in Embodiment 1 of this utility model.

[0058] Figure 3 This is a second-view perspective perspective view of the neck parallel device in Embodiment 1 of this utility model.

[0059] Figure 4 yes Figure 1 The main view.

[0060] Figure 5 This is a schematic diagram of the eye movement device in Embodiment 1 of this utility model.

[0061] Figure 6This is a partial structural schematic diagram of the eye-tracking mechanism in Embodiment 1 of this utility model.

[0062] Figure 7 This is a framework diagram of the control system in Embodiment 1 of this utility model.

[0063] Figure 8 This is a flowchart of the control method in Embodiment 2 of this utility model.

[0064] In the picture:

[0065] 1. Base; 11. Base plate; 12. Column;

[0066] 2. Neck parallel device; 21. Lower neck platform; 22. Rear neck support; 23. Upper neck platform; 24. First muscle mechanism; 241. First push rod motor; 242. Second push rod motor; 243. Universal joint; 25. Second muscle mechanism; 251. Motor mounting bracket; 252. Second muscle motor; 26. Cross bearing.

[0067] 3. Eye movement device; 31. C-shaped mounting bracket; 32. Eye movement mechanism; 321. Bionic eye movement bracket; 322. Outer ring of eyeball; 323. Visual plate; 324. First drive assembly; 3241. Motor support frame; 3242. First rotary motor; 3243. First connector; 325. Second drive assembly; 3251. Second rotary motor; 3252. Second connector;

[0068] 10. Camera; 20. Industrial control module; 30. 232 to 485 converter module; 40. 485 driver module; 50. Terminal block; 60. Emergency stop button. Detailed Implementation

[0069] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0070] Example 1

[0071] like Figures 1-7The present invention provides a specific embodiment of a seven-degree-of-freedom series-parallel bionic eye structure, including a base 1; a neck parallel device 2 and an eye movement device 3, which are sequentially mounted on the base 1 from bottom to top. The neck parallel device 2 includes: a lower neck platform 21 mounted on the base 1; a posterior neck support 22 mounted on the lower neck platform 21; an upper neck platform 23 rotatably mounted on the upper end of the posterior neck support 22; a first muscle mechanism 24 disposed between the upper neck platform 23 and the lower neck platform 21; and a second muscle mechanism 25 disposed between the upper neck platform 23 and the eye movement device 3. The first muscle mechanism 24 drives the eye movement device 3 to rotate up and down and / or swing left and right and / or shake its head, while the second muscle mechanism 25 drives the eye movement device 3 to rotate left and right.

[0072] This invention connects two parts in series: a neck parallel device 2 and an eye movement device 3, increasing the overall workspace and maximizing target position tracking. Simultaneously, the neck parallel device 2, through the parallel design and combination of a first muscle mechanism 24 and a second muscle mechanism 25, achieves a compact and robust bionic eye structure. When the target position exceeds the current field of vision of the bionic eye, the neck parallel module activates an adjustment function, rotating the second muscle mechanism 25 to rotate the entire eye movement device 3, thereby expanding the tracking range of the bionic eye.

[0073] Specifically, the neck parallel device 2 is installed between the base 1 and the eye movement device 3. The first muscle mechanism 24 includes two push rod motors and four universal joints 243. One end of each push rod motor is rotatably mounted to the lower neck platform 21, and the other end is rotatably mounted to the upper neck platform 23. Both ends of the push rod motors are rotatably connected to the corresponding lower neck platform 21 or upper neck platform 23 via universal joints 243. The push rod motors include a first push rod motor 241 and a second push rod motor 242. The first push rod motor 241 and the second push rod motor 242 are symmetrically arranged along the biomimetic sagittal plane. The distance L between the upper connection points of the first push rod motor 241 and the second push rod motor 242 is... 上 Greater than or equal to the distance L of its lower connection point 下 It can also be understood that the first push rod motor 241 and the second push rod motor 242 are designed to be vertically or inclined according to the muscle group color of the organism. In this embodiment, the first push rod motor 241 and the second push rod motor 242 are vertically arranged.

[0074] like Figure 3As shown, the second muscle mechanism 25 in this embodiment includes a motor mounting bracket 251 mounted on the lower end face of the upper neck platform 23 and a second muscle motor 252 mounted on the motor mounting bracket 251. The output shaft of the second muscle motor 252 passes through the upper neck platform 23 and is coaxially arranged with the eye movement device 3, driving the eye movement device 3 to rotate around the Z-axis. The first push rod motor 241, the second push rod motor 242, and the second muscle motor 252 are used together to correspond to the muscle groups of the sternocleidomastoid muscle, scalene muscles, splenius capitis, and splenius cervicis muscles of a living organism. The design is derived from the movement mechanism and morphological characteristics of living organisms. By imitating the joint structure, muscle distribution, and movement mode of living organisms, this device makes the robot structure more in line with actual needs, which not only improves the robot's flexibility and load-bearing capacity, but also makes it more adaptable to the needs of complex environments and tasks.

[0075] The neck parallel device 2 is used to adjust the overall position of the eye movement device 3, increasing the tracking range of the target position. Specifically:

[0076] The upper neck platform 23 connects the eye movement device 3 and the second muscle mechanism 25, enabling the eye movement device 3 to rotate as a whole under the drive of the second muscle mechanism 25. The second muscle motor 252 is an MS5015V3 servo motor, which drives the eye movement device 3 to rotate around the Z-axis. The second muscle motor 252 is fixedly mounted on the lower end face of the upper neck platform 23 via a motor bracket. The output shaft of the second muscle motor 252 passes through the lower neck platform 21 and connects to the lower end face of the eye movement device 3. Specifically, the motor... The support adopts an MS50 motor support. The posterior neck support 22 and the upper neck platform 23 are rotatably connected by a cross bearing 26, allowing the lower neck platform 21 to rotate around the X-axis and Y-axis. It should be noted that, to ensure the stability of the lower neck platform 21, the first muscle mechanism 24 is installed at the front of the neck relative to the posterior neck support 22. The fixed ends of the first push rod motor 241 and the second push rod motor 242 are rotatably connected to the lower neck platform 21 through universal joints 243, and their telescopic ends are rotatably connected to the upper neck platform 23 through corresponding universal joints 243.

[0077] When the first push rod motor 241 and the second push rod motor 242 extend and retract synchronously, they drive the eye movement device 3 to rotate up and down. When the first push rod motor 241 and the second push rod motor 242 extend and retract in opposite directions with equal lengths, they drive the eye movement device 3 to swing left and right. When the first push rod motor 241 and the second push rod motor 242 move in combination according to the set parameters, they drive the eye movement device 3 to shake its head. The first push rod motor 241, the second push rod motor 242, the four universal joints 243, the cross bearing 26, and the neck support 22 work together to support the eye movement device 3 and enable the eye movement device 3 to perform four degrees of freedom: nodding, tilting, swinging left and right, turning, and shaking its head. When the target position is not within the detection range of the current eye movement device 3, it is only necessary to drive the corresponding first push rod motor 241, second push rod motor 242, and first muscle motor to adjust the overall position of the eye movement device 3. When the MS5015V3 servo motor rotates, it drives the eye motion device 3 to rotate, adjusting the spatial position of the eye motion device 3 so that the bionic eye can track targets over a wider range.

[0078] like Figure 4 As shown, the eye movement device 3 in this embodiment includes a C-shaped mounting frame 31 and two eye movement mechanisms 32 symmetrically mounted on the C-shaped mounting frame 31. Each eye movement mechanism 32 includes: a bionic eye movement support 321, an outer eye ring 322, a visual plate 323, a first drive assembly 324, and a second drive assembly 325. The bionic eye movement support 321 is rotatably mounted to the upper end of the C-shaped mounting frame 31. The outer eye ring 322 is rotatably mounted inside the bionic eye movement support 321. The visual plate 323 is mounted inside the outer eye ring 322 and rotatably connected to it. The first drive assembly 324 is mounted on the outside of the bionic eye movement support 321, driving the visual plate 323 and the outer eye ring 322 to rotate synchronously up and down relative to the bionic eye movement support 321 around the X-axis. The second drive assembly 325 is mounted on the corresponding C-shaped mounting frame 31 below the bionic eye movement support 321, driving the bionic eye movement support 321 to rotate left and right around the Z-axis.

[0079] Specifically, the first drive assembly 324 includes a motor support frame 3241 mounted on the outside of the bionic eye-tracking bracket 321, and a first rotary motor 3242 mounted on the motor support frame 3241; the output shaft of the first rotary motor 3242 is coaxially arranged with the visual plate 323 via a first connector 3243. The second drive assembly 325 includes a second rotary motor 3251 mounted on a C-shaped mounting bracket 31; the output shaft of the second rotary motor 3251 is coaxially arranged with the bionic eye-tracking bracket 321 via a second connector 3252.

[0080] The eye movement device 3 is the core component for acquiring visual information and performing preliminary tracking tasks. The camera 10, used for visual acquisition and recognition, is mounted on the vision plate 323. The camera 10 is connected to the outer ring of the eyeball 322 and the bionic eye movement bracket 321 through the vision plate 323. It is responsible for capturing external visual information. The bionic eye movement bracket 321 is used to connect to the C-shaped mounting bracket 31 on the one hand, and on the other hand, it is used to simulate the eyelids of a real eye. It not only protects the camera 10, but also increases the aesthetic effect of the bionic eye.

[0081] The bionic eye-tracking support 321, as the main part of the eyeball structure, is rotatably connected to the camera plate via an igus bearing. The outer ring of the igus bearing is connected to the bottom surface of the bionic eye-tracking support 321, while the inner ring is connected to the top of the outer ring 322 of the eyeball. This connection method allows the bionic eye-tracking support 321 to rotate flexibly with the support of the igus bearing. To achieve left-right and up-down eyeball movements, a servo motor MS4010V3 (i.e., a first rotary motor 3242 and a second rotary motor 3251) is installed below and to the right of the left eyeball, and below and to the left of the right eyeball. The servo motors are connected to the bionic eye-tracking support 321 via motor rotor supports. When the servo motors rotate, they drive the bionic eye-tracking support 321 and the camera plate to rotate together, thereby realizing the visual tracking function.

[0082] To achieve the movement of the bionic eye, this embodiment also includes a control system. Specifically, the control system includes: a camera 10, an industrial control module 20, a RS232 to RS485 conversion module 30, an RS485 drive module 40, a terminal block 50, and an emergency stop button 60. The camera 10 is mounted on the vision board 323 to mimic the eyeball of a living organism for real-time visual acquisition. The industrial control module 20 is mounted on the base 1 to receive and process the real-time data acquired by the camera 10 and output control commands. The RS232 to RS485 conversion module 30 is mounted on the lower neck platform 21 to convert the RS232 signal output by the industrial control module 20 into an RS485 signal. The RS485 drive module 40 is mounted on the lower neck platform 21 to activate the eye movement device 3 and the neck parallel device 2 for real-time bionic adjustment. The terminal block 50 is used for connecting the circuits of each module, and the emergency stop button 60 is used to perform emergency stop operations on each module.

[0083] In a preferred embodiment, the base 1 includes a base plate 11, at least four columns 12 mounted on the upper part of the base plate 11, and a plurality of connecting pins provided on the lower neck platform 21. Components such as terminal blocks 50 and 485 drive modules 40 are connected to the lower neck platform 21 through the connecting pins. The 485 drive modules 40 and terminal blocks 50 are fixedly mounted on the lower neck platform 21, and the industrial control module 20 is fixedly mounted on the base plate 11.

[0084] In this embodiment, both the first push rod motor 241 and the second push rod motor 242 are stepper screw motors. The stepper screw motors are connected to the upper neck platform 23 via a universal joint 243. Their rotation can drive the neck parallel module to move between the inner eye motion device 3 and the base 1. The 485 drive module 40 is responsible for controlling the rotation speed and position of the stepper motors to ensure that the bionic eye can accurately and stably track the target. The push rod motor bracket fixes the stepper screw motors to the base 1 through multiple connectors, while ensuring the stability and accuracy of the stepper screw motor rotation.

[0085] Furthermore, the seven-DOF series-parallel bionic eye structure of this invention possesses high flexibility and redundancy. Due to its seven-DOF design, the bionic eye can perform complex movements and operations. Simultaneously, the redundancy allows the bionic eye to maintain normal operation through the coordinated action of other joints even when a joint malfunctions or is damaged, improving the system's fault tolerance and robustness. This embodiment of the seven-DOF series-parallel bionic structure features a compact structure, high load-bearing capacity, high flexibility and redundancy, superior kinematic characteristics, and enhanced performance through bionic design, demonstrating broad application prospects and enormous development potential in multiple fields.

[0086] Example 2

[0087] The control method based on the above-mentioned seven-degree-of-freedom serial-parallel bionic eye structure includes the following:

[0088] S10. Obtain current location data, that is, obtain current location data through camera 10;

[0089] S20. External target information is input to industrial control module 20, and industrial control module 20 calculates the deviation between the target information and the current position data;

[0090] S30. Calculate the corresponding motion trajectory of the eye rotation device and the neck parallel device 2 based on the calculated deviation data;

[0091] S40. The industrial control module 20 converts the RS232 signal to an RS485 signal and sends control commands to the RS485 driver module 40.

[0092] S50. The eye rotation device and the neck parallel device 2 move according to the corresponding motion trajectory based on the received instructions until they reach the target position.

[0093] The control commands in this embodiment include the following movement modes: Activating the first drive component 324 and / or the second drive component 325 to perform biomimetic eye movement. When performing a nodding or tilting head movement, the first push rod motor 241 and the second push rod motor 242 in the first muscle mechanism 24 are activated to move synchronously. When performing a left-right head-shaking movement, the first push rod motor 241 and the second push rod motor 242 extend and retract in opposite directions with equal lengths. When performing a head-shaking movement, the first push rod motor 241 and the second push rod motor 242 move in conjunction according to set parameters. When the target position exceeds the current field of vision, the second muscle mechanism 25 is activated to drive the eye movement device to rotate to the right or left according to the input rotation parameters.

[0094] The biomimetic eye movement action includes up-and-down eye movement, left-and-right eye movement, and inward-and-outward eye movement. Specifically, when the first drive component 324 is activated, it drives the visual plate 323 to rotate up and down to correspond to the up-and-down eye movement. When the second drive component 325 is activated, it drives the visual plate 323 to rotate left and right to correspond to the left-and-right eye movement. When both the first drive component 324 and the second drive component 325 are activated simultaneously, they drive the visual plate 323 to rotate inward and outward to correspond to the inward and outward eye movement.

[0095] In detail, in this embodiment, the industrial control module 20 adopts an industrial computer as the control center of the seven-degree-of-freedom serial-parallel bionic eye device. It is responsible for receiving external instructions, processing data, and controlling the movement of each module. Through internal algorithms and programs, the industrial computer can calculate the actions that the bionic eye needs to perform based on the position and motion trajectory of the target, and control the rotation of the servo motor and the stepper screw motor through the 485 drive module 40, thereby achieving precise tracking of the target.

[0096] During the operation of the seven-DOF parallel bionic eye structure, when a target position is input from the outside, the industrial control computer (ICC) first calculates the deviation between the target position and the current position of the bionic eye. Then, based on this deviation, the ICC calculates the actions the bionic eye needs to perform, including the dedicated rotation of the eye movement and the adjustment of the neck parallel device 2. Next, the ICC controls the rotation of the servo motor and the stepper screw motor via drivers, causing the bionic eye to gradually approach the target position.

[0097] During tracking, the camera 10 of the eye module continuously captures visual information about the target's location and feeds this information back to the industrial control computer. The industrial control computer then adjusts the bionic eye's trajectory and speed in real time based on this information to ensure accurate and stable target tracking. When the target's location exceeds the bionic eye's current field of vision, the neck module activates its adjustment function, using the MS5015V3 servo motor to rotate the entire eye motion device 3, thereby expanding the bionic eye's tracking range.

[0098] In this embodiment, the industrial control module 20 achieves precise control of the execution part of the seven-DOF serial-parallel bionic eye structure through accurate kinematic analysis and modeling. This enables the seven-DOF serial-parallel bionic eye structure to quickly adjust its posture and trajectory when facing complex environments and tasks, achieving precise operation and positioning. Furthermore, the industrial control module 20 in this embodiment optimizes joint angles and motion parameters in the algorithm, further improving the motion efficiency and accuracy of the seven-DOF serial-parallel bionic eye structure.

[0099] It should be understood that the specific embodiments described above are only for explaining the present invention and are not intended to limit the present invention. Obvious variations or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A seven-degree-of-freedom serial-parallel bionic eye structure, characterized in that, Includes a base; a neck parallel device and an eye movement device, which are mounted sequentially from bottom to top on the base; The neck parallel device includes: a lower neck platform mounted on the base, a posterior neck support mounted on the lower neck platform, an upper neck platform rotatably mounted on the upper end of the posterior neck support, a first muscle mechanism disposed between the upper neck platform and the lower neck platform, and a second muscle mechanism disposed between the upper neck platform and the eye movement device. The first muscle mechanism drives the eye movement device to rotate up and down and / or swing left and right and / or shake its head, while the second muscle mechanism drives the eye movement device to rotate left and right.

2. The seven-degree-of-freedom serial-parallel bionic eye structure according to claim 1, characterized in that, The first muscle mechanism includes: Two push rod motors, one end of which is rotatably mounted to the lower neck platform, and the other end of which is rotatably mounted to the upper neck platform; Universal joint, both ends of the push rod motor are rotatably connected to the corresponding lower neck platform or upper neck platform through the universal joint; The push rod motor includes a first push rod motor and a second push rod motor. The first push rod motor and the second push rod motor are symmetrically arranged along a biomimetic sagittal plane. The distance L between the upper connection points of the first push rod motor and the second push rod motor is... 上 Greater than or equal to the distance L of its lower connection point 下 .

3. The seven-degree-of-freedom serial-parallel bionic eye structure according to claim 2, characterized in that: When the first push rod motor and the second push rod motor move synchronously, they drive the eye movement device to rotate up and down. When the first push rod motor and the second push rod motor perform opposite, equal-length extension and retraction movements, they drive the eye movement device to swing left and right. When the first push rod motor and the second push rod motor move together according to the set parameters, the eye movement device is driven to make a head-shaking motion.

4. The seven-degree-of-freedom serial-parallel bionic eye structure according to claim 2, characterized in that: The second muscle mechanism includes a motor mounting bracket mounted on the lower end face of the upper neck platform and a second muscle motor mounted on the motor mounting bracket; The output shaft of the second muscle motor passes through the upper neck platform and is coaxially arranged with the eye movement device, driving the eye movement device to rotate around the Z-axis.

5. A seven-degree-of-freedom serial-parallel bionic eye structure according to claim 2, characterized in that, The eye movement device includes a C-shaped mounting bracket and two eye movement mechanisms symmetrically mounted on the C-shaped mounting bracket; The eye-tracking mechanism includes: A bionic eye-tracking support is rotatably mounted to the upper end of the C-shaped mounting bracket; An outer ring of the eyeball is fixedly installed on the bionic eye-tracking support, and a collection space for visual acquisition is provided in the middle of the outer ring of the eyeball; A visual plate is installed inside the outer ring of the eyeball, and the visual plate is rotatably connected to the outer ring of the eyeball; The first driving component is installed on the outside of the bionic eye-tracking bracket, which drives the visual plate to rotate synchronously up and down around the X-axis relative to the bionic eye-tracking bracket. The second drive component is installed on the corresponding C-shaped mounting bracket below the bionic eye-tracking bracket, driving the bionic eye-tracking bracket to rotate left and right around the Z-axis.

6. The seven-degree-of-freedom serial-parallel bionic eye structure according to claim 5, characterized in that: The first driving assembly includes a motor support frame mounted on the outside of the bionic eye-tracking bracket and a first rotary motor mounted on the motor support frame; the output shaft of the first rotary motor is coaxially arranged with the visual plate via a first connector; The second drive assembly includes a second rotary motor mounted on the C-shaped mounting bracket; the output shaft of the second rotary motor is coaxially arranged with the bionic eye-tracking bracket via a second connector.

7. A seven-degree-of-freedom serial-parallel bionic eye structure according to any one of claims 5-6, characterized in that, It also includes a control system; the control system includes: A camera is mounted on the vision panel to mimic the eyeballs of a living organism for real-time visual acquisition; An industrial control module, mounted on the base, is used to receive and process real-time data collected by the camera and output control commands. A RS232 to RS485 converter module is installed on the lower platform of the neck and is used to convert the RS232 signal output by the industrial control module into an RS485 signal. The 485 drive module, located on the lower platform of the neck, is used to activate the eye movement device and the neck parallel device for real-time bionic adjustment. Terminal blocks are used for connecting the wiring of each module; The emergency stop button is used to perform emergency stop operations on each module.

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