CN1490594A - Multiple free degree artificial threedimensional binocular vision apparatus - Google Patents
Multiple free degree artificial threedimensional binocular vision apparatus Download PDFInfo
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Abstract
A binocular vision device consists of mechanical part including horizontal-rotary motor being placed above control box, horizontal holder connecting with the horizontal-rotary motor, tilt-rotary motor being fixed on the horizontal holder, camera connection frame connecting to the tilt-rotary motor, left and right vergence controlling motors being fixed on the camera connection frame base and being connected with left and right cameras as well as electrical control part being connected to the mechanical part of binocular vision device by control interface, video signal interface of the camera and speed gearbox. The device can be used in the fields of movable robot visual navigation, autonomous vehicle visual navigation and industrial processing.
Description
Technical field the invention belongs to precision measurement apparatus, particularly a kind of three-dimensional binocular vision device that is used for obtaining automatically three-dimensional environment information.
Background technology is present, all require relevant device or machine can realize obtaining automatically in fields such as the autonomous vehicle research of Mobile Robotics Navigation, intelligent transportation system, industrial processes to three-dimensional environment information, thereby control its motion control topworks, realize the processing of planning, self-navigation or the product of motion path.At present the mode that three-dimensional environment information is obtained have manually obtain, vision sensor mode and non-vision sensor mode.Obtain manually that the three-dimensional information mode mainly is meant with the naked eye Direct observation or by video camera telemonitoring picture, the tester draws the space three-dimensional information of object according to its knowledge and experience.Its shortcoming is: efficient is low, speed is slow and automaticity is low; Limited by working environment, dangerous or other special environment that can not carry out manual working as some; Examined Personnel Skill Levels and the restriction of multiple subjective factor, accuracy of detection can not be protected; The staff is tired easily in addition, can not carry out all weather operations.Non-vision sensor mode mainly contains sonar sensor, laser sensor etc.Its principle of work be by emission ultrasound wave or laser to space object, transmit and receive time interval of reflected signal by calculating, Measuring Object is to the distance between the signal emitting-source.Its limitation is to survey that field angle is excessive, directivity is poor, and it can only carry out the measurement of depth distance, and the whole three-dimensional information of space object can not be provided, and exists overlapping between a plurality of sensor and disturb, and also is very restricted in actual applications.Vision sensor is the form that approaches human vision most, system has the acquisition of signal wide ranges, advantages such as target information is complete, precision height, it is one of optimal mode of obtaining three-dimensional information, yet present visual sensor system mostly is the single camera sensor, can't recover the 3 D stereo information of environment, though some visual sensor system adopts two or more video cameras to recover environmental information, but degree of freedom, movement velocity, servo performance and the harmony of device but can not meet the demands, and differ far away with the mankind's vision system.
Summary of the invention technical matters to be solved by this invention is to overcome the deficiencies in the prior art, a kind of three-dimensional information that has artificial intelligent, high-precision servo control performance, can intactly recover environment is provided, is used for the Stereoscopic Binocular Vision Device of Humanoid Multiple Degrees of Freedom of the application such as vision guided navigation, industrial processes of mobile robot, autonomous vehicle.
Technical scheme of the present invention is: it comprises binocular vision mechanical part and electric control system, described binocular vision mechanical part comprises base, control box, horizontally rotate motor and reducer casing, horizontal stand, the pitching electric rotating machine, the video camera link, vergence is adjusted motor and video camera, described control box is fixed on the base, horizontally rotate motor and reducer casing and be positioned at the control box top, horizontal stand with horizontally rotate motor and reducer casing links to each other, the pitching electric rotating machine is fixed on the horizontal stand, the video camera link links to each other with the pitching electric rotating machine, about two vergence adjust motor and be fixed in video camera link base, about two positions for video camera in the video camera link and adjust motor with corresponding vergence and link to each other, electric control system is by the control interface of video camera, video signal interface and control box link to each other with the binocular vision mechanical part.
As a further improvement on the present invention, describedly horizontally rotate motor and reduction gearbox output shaft is provided with the precision plane bearing, described horizontal stand be located at precision plane bearing top and with horizontally rotate motor and reduction gearbox output shaft is affixed; The pitching electric rotating machine that is fixed on the horizontal stand is the double output shaft motor, its double output shaft stretches out from the horizontal stand both sides respectively, output shaft one end is direct and the video camera link is affixed, and the other end and Connection Block are affixed, and described Connection Block is fixed on the video camera link; Be fixed in video camera link base about two vergence adjust motors, be connected with camera mount on its output shaft respectively, about two video cameras be individually fixed on the camera mount.
The described motor, pitching electric rotating machine, vergence of horizontally rotating adjusted motor and is precision electric motor, and reducer casing is accurate planetary gear reduction box, and each motor is equipped with motor encoder.
Described control box comprises that horizontally rotating motor driver, pitching electric rotating machine driver, left and right vergence adjusts motor driver, and each driver is connected with corresponding motor, and links to each other with electric control system.
Described electric control system comprises: master control PC, image pick-up card, DSP motion control card, video camera control demoder, RS-232/485 change-over circuit, motion interface, video camera control interface and camera video signal interface, the master control PC links to each other with DSP motion control card, image pick-up card respectively, and the RS-232/485 change-over circuit that passes through formation RS-485 communication network links to each other with demoder with video camera control, the DSP motion control card links to each other with motor driver in the control box by motion interface, and each driver is connected with corresponding motor; Each motor encoder is by motion interface and DSP motion control card connection; Image pick-up card links to each other with the video signal interface of video camera, and video camera control links to each other with the video camera control interface with demoder.
Beneficial effect of the present invention is: binocular vision mechanical part of the present invention is based on bionic characteristics, horizontally rotate motor by setting, pitching electric rotating machine and vergence are adjusted motor, realize horizontally rotate (horizontal hunting of head) of video camera, pitching action (head pitching action), the video camera vergence is adjusted the real-time independent controlled motion of (convergence function of binocular) four degree of freedom directions, and realize that by computer control system each motion parts is quick, dynamic mutual the adjustment, realize the mechanical motion function of people's eyes and head, promptly had multivariant artificial intelligent.
The motor that the present invention adopts is the precision electric motor of band scrambler.Electric control system of the present invention is to gather stereo image information by the master control PC by the image pick-up card that links to each other with video camera, according to scene objects information and human visual system's characteristics, level, pitching rotation and the left and right cameras vergence of binocular vision mechanical part adjusted in control in real time.The master control PC is according to real-time needs, transmitting control commands is to the DSP motion control card, pass through motion interface, corresponding motor driver in the start-up control case, transmit control signal, the running of driving corresponding motor, motor encoder is sent to the master control PC with the motor movement stroke again in real time, the master control PC compares desired motion stroke and motor encoder feedback information in real time, adjust the Electric Machine Control instruction in real time, realized the closed-loop control of each degree of freedom, strong guarantee high-accuracy servo control performance of the present invention.
The present invention adopts two shooting machine simultaneously imagings to obtain the three-dimensional information of space object, its principle of work is: a certain spatial point about the projection of two camera plane must intersect at unique point in the space, promptly above-mentioned spatial point with the on line of corresponding video camera photocentre respectively.We are by obtaining the coordinate difference (parallax) of two video camera correspondence image plane corresponding point, both can recover the three dimensions of spatial point by the distance between two video cameras (base length) and camera calibration technology and represent.In actual process, utilize left and right cameras to object scene or target are taken pictures simultaneously, obtain two width of cloth pictures of same object different angles, realize the coupling of corresponding point in the image of the left and right sides by the master control PC, according to the coordinate difference (parallax) of corresponding diagram picture point in the respective image coordinate system, obtain the disparity map of space object, realize the space three-dimensional information playback of scene objects (space object that has lap two width of cloth images) then according to camera calibration technology (being tied to mapping techniques between the space coordinates from the camera review coordinate) and three-dimensional reconstruction technique, the three-dimensional information that obtains thus is the most complete.
The present invention provides a kind of effective way for applications such as the vision guided navigation of mobile robot, autonomous vehicle, industrial processes provide a kind of effective solution of obtaining three-dimensional environment information for improving its robotization and intelligent level.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention;
Fig. 2 is the structural representation cut-open view of embodiment of the invention binocular vision mechanical part;
Fig. 3 is the block diagram of electric control system of the present invention;
Fig. 4 is used for the synoptic diagram of robot visual guidance system for the present invention.
Each label is represented among the figure: 1, base, 2, control box, 3, the precision plane bearing, 4, horizontal stand, 5, the video camera link, 6, video camera, 7, camera mount, 8, horizontally rotate motor and reducer casing, 9, the pitching electric rotating machine, 10, vergence adjusts motor, 11, Connection Block, 21 horizontally rotate motor driver, and 22, pitching electric rotating machine driver, 23,24 vergence are adjusted motor driver.
Embodiment as shown in Figure 1, Stereoscopic Binocular Vision Device of Humanoid Multiple Degrees of Freedom of the present invention comprises binocular vision mechanical part and electric control system.As Fig. 1, shown in 2, its binocular vision mechanical part comprises base 1, control box 2, precision plane bearing 3, horizontal stand 4, video camera link 5, about two video cameras 6, camera mount 7, horizontally rotate motor and speed reduction unit 8, pitching electric rotating machine 9, vergence is adjusted motor 10 and Connection Block 11, control box 2 is fixed on the base 1, horizontally rotate motor and reducer casing 8 and be fixed in control box 2 tops, its output shaft is provided with precision plane bearing 3, horizontal stand 4 is located at precision plane bearing 3 tops and affixed with the output shaft that horizontally rotates motor and speed reduction unit 8, this motor rotation drives horizontal stand 4 and horizontally rotates, pitching electric rotating machine 9 is fixed on the horizontal stand 4, horizontally rotates with horizontal stand 4; Pitching electric rotating machine 9 is a double output shaft, and its double output shaft stretches out from horizontal stand 4 both sides respectively, and output shaft one end is direct and video camera link 5 is affixed, and the other end and Connection Block 11 are affixed, and Connection Block 11 is fixed on the video camera link 5; When making video camera link 5 and pitching electric rotating machine 9 together do to horizontally rotate, by the running realization luffing up and down of pitching electric rotating machine 9.Left and right two vergence are adjusted motor 10 and are fixed on the base of video camera link 5, are connected with 7, two video cameras 6 of left and right camera mount on the output shaft of these two motors respectively and are individually fixed on the camera mount 7; Vergence is adjusted motor 10 and is rotated, drive respectively left and right cameras support 7 and about two video cameras 6 rotations.Two video cameras 6 can be jointly with horizontal stand 4 horizontally rotate (horizontal hunting of head), when doing pitching rotation (head pitching action) up and down with video camera link 5, can be similar to the inward turning and the outward turning running (convergence function of binocular) of binocular respectively, realize that the vergence of left and right cameras 6 is adjusted function.The base length L of two video cameras is 110～550mm, to adapt to the degree of accuracy requirement of structure of the present invention and three-dimensional information reduction.
Motor, pitching electric rotating machine 9, the vergence that horizontally rotates motor and reducer casing 8 of the present invention adjusted motor 10, be precision electric motor, reducer casing is accurate planetary gear reduction box, and each motor is equipped with scrambler, and each scrambler detects each corresponding motor actual motion stroke in real time.
As shown in Figure 3, comprise in the control box 2 and horizontally rotate motor driver 21, pitching electric rotating machine driver 22, left and right vergence adjustment motor driver 23,24, each driver and corresponding motor are joined, and link to each other with the DSP motion control card by motion interface.
As shown in Figure 3, electric control system of the present invention comprises: the master control PC, image pick-up card, the DSP motion control card, video camera control demoder, the RS-232/485 change-over circuit, motion interface, video camera control interface and camera video signal interface, the master control PC respectively with the DSP motion control card, image pick-up card links to each other, and the RS-232/485 change-over circuit that passes through formation RS-485 communication network links to each other with demoder with video camera control, the DSP motion control card is by each motor driver 21 in motion interface and the control box 2,22,23,24 link to each other, each motor driver and corresponding motor 8,9,10 connect, each motor encoder is realized the close loop control circuit of each degree of freedom by motion interface and DSP motion control card connection; Guaranteed high-accuracy servo control performance of the present invention.Image pick-up card links to each other with the camera video signal interface, and video camera control links to each other with the video camera control interface with demoder.
The course of work of the present invention is: left and right video camera 6 is gathered the scene objects image in real time, it is right to obtain the stereo-picture of Same Scene target under different visual angles, the master control PC is gathered stereo image information in real time by image pick-up card, according to scene objects information, human visual system's characteristics and actual needs, adjust in real time the binocular vision mechanical part pitching, horizontally rotate and the left and right cameras vergence.Four degree of freedom are controlled the close-loop control scheme that all adopts based on DSP motion control card+high-accuracy scrambler, and four degree of freedom directions motions adopt four motor drivers to carry out independent control respectively.
The master control PC is according to real-time needs, transmitting control commands is to the DSP motion control card, pass through motion interface, corresponding motor driver in the start-up control case, send the motor movement control signal, the running of driving corresponding motor, each motor encoder is sent to master control PC with the motor movement stroke by motion interface in real time, the master control PC compares desired motion stroke and corresponding motor encoder feedback signal in real time, adjust the Electric Machine Control instruction in real time, realize the closed-loop control of each degree of freedom, strong guarantee the high-accuracy servo control performance of this device.
When the scene image changes or scene objects when motion, the master control PC is not only controlled the motion of four degree of freedom directions, also can carry out regulating and controlling with demoder to focusing, focal length and the aperture parameters of left and right cameras 6 by RS-232/485 change-over circuit, left and right cameras control according to actual needs.As when bigger variation takes place in scene image light intensity, adjust the aperture of video camera 6, make collection back image have good brightness; When bigger variation takes place scene, adjust focusing and focal length, thereby obtain comparatively picture rich in detail.Specifically control procedure as shown in Figure 3: master control PC serial ports links to each other with the RS-232/485 change-over circuit, constitutes RS-485 Control on Communication network; The real-time Communication for Power of realization of RS-485 Control on Communication network and master control PC is passed through in video camera control with demoder, the master control PC sends the camera parameters steering order as required to demoder, after taking orders, demoder controls aperture, focusing, the focal length of video camera 6 respectively, until meeting the demands by arithmetic processing circuit wherein.
Computing machine obtain stereo-picture to after, adopt the stereo-picture matching technique to obtain the parallax graph of a relation of scene objects in stereo image pair, then according to known base length and camera calibration mark technology, obtain the three-dimensional information of scene objects.
As shown in Figure 4, the present invention is applied in the mobile robot visual navigational system, the present invention is arranged at the mobile robot top, and join with the mobile robot control platform, Stereoscopic Binocular Vision Device of Humanoid Multiple Degrees of Freedom perception robot three-dimensional scene images information of the present invention is also carried out Flame Image Process, obtains the three-dimensional information of environment, generates corresponding control information, send Mobile Robotics Navigation control platform and FEEDBACK CONTROL device of the present invention respectively to, realize the Navigation Control of robot system.
Claims (6)
1, a kind of Stereoscopic Binocular Vision Device of Humanoid Multiple Degrees of Freedom, comprise binocular vision mechanical part and electric control system, it is characterized in that described binocular vision mechanical part comprises base (1), control box (2), horizontally rotate motor and reducer casing (8), horizontal stand (4), pitching electric rotating machine (9), video camera link (5), vergence is adjusted motor (10) and video camera (6), described control box (2) is fixed on the base (1), horizontally rotate motor and reducer casing (8) and be positioned at control box (2) top, horizontal stand (4) with horizontally rotate motor and reducer casing (8) and link to each other, pitching electric rotating machine (9) is fixed on the horizontal stand (4), video camera link (5) links to each other with pitching electric rotating machine (9), about two vergence adjust motors (10) and be fixed in video camera link (5) base, about two video cameras (6) be arranged in video camera link (5) and adjust motor (10) and link to each other with corresponding vergence, electric control system passes through the control interface of video camera (6), video signal interface and control box (2) link to each other with the binocular vision mechanical part.
2, Stereoscopic Binocular Vision Device of Humanoid Multiple Degrees of Freedom according to claim 1, it is characterized in that describedly horizontally rotating motor and reducer casing (8) output shaft is provided with precision plane bearing (3), described horizontal stand (4) is located at precision plane bearing (3) top and with to horizontally rotate motor and reducer casing (8) output shaft affixed; The pitching electric rotating machine (9) that is fixed on the horizontal stand (4) is the double output shaft motor, its double output shaft stretches out from horizontal stand (4) both sides respectively, output shaft one end is direct and video camera link (5) is affixed, the other end and Connection Block (11) are affixed, and described Connection Block (11) is fixed on the video camera link (5); Be fixed in video camera link (5) base about two vergence adjust motors (10), be connected with camera mount (7) on its output shaft respectively, about two video cameras (6) be individually fixed on the camera mount (7).
3, Stereoscopic Binocular Vision Device of Humanoid Multiple Degrees of Freedom according to claim 1 and 2, it is characterized in that described motor, pitching electric rotating machine (9), the vergence adjustment motor (10) that horizontally rotates motor and reducer casing (8) is precision electric motor, reducer casing is accurate planetary gear reduction box, and each motor is equipped with motor encoder.
4, Stereoscopic Binocular Vision Device of Humanoid Multiple Degrees of Freedom according to claim 3, it is characterized in that comprising in the described control box (2) that horizontally rotating motor driver (21), pitching electric rotating machine driver (22), left and right vergence adjusts motor driver (23), (24), each driver is connected with corresponding motor, and links to each other with electric control system.
5, Stereoscopic Binocular Vision Device of Humanoid Multiple Degrees of Freedom according to claim 4, it is characterized in that described electric control system comprises: the master control PC, image pick-up card, the DSP motion control card, video camera control demoder, the RS-232/485 change-over circuit, motion interface, video camera control interface and camera video signal interface, the master control PC respectively with the DSP motion control card, image pick-up card links to each other, and the RS-232/485 change-over circuit that passes through formation RS-485 communication network links to each other with demoder with video camera control, the DSP motion control card is by horizontally rotating motor driver (21) in motion interface and the control box (2), pitching electric rotating machine driver (22), a left side, right vergence is adjusted motor driver (23), (24) link to each other, each driver is connected with corresponding motor; Each motor encoder is by motion interface and DSP motion control card connection; Image pick-up card links to each other with the camera video signal interface, and video camera control links to each other with the video camera control interface with demoder.
6, Stereoscopic Binocular Vision Device of Humanoid Multiple Degrees of Freedom according to claim 3, the base length L that it is characterized in that described two video cameras (6) is 110～550mm.
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| CN 03124756 CN1207534C (en) | 2003-08-22 | 2003-08-22 | Multiple free degree artificial threedimensional binocular vision apparatus |
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| CN 03124756 CN1207534C (en) | 2003-08-22 | 2003-08-22 | Multiple free degree artificial threedimensional binocular vision apparatus |
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