CN202257269U - Wide-angle type binocular vision recognition and positioning device for service robot - Google Patents
Wide-angle type binocular vision recognition and positioning device for service robot Download PDFInfo
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- CN202257269U CN202257269U CN2011203877568U CN201120387756U CN202257269U CN 202257269 U CN202257269 U CN 202257269U CN 2011203877568 U CN2011203877568 U CN 2011203877568U CN 201120387756 U CN201120387756 U CN 201120387756U CN 202257269 U CN202257269 U CN 202257269U
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Abstract
The utility model particularly relates to a wide-angle type binocular vision recognition and positioning device for a service robot, belongs to the machine vision and electromechanical integration field, and aims to provide a robot with a wide-angle type binocular vision recognition and positioning device. The device provided by the utility model comprises a mechanical structure and a control system, wherein, the mechanical structure comprises a framework component, as well as cameras and a servo component installed on the framework component; the control system comprises an MCU (Microprogrammed Control Unit) main controller, a power supply circuit, a head part horizontal/vertical servo driver and a left/right eye rotation servo driver; and the MCU main controller, the head part horizontal/vertical servo driver and the left/right eye rotation servo driver are in connection through a CAN (Controller Area Network) bus communication manner.
Description
Technical field
The utility model relates to machine vision and electromechanical integration field, particularly relates to a kind of service robot wide-angle formula binocular vision identification and locating device.
Background technology
Service type robot general reference is applied to daily production of people and various fields in life, and environment carries out perception to external world, can carry out alternately with the mankind, can judge, understand the order that people assign, and the robot equipment of assisting people to finish the work.Various complicated non-structure environment from the Traditional industrial structured environment to human daily life; From strictly carrying out particular task to through serving the people alternately, understand outfield from only certain production equipment or components and parts being detected through multi-modal perception interfaces such as vision, the sense of hearings with the people according to instruction.
China is populous nation, and along with the raising day by day of people ' s health level and the long-term enforcement of family planning policy, China steps into aging society just fast, and following paramedic is in great shortage, presses for service robot and gets into family, for people provide various services.Service robot is not only the important symbol of a national high-tech level of aggregation, and important role is being played the part of in following meeting in home services.
Machine vision is the main path that service robot obtains external environment information, also is one of research service robot gordian technique that need break through.Typical service-delivery machine human visual system use comprise the navigation of indoor machine people autonomous positioning, based on the extracting of the target object of visual information and identification, based on the recognition of face of visual information, based on the detection of obstacles of visual information and estimation, service robot visual servo etc.Machine vision has related to fields such as IMAQ, Flame Image Process, pattern-recognition, characteristic matching, three-dimensional reconstruction and vision track.Should accomplish that the accurate collection of image also will accomplish the real-time of reacting condition to external world, also need the object real-time tracking of motion to external world simultaneously.All these requirements have brought challenge all for the research and development of service type robot.
At present, service robot remains that angular field of view in binocular identification and location is little, dynamic real-time is poor, follow the tracks of problems such as continuity is low, influences its service ability under complex environment during operation.
The utility model content
Little to present service robot angular field of view, dynamic real-time is poor, follow the tracks of problems such as continuity is low, the purpose of the utility model provides a kind of robot device with the identification of wide-angle formula binocular vision and location.
Identification of the utility model service robot wide-angle formula binocular vision and locating device; Be mainly used in the wide region identification and location of target object in the environment to external world; Through this device; But the three-dimensional information of scene is measured on wide region ground, and utilizes the scene information recognition objective, identification path, disturbance in judgement thing etc. of three-dimensional measurement, auxiliary robot to realize functions such as the path planning of wide region, independent navigation.
Described binocular vision 3 D measurement is based on principle of parallax; Image coordinate through calculating about a certain spatial point respective point in two camera reviews is asked for parallax; Utilize camera calibration to obtain inside and outside calibrating parameters, thereby calculate the three-dimensional coordinate of this spatial point.
The technical scheme of the utility model mainly comprises physical construction and control system two parts content, and concrete scheme is following:
A kind of service robot wide-angle formula binocular vision identification and locating device; Have physical construction and control system; Said physical construction comprises frame assembly and is installed in video camera and the servopackage on the frame assembly; The said frame assembly comprises the video camera installing plate, be used for two side support plates of support cameras installing plate, be positioned at the head base of two side support plates belows and be positioned at the head horizontal servo motor mounting plate of head base below; Above-mentioned head base and side support plate are rotationally connected, and above-mentioned servopackage comprises that two eyes that are installed on the video camera installing plate rotate servomotor, are installed in the vertical servomotor of head on the head base and are installed in the head horizontal servo motor on the head horizontal servo motor mounting plate; Said control system comprises that MCU master controller, power circuit, head horizontal/vertical servo-driver and a left side/right eye rotates servo-driver, and above-mentioned MCU master controller rotates between the servo-driver with above-mentioned head horizontal/vertical servo-driver and a left side/right eye and is connected through CAN bus communication mode.
The video camera of said physical construction is rotatably connected on the video camera installing plate through camera base.
Be provided with the horizontal support plate that is used to reinforce between the side support plate of said frame assembly.
The vertical servomotor of said head is rotationally connected through supporting seat and head base, and above-mentioned head base and head horizontal servo motor mounting plate are rotationally connected through shaft coupling.
The beneficial effect of the utility model is that robot wide-angle formula binocular vision identification has head two-way (level is with vertical) and eye rotating function with locating device; Solved present service robot under complex environment during operation; Because the object appearing identification of the limited institute of binocular vision angular region is little with the location effective range, problems such as the tracking continuity is low, dynamic real-time difference, has effectively improved its service ability; The utility model control system adopts CAN bus communication mode that 4 servo-drivers and servomotor are realized real-time monitoring, and image recognition and timely for the following feedback of moving target improves the robot handling.
Description of drawings
Fig. 1 is the utility model physical construction part synoptic diagram.
Fig. 2 is the utility model control system theory diagram.
Label among the figure-M1 head horizontal servo motor ,-the vertical servomotor of M2 head ,-M3 left eye rotation servomotor ,-M4 right eye rotation servomotor ,-B1 head level code device ,-the vertical scrambler of B2 head ,-B3 left eye rotary encoder ,-B4 right eye rotary encoder
Embodiment
Below in conjunction with accompanying drawing technical scheme, the principle of work of the utility model are further explained:
See Fig. 1; The utility model physical construction has frame assembly and servopackage; Frame assembly comprises video camera installing plate 1, be used for two side support plates 3 of support cameras installing plate, be positioned at the head base 4 of two side support plates belows and be positioned at the head horizontal servo motor mounting plate 5 of head base below; Be provided with the horizontal support plate 10 that is used to reinforce between above-mentioned two side support plates 3; Above-mentioned head base 4 is rotationally connected through shaft coupling 7 with head horizontal servo motor mounting plate 5, is rotatably installed on the video camera installing plate 1 through camera base 2 as the video camera 12 of robotic view eye.
Above-mentioned servopackage comprises that two eyes that are installed on the video camera installing plate rotate servomotor 11, are installed in the vertical servomotor 9 of head on the head base and are installed in the head horizontal servo motor 6 on the head horizontal servo motor mounting plate, and the vertical servomotor 9 of said head is rotationally connected through supporting seat 8 and head base 4.
See Fig. 2; The utility model control system comprise MCU master controller-A1, power circuit-A2, head horizontal/vertical servo-driver-A3 ,-A4 and a left side/right eye rotate servo-driver-A5 ,-A6; Above-mentioned MCU master controller-A1 carries out motion control through the CAN bus to above-mentioned 4 servomotors, realizes identification and location to target object wide-angle formula.MCU master controller-A1 receives the visual angle control information from the service robot main frame; After the control information parsing, realize control as follows: drive corresponding servomotor-M1 through control robot head horizontal servo driver-A3 and realize the rotation of head horizontal direction; Drive corresponding servomotor-M2 through the vertical servo-driver-A4 of control robot head and realize the pitching of head vertical direction; Rotate servo-driver-A5 through the control robot left eye and drive horizontally rotating of corresponding servomotor-M3 realization left-eye camera; Rotate servo-driver-A6 through the control robot right eye and drive horizontally rotating of corresponding servomotor-M4 realization right-eye camera.Described 4 servomotors all are furnished with scrambler, are respectively scrambler-B1, scrambler-B2, scrambler-B3, scrambler-B4, constitute closed-loop control system through encoder feedback.Said power circuit module-A2 is used for the power supply control of whole device power supply.
The level of the utility model robot head is mainly used in remote identification search and the closer object location of service robot to target object with vertical two degree of freedom, and two degree of freedom of head can be done rotation on a large scale in the horizontal direction and vertical direction is done luffing on a large scale.The images of left and right eyes of robot eyes is rotated two degree of freedom and is mainly used in service robot is taken respective point to two cameras public domain scope observation adjustment.Can know by the 3 D visual measuring principle; In order to obtain the three-dimensional coordinate of certain point in the three dimensions; Must about can both photograph the respective point of this point on two video camera image planes; Horizontally rotating of two degree of freedom through eye realized the adjustment of two cameras to shooting respective point public domain range size and direction, thereby enlarged the close-in measurement scope of binocular vision.Through the motion of described head and four degree of freedom of eye, guaranteed identification and the location of service robot to target object wide-angle formula.
Obviously, the above-mentioned embodiment of the utility model only is to give an example for what explanation the utility model was done, and is not to be the qualification to the utility model embodiment.For the those of ordinary skill in affiliated field, on the basis of above-mentioned explanation, can also be easy to make other pro forma variation and perhaps substitute, and these change or alternative also will being included within the definite protection domain of the utility model.
Claims (4)
1. a service robot wide-angle formula binocular vision is discerned and locating device; Have physical construction and control system; It is characterized in that: said physical construction comprises frame assembly and is installed in video camera (12) and the servopackage on the frame assembly; Head base (4) that the said frame assembly comprises video camera installing plate (1), be used for two side support plates (3) of support cameras installing plate, be positioned at two side support plates belows and the head horizontal servo motor mounting plate (5) that is positioned at below the head base; Above-mentioned head base and side support plate are rotationally connected, and above-mentioned servopackage comprises that two eyes that are installed on the video camera installing plate rotate servomotor (11), are installed in the vertical servomotor of head (9) on the head base and are installed in the head horizontal servo motor (6) on the head horizontal servo motor mounting plate; Said control system comprises that MCU master controller, power circuit, head horizontal/vertical servo-driver and a left side/right eye rotates servo-driver, and above-mentioned MCU master controller rotates between the servo-driver with above-mentioned head horizontal/vertical servo-driver and a left side/right eye and is connected through CAN bus communication mode.
2. service robot wide-angle formula binocular vision identification as claimed in claim 1 and locating device, it is characterized in that: the video camera of said physical construction (12) is rotatably connected on the video camera installing plate (1) through camera base (2).
3. service robot wide-angle formula binocular vision identification as claimed in claim 1 and locating device is characterized in that: be provided with the horizontal support plate (10) that is used to reinforce between the side support plate (3) of said frame assembly.
4. service robot wide-angle formula binocular vision identification as claimed in claim 1 and locating device; It is characterized in that: the vertical servomotor of said head (9) is rotationally connected through supporting seat (8) and head base (4), and above-mentioned head base and head horizontal servo motor mounting plate (5) are rotationally connected through shaft coupling (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203877568U CN202257269U (en) | 2011-10-13 | 2011-10-13 | Wide-angle type binocular vision recognition and positioning device for service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203877568U CN202257269U (en) | 2011-10-13 | 2011-10-13 | Wide-angle type binocular vision recognition and positioning device for service robot |
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| Publication Number | Publication Date |
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| CN202257269U true CN202257269U (en) | 2012-05-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011203877568U Expired - Lifetime CN202257269U (en) | 2011-10-13 | 2011-10-13 | Wide-angle type binocular vision recognition and positioning device for service robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103048995A (en) * | 2011-10-13 | 2013-04-17 | 中国科学院合肥物质科学研究院 | Wide-angle binocular vision identifying and positioning device for service robot |
| CN105856255A (en) * | 2016-06-03 | 2016-08-17 | 杭州艾米机器人有限公司 | Service robot |
| CN106217409A (en) * | 2016-07-29 | 2016-12-14 | 上海新世纪机器人有限公司 | A kind of robot head |
| CN106840010A (en) * | 2015-12-03 | 2017-06-13 | 北京国网富达科技发展有限责任公司 | Binocular stereo vision measuring device |
| CN109202936A (en) * | 2018-11-01 | 2019-01-15 | 华南智能机器人创新研究院 | A kind of two-freedom service-delivery machine head part and service robot |
| CN113618752A (en) * | 2021-08-20 | 2021-11-09 | 天津大学 | Mobile guide dog robot and head rotating device thereof |
-
2011
- 2011-10-13 CN CN2011203877568U patent/CN202257269U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103048995A (en) * | 2011-10-13 | 2013-04-17 | 中国科学院合肥物质科学研究院 | Wide-angle binocular vision identifying and positioning device for service robot |
| CN106840010A (en) * | 2015-12-03 | 2017-06-13 | 北京国网富达科技发展有限责任公司 | Binocular stereo vision measuring device |
| CN105856255A (en) * | 2016-06-03 | 2016-08-17 | 杭州艾米机器人有限公司 | Service robot |
| CN106217409A (en) * | 2016-07-29 | 2016-12-14 | 上海新世纪机器人有限公司 | A kind of robot head |
| CN109202936A (en) * | 2018-11-01 | 2019-01-15 | 华南智能机器人创新研究院 | A kind of two-freedom service-delivery machine head part and service robot |
| CN113618752A (en) * | 2021-08-20 | 2021-11-09 | 天津大学 | Mobile guide dog robot and head rotating device thereof |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120530 |