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CN113478504B - Binocular bionic converging camera and bionic robot - Google Patents

Binocular bionic converging camera and bionic robot Download PDF

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Publication number
CN113478504B
CN113478504B CN202110879341.0A CN202110879341A CN113478504B CN 113478504 B CN113478504 B CN 113478504B CN 202110879341 A CN202110879341 A CN 202110879341A CN 113478504 B CN113478504 B CN 113478504B
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China
Prior art keywords
wheel
swing arm
driving
bionic
camera
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CN202110879341.0A
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CN113478504A (en
Inventor
陈彦
何鑫
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Beijing Bluestar Technologies Co Ltd
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Beijing Bluestar Technologies Co Ltd
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Priority to CN202110879341.0A priority Critical patent/CN113478504B/en
Publication of CN113478504A publication Critical patent/CN113478504A/en
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Publication of CN113478504B publication Critical patent/CN113478504B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Eye Examination Apparatus (AREA)

Abstract

The embodiment of the application provides a binocular bionic converging camera and a bionic robot, which comprise a mounting frame, an eyeball bionic rotating mechanism, a swinging arm frame, a first driving mechanism and a second driving mechanism; the eyeball bionic rotating mechanism comprises an eyeball simulating camera module and a first swing arm wheel, wherein the eyeball simulating camera module is arranged in the eyeball simulating camera module, and the first swing arm wheel is arranged on one side of the eyeball simulating camera module, which is far away from the eyeball universal shaft sleeve; the swinging end of the swinging arm support is rotationally connected to one side of the mounting frame, which is far away from the eye-wheel-shaped universal shaft sleeve, and a second swinging arm wheel is arranged on one side of the swinging arm support, which is far away from the swinging end; the first driving mechanism is connected with the first swing arm wheel to drive the eyeball simulation camera module to rotate left and right relative to the eyewheel-shaped universal shaft sleeve; the second driving mechanism is connected with the second swing arm wheel to drive the swing arm support and the first driving mechanism to swing up and down around the rotation axis between the swing end and the mounting frame, so as to drive the two-eyeball simulation camera module to synchronously rotate up and down relative to the two-eye wheel-shaped universal shaft sleeve.

Description

Binocular bionic converging camera and bionic robot
Technical Field
The application relates to the technical field of bionic robots, in particular to a binocular bionic converging camera and a bionic robot.
Background
With the development of technology, intelligent behavior analysis by using an intelligent analysis system is gradually widely used. However, the existing intelligent analysis system adopts binocular parallel cameras, because the sight line axes of the binocular parallel cameras are always fixed and parallel to each other, the binocular parallel cameras can calculate the distance of a specific target, so that 3D modeling and behavior analysis of a scene are realized, but the target cannot be tracked, and when the target is positioned outside the center of a target surface, the deformation of an image can be increased; the two cameras have a certain distance, so that the two images are different in size; this results in the background having to use more computational resources to correct the two images before the image can be compared. That is to say, the existing ranging algorithm of the binocular parallel camera has the problems of large occupied computational power resource, long operation time and the like.
Disclosure of Invention
The embodiment of the application aims to at least solve the problems of large calculation force resources and long calculation time of a ranging algorithm of a binocular parallel camera in the prior art caused by the fact that sight axes of the binocular parallel camera are always fixed and parallel to each other. In order to achieve the above purpose, the present application provides the following technical solutions:
An embodiment of a first aspect of the present application proposes a binocular bionic convergence camera, comprising:
A mounting frame;
The two eyeball bionic rotating mechanisms are arranged on two sides of the mounting frame and comprise an eye-wheel-shaped universal shaft sleeve fixed on the mounting frame, an eyeball simulation camera module arranged in the eye-wheel-shaped universal shaft sleeve and a first swing arm wheel arranged on one side of the eyeball simulation camera module, which is far away from the eye-wheel-shaped universal shaft sleeve; the eye wheel-shaped universal shaft sleeve is a hollow hemisphere, a first through hole in the shape of an eye wheel is formed in the middle of the hollow hemisphere, and the eyeball simulation camera module performs shooting work through the first through hole;
the swinging end of the swinging arm frame is rotationally connected to the middle position of one side, far away from the eye-wheel-shaped universal shaft sleeve, of the mounting frame, and a second swinging arm wheel is arranged on one side, far away from the swinging end, of the swinging arm frame;
The first driving mechanisms are arranged on two sides of the swing arm frame, each first driving mechanism is connected with the first swing arm wheel on the corresponding side and is configured to drive the eyeball simulation camera module to rotate left and right relative to the eye-wheel-shaped universal shaft sleeve through the first swing arm wheel;
the second driving mechanism is fixed on the mounting frame and connected with the second swing arm wheel, and the second driving mechanism is configured to drive the swing arm frame to swing up and down along with the two first driving mechanisms arranged on the swing arm frame around a rotating shaft line between the swinging end and the mounting frame through the second swing arm wheel so as to drive the two eyeball simulation camera modules to synchronously rotate up and down relative to the two eyewheel-shaped universal shaft sleeves.
According to the binocular bionic converging camera provided by the embodiment of the application, the first swing arm wheel is arranged on the eyeball simulation camera module, the first driving mechanism is connected with the first swing arm wheel to drive the corresponding eyeball simulation camera module to rotate left and right, and the left and right rotation of the two eyeball simulation camera modules is respectively controlled by the two first driving mechanisms, so that the independent control of the two eyeball simulation camera modules is realized. The two first driving mechanisms respectively control the rotation of the eyeball simulation camera modules, so that the two eyeball simulation camera modules can automatically converge the binocular angle optical axis of a specific target in a video image, the distance between a convergence point and the eyeball simulation camera module can be more accurately calculated through a formula according to the convergence angle of the two eyeball simulation camera modules and the distance between the centers of the eyeball simulation camera modules, and the distance parameter can provide more accurate parameters for 3D video modeling and intelligent behavior analysis, thereby greatly improving the operation speed of the intelligent behavior analysis of the binocular simulation convergence camera and reducing the calculation force resources occupied by the ranging algorithm of the binocular simulation convergence camera; in addition, after the visual angle optical axes of the eyeball simulation camera module are converged each time, the convergence target is located in the central area of the camera target surface, and the image deformation in the area is minimum, so that the two images can be compared and analyzed without carrying out too much image correction, and the occupation of background computing power resources can be saved; in addition, because the left eyeball simulation camera module and the right eyeball simulation camera module are provided with the independent driving mechanisms, the two eyeball simulation camera modules can be respectively rotated to the maximum angle outwards, two video images are fused into an image with wider visual angle through the background video stitching and edge fusion technology, a larger visual range is realized, the image mode is suitable for the eyeball simulation camera to be in an on-duty working state, after the target enters the visual range of the image, the target is transferred into a binocular convergence working mode, the visual angle axes of the two eyeball simulation camera modules are always converged on the target along with the moving direction of the target, and intelligent analysis is carried out on the behavior of the target. In summary, the binocular bionic convergence camera provided by the embodiment of the application effectively solves the problems of the binocular parallel camera in the prior art, and has the advantages of high operation speed, less occupation of background computing power resources, large visual angle range and the like.
In addition, according to one of the embodiments of the present application, the following additional technical features may be provided:
in some embodiments of the present application, the eyeball-simulated camera module includes:
The center of one side of the spherical shell is provided with a second through hole, and the first swing arm wheel is arranged on one side of the spherical shell, which is away from the second through hole;
a transparent cover arranged outside the second through hole;
the iris imitation decorative piece is arranged on the inner side of the second through hole;
The miniature camera lens module is arranged in the spherical shell and is used for shooting through the center of the iris-imitating decorative sheet, the transparent cover and the first through hole.
In some embodiments of the application, the diameter of the transparent cover is equal to the diameter of the cornea of the human eye; the front surface of the iris-imitating decorative sheet is printed with an iris pattern, and a fourth through hole is formed in the middle of the iris-imitating decorative sheet; the miniature camera lens module comprises a round circuit board arranged in the spherical shell, a lens mounting seat arranged on the round circuit board and a miniature lens arranged on the lens mounting seat; the miniature lens passes through the fourth through hole and abuts against the hole edge of one side of the iris-pattern-printed imitation decorative piece.
In some embodiments of the present application, the free end of the first swing arm wheel is provided with a first arc gear surface, the free end of the second swing arm wheel is provided with a second arc gear surface, and the first driving mechanism and the second driving mechanism both adopt gear-motor assemblies;
Or the free ends of the first swing arm wheel and the second swing arm wheel are respectively set to be a first cambered surface and a second cambered surface, and the first driving mechanism and the second driving mechanism both adopt friction wheel-motor assemblies or belt pulley-motor assemblies.
In some embodiments of the present application, the first arc gear surface, the second arc gear surface, or the centers of the first arc gear surface and the second arc gear surface are all located on the rotation axis between the swinging end and the mounting frame; the rotation axis between the swinging end and the mounting frame coincides with the center of the eye-wheel-shaped universal shaft sleeve.
In some embodiments of the present application, two ends of one side of the swing arm support, which is close to the swing end, are respectively provided with an arc chute, the arc chute is adapted to the motion track of the first swing arm wheel, and the first swing arm wheel of the eyeball simulation camera module extends into the corresponding arc chute and is connected with the first driving mechanism.
In some embodiments of the application, the first swing arm wheel is arranged at one side of the eyeball simulation camera module, which is far away from the eyewheel-shaped universal shaft sleeve, and is biased towards the center of the mounting frame.
In some embodiments of the present application, the diameter of the inner side surface of the hollow hemisphere is greater than or equal to the sphere diameter of the eyeball-simulated camera module, a first mounting arm and a second mounting arm are arranged on the tangential direction of the side walls of two sides of the hollow hemisphere, the first mounting arm and the second mounting arm are used for connecting with the mounting frame, and a first hanging lug and a second hanging lug which are matched with the first mounting arm and the second mounting arm are arranged on the mounting frame.
In some embodiments of the application, the binocular bionic convergence camera further comprises a gravity balancing mechanism comprising:
the balancing weights are distributed below the swing arm frame, and the weight of the balancing weights is matched with the weight of the swing arm frame and the weight of the two first driving mechanisms arranged on the swing arm frame;
The first transmission assembly and the second transmission assembly are distributed in parallel at intervals and have the same structure, each of the first transmission assembly and the second transmission assembly comprises a transmission wheel which is provided with a partial circle and is arranged on one side of the swing arm frame far away from the swing end, a plurality of guide wheels are arranged on the mounting frame, and a transmission piece is sleeved outside the swing arm frame; the transmission part is sleeved on the transmission wheel, and two ends of the transmission part respectively bypass the guide wheels at the corresponding sides and are vertically connected with the balancing weights; the second swing arm wheel is arranged at the outer edge of the driving wheel of the first transmission assembly or the second transmission assembly.
In some embodiments of the present application, a positioning hole is formed in the balancing weight and along the movement direction of the balancing weight, and a positioning column is arranged on the mounting frame and is movably inserted into the positioning hole.
In some embodiments of the application, the first and second drive assemblies are each a pulley drive assembly or a sprocket drive assembly.
In some embodiments of the present application, a first angle detection device is disposed between each of the first swing arm wheels and the swing arm frame, and the first angle sensor is configured to detect an angle of left-right rotation of the eyeball artificial camera module; and a second angle detection device is arranged between the driving wheel of the second transmission assembly and the mounting frame and is configured to detect the angle of the up-down synchronous rotation of the two eyeball simulation camera modules.
In some embodiments of the present application, the first angle detecting device and the second angle detecting device each use a contact angle sensor, where the contact angle sensor includes an angle sensor substrate disposed on a side surface of the first swing arm wheel or the driving wheel, and an electric brush module mounted on the swing arm frame or the mounting frame; the electric brush module is always in contact with the angle sensor substrate to form electric connection, and the electric brush module is configured to sense the rotation angle of the eyeball simulation camera module by detecting the dynamic resistance value of the angle sensor substrate.
In some embodiments of the present application, the angle sensor substrate includes a circuit board disposed on a side of the first swing arm wheel or the driving wheel, an arc-shaped resistive slider and an arc-shaped copper foil slider concentrically disposed on the circuit board at intervals, and an electrical connection point disposed between ends of the arc-shaped resistive slider and the arc-shaped copper foil slider;
the electric brush module comprises an insulating seat, an insulating gasket, a first electric brush piece, an insulating gasket and a second electric brush piece which are sequentially stacked on the insulating seat from far to near, and a fastener for fixing the electric brush module on the swing arm support or the mounting frame; the insulating seat is arranged on the swing arm support or the mounting frame, the insulating seat is provided with an insulating cylinder, through holes are formed in the first electric brush sheet, the second electric brush sheet and the insulating gasket, and the insulating cylinder is arranged in the through holes in the insulating gasket, the first electric brush sheet, the insulating gasket and the second electric brush sheet in a penetrating mode; the fastener passes through the insulating cylinder and is fixedly connected to the swing arm support or the mounting frame; the first electric brush sheet and the second electric brush sheet are made of elastic copper sheets and are L-shaped, the top end of the short side of the L-shape is provided with a contact, and the top end of the long side of the L-shape is provided with a lead welding point; the contact of the first electric brush piece is always in contact with the arc-shaped resistance sliding strip, and the contact of the second electric brush piece is always in contact with the arc-shaped copper foil sliding strip.
In some embodiments of the application, the binocular bionic convergence camera further comprises an eyelid bionic driving mechanism comprising:
The eyelid driving shell is of a partial hollow sphere shape and is rotationally sleeved outside the eye-wheel-shaped universal shaft sleeve;
The third driving mechanism is arranged on the mounting frame, is connected with the eyelid driving shell and is configured to drive the eyelid driving shell to rotate up and down relative to the eye-wheel-shaped universal shaft sleeve.
In some embodiments of the application, the third drive mechanism comprises a transmission mechanism that is a planar linkage mechanism and a power mechanism; the transmission mechanism comprises a first linkage rod, a second linkage rod and a third driving arm which are positioned on the same plane, one end of the first linkage rod is fixedly connected with the eyelid driving shell, the other end of the first linkage rod is rotationally connected with one end of the second linkage rod, the other end of the second linkage rod is rotationally connected with one end of the third driving arm, and the other end of the third driving arm is connected with the power mechanism; the power mechanism is arranged on the mounting frame and is configured to drive the third driving arm to swing up and down.
In some embodiments of the application, the power mechanism comprises a steering engine fixing frame fixedly mounted on the mounting frame, and a steering engine fixedly mounted on the steering engine fixing frame; the steering engine is provided with a steering engine shaft, a screw hole is formed in the steering engine shaft, and a first tooth trace is formed in the outer side of the steering engine shaft; the other end of the third driving arm is provided with a second shaft hole, the other end of the third driving arm is also provided with a step hole coaxial with the second shaft hole, and the inner side wall of the step hole is provided with a second tooth pattern which is matched with the first tooth pattern; the screw passes through the second shaft hole and is connected to the screw hole.
In some embodiments of the application, one end of the first linkage rod is fixedly connected to a central position of the eyelid driving housing near an edge of the first swing arm wheel, and the first linkage rod and the third driving arm are parallel to each other.
In some embodiments of the present application, two third shaft holes are disposed on two sides of the eyelid driving shell, two rotation shafts are disposed on two sides of the hollow hemisphere and along an axis extension line of the hollow hemisphere, and the two third shaft holes on the eyelid driving shell are correspondingly disposed on the two rotation shafts of the hollow hemisphere in a penetrating manner.
In some embodiments of the present application, a stabilizing plate is disposed at a middle position of a side of the mounting frame away from the swing arm frame, and the steering engine fixing frame is fixed at a middle position of the stabilizing plate.
In some embodiments of the application, the eyelid-driving housing is a malleable material.
An embodiment of a second aspect of the present application proposes a bionic robot comprising a binocular bionic converging camera according to any of the embodiments described above.
According to the bionic robot disclosed by the embodiment of the application, the binocular bionic converging camera takes the first swing arm wheel on the eyeball simulation camera module as a control point for controlling the eyeball simulation camera module, so that the eyeball simulation camera module can better adapt to the space depth of an eye socket of the bionic robot; that is, the binocular bionic convergence camera in the above embodiment can be applied to a bionic robot, and the range of view angle movement of the bionic robot is larger.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the application, and other embodiments may be obtained according to these drawings to those skilled in the art.
FIG. 1 is an exploded view of a binocular bionic convergence camera according to an embodiment of the present application;
FIG. 2 is a front axial side view of a binocular bionic convergence camera according to an embodiment of the application;
FIG. 3 is a front axial side view of a binocular bionic convergence camera of an embodiment of the application with a mounting hidden;
FIG. 4 is a rear isometric view of a binocular bionic convergence camera according to an embodiment of the application;
FIG. 5 is a rear isometric view of a binocular bionic convergent camera of an embodiment of the present application with a mounting hidden;
fig. 6 is a schematic diagram of a connection structure between an eyeball simulation camera module and a first swing arm wheel of the binocular bionic convergence camera according to the embodiment of the application;
FIG. 7 is a general exploded view of an eyeball-simulated camera module of a binocular bionic convergence camera of an embodiment of the present application;
FIG. 8 is a top view cross-section of an eyeball-simulated camera module of a binocular bionic convergence camera of an embodiment of the present application;
FIG. 9 is a front axial side view of a first hemispherical shell of an eyeball-simulated camera module of an embodiment of the present application;
FIG. 10 is a rear isometric view of a first hemispherical shell of an eyeball-simulated camera module of an embodiment of the present application;
FIG. 11 is a front axial side view of a second hemispherical shell of an eyeball-simulated camera module according to an embodiment of the present application;
FIG. 12 is a rear isometric view of a second hemispherical shell of an eyeball simulated camera module according to an embodiment of the present application;
FIG. 13 is an isometric view of an iris simulating decorative piece of an eyeball simulating camera module according to an embodiment of the application;
FIG. 14 is a right rear isometric view of a mount for a binocular bionic convergence camera of an embodiment of the application;
FIG. 15 is a front isometric view of a mount for a binocular bionic convergence camera in accordance with an embodiment of the present application;
FIG. 16 is a left rear isometric view of a mount for a binocular bionic convergence camera of an embodiment of the application;
FIG. 17 is a rear isometric view of an eye-wheel universal sleeve of a binocular bionic convergence camera of an embodiment of the present application;
FIG. 18 is a front isometric view of an eye-wheel universal sleeve of a binocular bionic convergence camera of an embodiment of the present application;
FIG. 19 is a front isometric view of a swing arm frame of a binocular bionic convergence camera of an embodiment of the application;
FIG. 20 is a schematic diagram of a structure of a substrate of an angle sensor of a binocular bionic convergence camera mated with a brush module according to an embodiment of the present application;
FIG. 21 is an isometric view of an angle sensor substrate of a binocular bionic convergence camera of an embodiment of the application;
FIG. 22 is an exploded view of a brush module of a binocular bionic convergence camera according to an embodiment of the present application;
FIG. 23 is a front isometric view of a brush module of a binocular bionic convergence camera of an embodiment of the application;
FIG. 24 is a general exploded view of an eyelid bionic driving mechanism for a binocular bionic convergence camera in accordance with an embodiment of the present application;
FIG. 25 is a front axial side view of an eyelid bionic driving mechanism for a binocular bionic convergence camera according to an embodiment of the application;
FIG. 26 is a rear isometric view of an eyelid bionic driving mechanism for a binocular bionic convergence camera in accordance with an embodiment of the present application;
FIG. 27 is a rear isometric view of an eyelid-driving housing in an eyelid-bionic driving mechanism of a binocular bionic convergence camera in accordance with an embodiment of the present application;
FIG. 28 is an isometric view of a steering engine in an eyelid bionic driving mechanism of a binocular bionic convergence camera in accordance with an embodiment of the present application;
FIG. 29 is an isometric view of a third drive arm in an eyelid bionic driving mechanism for a binocular bionic convergence camera in accordance with an embodiment of the present application;
FIG. 30 is an isometric view of a stabilizing plate of a binocular bionic convergence camera of an embodiment of the application;
FIG. 31 is a schematic view of a binocular bionic convergence camera of an embodiment of the application with the view axes converging to the far left;
FIG. 32 is a schematic view of a binocular bionic convergence camera of an embodiment of the application with the view angle axes converging to the far right;
FIG. 33 is a schematic view of a binocular bionic convergence camera of an embodiment of the application with view angle axes converging at the innermost side;
Fig. 34 is a schematic view of a view axis convergence range of a binocular bionic convergence camera according to an embodiment of the application.
Detailed Description
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the application, and other embodiments may be obtained according to these drawings to those skilled in the art.
For ease of description, spatially relative terms, such as "inner," "outer," "lower," "below," "upper," "above," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by the person skilled in the art based on the present application are included in the scope of protection of the present application.
As shown in fig. 1-5, an embodiment of a first aspect of the present application proposes a binocular bionic convergence camera 100, which includes a mounting frame 110, an eyeball bionic rotation mechanism 120, a swing arm frame 130, a first driving mechanism 140 and a second driving mechanism 150; the two eyeball bionic rotating mechanisms 120 are arranged on two sides of the mounting frame 110, the eyeball bionic rotating mechanisms 120 comprise an eyeball universal shaft sleeve 121, an eyeball simulation camera module 122 and a first swing arm wheel 123, the eyeball universal shaft sleeve 121 is fixed on the mounting frame 110, the eyeball universal shaft sleeve 121 is a hollow hemisphere, and a first through hole 1211 in the shape of an eye wheel is formed in the middle of the hollow hemisphere; the eyeball-simulated camera module 122 is arranged in a hollow hemisphere and performs shooting work through a first through hole 1211 in the shape of an eye wheel; the first swing arm wheel 123 is arranged at one side of the eyeball simulation camera module 122, which is far away from the eyewheel-shaped universal shaft sleeve 121; the swing end 131 of the swing arm frame 130 is rotatably connected to the middle position of one side, far away from the eye-wheel-shaped universal shaft sleeve 121, of the mounting frame 110, and a second swing arm wheel 132 is arranged on one side, far away from the swing end 131, of the swing arm frame 130; the two first driving mechanisms 140 are arranged at two sides of the swing arm frame 130, and each first driving mechanism 140 is connected with the corresponding first swing arm wheel 123 and is configured to drive the eyeball simulation camera module 122 to rotate left and right relative to the eye-wheel-shaped universal shaft sleeve 121 through the first swing arm wheel 123; the second driving mechanism 150 is fixed on the mounting frame 110, and the second driving mechanism 150 is connected to the second swing arm wheel 132 and configured to drive the swing arm frame 130 and the two first driving mechanisms 140 disposed on the swing arm frame 130 to swing up and down around a rotation axis between the swing end 131 and the mounting frame 110 through the second swing arm wheel 132, so as to drive the two eyeball simulation camera modules 122 to rotate up and down synchronously relative to the two eyewheel universal shaft sleeves 121.
According to the binocular bionic convergence camera 100 of the embodiment of the application, on one hand, the first swing arm wheel 123 is arranged on the eyeball simulation camera module 122, the first driving mechanism 140 is connected with the first swing arm wheel 123 to drive the corresponding eyeball simulation camera module 122 to rotate left and right, and the left and right rotation of the two eyeball simulation camera modules 122 is respectively controlled by the two first driving mechanisms 140, so that the independent control of the two eyeball simulation camera modules 122 is realized. The two first driving mechanisms 140 respectively control the rotation of the eyeball simulation camera modules 122, so that the two eyeball simulation camera modules 122 can automatically converge the binocular angle optical axis of a specific target in a video image, the distance between the convergence point and the eyeball simulation camera module 122 can be more accurately calculated through a formula according to the convergence angle of the two eyeball simulation camera modules 122 and the distance between the centers of the eyeball simulation camera modules 122, and the distance parameter can provide more accurate parameters for 3D video modeling and intelligent behavior analysis, thereby greatly improving the operation speed of the intelligent behavior analysis of the binocular bionic convergence camera 100 and reducing the calculation force resources occupied by the ranging algorithm of the binocular bionic convergence camera 100; furthermore, after the visual angle optical axes of the eyeball simulation camera module 122 are converged each time, the convergence target is located in the central area of the target surface of the camera 100, and the image deformation in the area is minimum, so that the two images can be compared and analyzed without carrying out too much image correction, and the occupation of background computing power resources can be saved; in addition, because the left and right eyeball simulation camera modules 122 have independent driving mechanisms, the two eyeball simulation camera modules 122 can be respectively rotated to the maximum angle outwards, two video images are fused into an image with wider visual angle through the background video stitching and edge fusion technology, a larger visual range is realized, the image mode is suitable for the eyeball simulation camera module 122 to be in an on-duty working state, after a target enters the visual range of the image, the operation mode of binocular convergence is shifted to follow the moving direction of the target, the visual angle axes of the two eyeball simulation camera modules 122 can be always converged on the target, and intelligent analysis is carried out on the behavior of the target. As can be seen from the above, the binocular bionic convergence camera 100 according to the embodiment of the application effectively overcomes the problems of the binocular parallel camera in the prior art, and has the advantages of high operation speed, less occupation of background computing power resources, large viewing angle range and the like.
On the other hand, in the binocular bionic convergence camera 100 of the embodiment of the present application, the first driving mechanism 140 is connected to the first swing arm wheel 123 to drive the corresponding eyeball simulation camera module 122 to rotate left and right; the swing end 131 of the swing arm frame 130 is rotatably connected to the middle position of one side, far away from the eye-wheel-shaped universal shaft sleeve 121, of the mounting frame 110, and a second swing arm wheel 132 is arranged on one side, far away from the swing end 131, of the swing arm frame 130; the two first driving mechanisms 140 are disposed on the swing arm frame 130, the second driving mechanism 150 is connected with the second swing arm wheel 132 of the swing arm frame 130, so as to drive the swing arm frame 130 and the two first driving mechanisms 140 disposed thereon to swing up and down around the rotation axis between the swing end 131 and the mounting frame 110, so as to drive the two eyeball simulation camera modules 122 to rotate up and down synchronously. In addition, the eyeball simulation camera module 122 of the eyeball simulation rotating mechanism 120 in the embodiment of the application is arranged in the hollow hemisphere and can rotate left, right, up and down in the hollow hemisphere, so that the eyeball simulation camera module 122 protruding out of the eyewheel-shaped universal shaft sleeve 121 has a larger visual angle moving range. In summary, the binocular bionic convergence camera 100 of the embodiment of the application can be well applied to a bionic robot, performs visual simulation of the bionic robot, and has a wider visual angle moving range.
In some embodiments of the application, both the first drive mechanism 140 and the second drive mechanism 150 may employ a friction wheel-motor assembly or both the first drive mechanism 140 and the second drive mechanism 150 may employ a pulley-motor assembly or both the first drive mechanism 140 and the second drive mechanism 150 may employ a gear-motor assembly. In the embodiment of the present application, as shown in fig. 5, by way of example, the free end of the first swing arm wheel 123 is provided with a first arc gear surface, the free end of the second swing arm wheel 132 is provided with a second arc gear surface, and the first driving mechanism 140 and the second driving mechanism 150 are both gear-motor assemblies, wherein a motor in the gear-motor assemblies is fixed on the swing arm frame 130 or the mounting frame 110, a gear in the gear-motor assemblies is fixed at the output end of the motor, and the gear is meshed with the first arc gear surface or the second arc gear surface; the free ends of the first swing arm wheel 123 and the second swing arm wheel 132 may also be respectively set as a first cambered surface and a second cambered surface, where the first cambered surface and the second cambered surface may be adapted to the driving of the friction wheel-motor assembly or the driving of the belt pulley-motor assembly, so that the driving mechanism (the first driving mechanism 140 and the second driving mechanism 150) in the embodiment of the application may be a plurality of driving motor assemblies, where the motor in the driving motor assemblies may be a servo motor, synchronous convergence of the two eyeball simulation camera modules 122 to the target may be realized by the servo motor, and the convergence angle of the collected eyeball simulation camera modules 122 may calculate the distance between the target and the eyeball simulation camera modules 122, thereby greatly improving the operation speed of intelligent behavior analysis of the binocular bionic convergence camera 100 and reducing the calculation force resources occupied by the ranging algorithm of the binocular bionic convergence camera 100. It will be appreciated that to ensure reliability of the drive, the first drive mechanism 140 and the second drive mechanism 150 are preferably gear-motor assemblies.
In some embodiments of the present application, the centers of the first arc-shaped gear surface and the second arc-shaped gear surface or the first arc-shaped surface and the second arc-shaped surface are located on the rotation axis between the swinging end 131 and the mounting frame 110; the axis of rotation between the swing end 131 and the mount 110 coincides with the center of the eye-wheel shaped universal sleeve 121. For example, in some embodiments of the present application, as shown in fig. 14 to 16, two shaft seats 112 are symmetrically disposed at a middle position of a side of the mounting frame 110 far from the eye-wheel-shaped universal shaft 121, a first shaft hole 113 is disposed on the shaft seat 112, an axis of the first shaft hole 113 coincides with a center of the eye-wheel-shaped universal shaft 121, and a swinging end 131 of the swing arm frame 130 is rotatably mounted between the two shaft seats 112, thereby facilitating the mounting of the swing arm frame 130, so that the eyeball-simulating camera module 122 rotates around the center of the eye-wheel-shaped universal shaft 121, and the eyeball-simulating camera module 122 protruding outside the eye-wheel-shaped universal shaft 121 has a larger visual angle movement range, so that the eyeball-simulating camera module 122 can better adapt to the visual application of the bionic robot.
In some embodiments of the present application, as shown in fig. 17 and 18, the diameter of the inner side surface of the hollow hemisphere is greater than or equal to the sphere diameter of the eyeball-simulated camera module 122, and a first mounting arm 1212 and a second mounting arm 1213 for connecting with the mounting bracket 110 are arranged on the tangential direction of the side walls of both sides of the hollow hemisphere, and a first hanging tab 114 and a second hanging tab 115 which are matched with the first mounting arm 1212 and the second mounting arm 1213 are arranged on the mounting bracket 110; therefore, the eye-shaped universal shaft sleeve 121 can be conveniently installed on the installation frame 110, and the eyeball simulation camera module 122 can rotate by the center of the eye-shaped universal shaft sleeve 121 under the clamping of the first driving mechanism 140 and the inner cambered surface of the eye-shaped universal shaft sleeve 121.
In some embodiments of the present application, as shown in fig. 19, two ends of one side of the swing arm frame 130 near the swing end 131 are respectively provided with an arc chute 133, and the arc chute 133 is adapted to a movement track of the first swing arm wheel 123, and the first swing arm wheel 123 of the eyeball simulation camera module 122 extends into the corresponding arc chute 133 and is connected with the first driving mechanism 140, so that when the first driving mechanism 140 drives the first swing arm wheel 123 to swing left and right, the first swing arm wheel 123 swings left and right along the arc chute 133, and the arc chute 133 limits the up and down movement of the first swing arm wheel 123, so that the first swing arm wheel 123 can drive the eyeball simulation camera module 122 to rotate left and right stably relative to the eye-wheel-shaped universal shaft 121, and further the stability of the eyeball simulation camera module 122 rotating left and right relative to the eye-wheel-shaped universal shaft 121 is ensured.
In some embodiments of the present application, as shown in fig. 6 and 8, the first swing arm wheel 123 is disposed at a side of the eyeball simulation camera module 122 away from the eyewheel universal sleeve 121 at an offset angle with respect to the viewing angle axis of the eyeball simulation camera module 122, so that the limit space for the left and right rotation of the eyeball simulation camera module 122 is different by using the offset angle.
In some embodiments of the present application, as shown in fig. 1,6 and 8, the first swing arm wheel 123 is biased to the center of the mounting frame 110 on the side of the eyeball simulation camera module 122 away from the eyewheel universal sleeve 121, so that the first swing arm wheel 123 and the viewing angle axis of the eyeball simulation camera module 122 form an inward offset angle, and thus, the limit space in which the first swing arm wheel 123 of the eyeball simulation camera module 122 rotates to the center side of the mounting frame 110 is smaller than the limit space in which the first swing arm wheel 123 rotates to the side away from the center of the mounting frame 110, which can make the angle of inward rotation of the viewing angle axis of the eyeball simulation camera module 122 smaller than the angle of outward rotation, so that when the viewing angle axis of the eyeball simulation camera module 122 on one side rotates to the outer side to the maximum viewing angle, the angle of rotation inside the view angle axis of the eyeball-simulated camera module 122 on the other side is smaller than the outward rotation angle of the eyeball-simulated camera module 122 on one side, as a result, the view angle axes of the eyeball-simulated camera modules 122 on both sides can converge to a point a or b, as shown in fig. 31 and 32, when both eyeball-simulated camera modules 122 on both sides rotate to the extreme positions inside, the view angle axes of the two eyeball-simulated camera modules 122 also have a convergence point c in a certain position in the middle, as shown in fig. 33, and the convergence points of the two eyeball-simulated camera modules 122 can be covered in the range of the camera view angle axes R100 and L200 and the extension lines L101 and R201 of the view angle axes, as shown in fig. 34.
In some embodiments of the present application, as shown in fig. 6 to 8, the eyeball-simulated camera module 122 includes a spherical shell 1221, a transparent cover 1222, an iris-simulated decorative sheet 1223, and a miniature camera lens module 1224; the center of one side of the spherical shell 1221 is provided with a second through hole 1221-1, the transparent cover 1222 is arranged outside the second through hole 1221-1, the iris-like decorative sheet 1223 is arranged inside the second through hole 1221-1, the miniature camera lens module 1224 is arranged in the spherical shell 1221, the miniature camera lens module 1224 performs shooting work through the center of the iris-like decorative sheet 1223, the transparent cover 1222 and the first through hole 1211, and the first swing arm wheel 123 is arranged on one side of the spherical shell 1221, which is far away from the second through hole 1221-1.
In some embodiments of the present application, as shown in fig. 7, the ball type housing 1221 includes a first hemispherical housing 1221-2 and a second hemispherical housing 1221-3 detachably connected to each other, the second through hole 1221-1 is provided at a center position of the first hemispherical housing 1221-2, and the first swing arm wheel 123 is provided at the second hemispherical housing 1221-3. Illustratively, in some embodiments of the present application, as shown in fig. 9 to 12, two nut holes 1221-2-1 are provided at both sides of the inside of the first hemispherical case 1221-2, two third through holes 1221-3-1 are provided on the second hemispherical case 1221-3 to be fitted with the two nut holes 1221-2-1, and two screws are respectively connected to the two nut holes 1221-2-1 through the two third through holes 1221-3-1, thereby connecting the first hemispherical case 1221-2 and the second hemispherical case 1221-3 together. Preferably, two stepped holes 1221-3-2 coaxial with the two third through holes 1221-3-1 are formed on the outer side of the second hemispherical shell 1221-3, respectively, so that the bottom surface of the stepped hole 1221-3-2 can be used as a fixing surface of a screw to facilitate the fixation of the screw; a lip boss 1221-2-2 is provided at the edge of the first hemispherical case 1221-2, and a lip groove 1221-3-3 is provided at the edge of the second hemispherical case 1221-3, and when assembled, the lip boss 1221-2-2 on the first hemispherical case 1221-2 is engaged with the lip groove 1221-3-3 on the second hemispherical case 1221-3 to facilitate centering connection of the first hemispherical case 1221-2 and the second hemispherical case 1221-3.
In some embodiments of the present application, as shown in fig. 9 and 10, a first groove 1221-1-1 adapted to the transparent cover 1222 is formed at an outer edge of the second through hole 1221-1, a second groove 1221-1-2 adapted to the iris-simulating decorative sheet 1223 is formed at an inner edge of the second through hole 1221-1, when the transparent cover 1222 is installed, the transparent cover 1222 is disposed in the first groove 1221-1, and an outer edge of the transparent cover 1222 is glued in the first groove 1221-1-1; the iris simulating decorative sheet 1223 is disposed in the second groove 1221-1-2, and the outer edge of the iris simulating decorative sheet 1223 is glued into the second groove 1221-1-2. Thereby conveniently installing the transparent cover 1222 and the iris-imitating decorative sheet 1223 inside and outside the second through hole 1221-1.
In some embodiments of the present application, as shown in fig. 8 and 13, the diameter of the transparent cover 1222 approximates the diameter of a human cornea; the front surface of the iris-imitating decorative sheet 1223 is printed with iris patterns, and a fourth through hole 1223-1 is formed in the middle; the miniature camera lens module 1224 comprises a miniature lens 1224-1, a lens mounting seat 1224-2 and a circular circuit board 1224-3, wherein the circular circuit board 1224-3 is arranged in the spherical shell 1221, the lens mounting seat 1224-2 is fixed on the circular circuit board 1224-3, the miniature lens 1224-1 is arranged on the lens mounting seat 1224-2, and the miniature lens 1224-1 passes through the fourth through hole 1223-1 to be propped against the hole edge of one side of the iris-like decorative sheet 1223, on which the iris pattern is printed, so as to form the pupil effect, thereby achieving a better simulation effect.
In some embodiments of the present application, as shown in fig. 3 and 5, the binocular bionic convergence camera 100 further includes a gravity balancing mechanism 160, wherein the gravity balancing mechanism 160 includes a weight 161, a first transmission assembly 162 and a second transmission assembly 163; the balancing weights 161 are distributed below the swing arm frame 130, and the weight of the balancing weights 161 is matched with the weight of the swing arm frame 130 and the two first driving mechanisms 140 arranged on the swing arm frame 130; the first transmission component 162 and the second transmission component 163 are distributed in parallel at intervals and have the same structure, and each transmission component comprises a transmission wheel 160-1, a transmission piece 160-2 and a guide wheel 160-3, wherein the transmission wheel 160-1 is a transmission wheel with a partial circular shape, and the transmission wheel 160-1 is arranged on one side of the swing arm frame 130 far away from the swing end 131; a plurality of guide wheels 160-3 are provided on the mounting frame 110; the transmission piece 160-2 is sleeved outside the swing arm frame 130, the transmission piece 160-2 is sleeved on the transmission wheel 160-1, and two ends of the transmission piece 160-2 are respectively vertically connected with the balancing weights 161 by bypassing the guide wheels 160-3 at the corresponding sides; the second swing arm wheel 132 is disposed at the outer edge of the driving wheel 160-1 of the first transmission assembly 162 or the second transmission assembly 163, so that when the second driving mechanism 150 drives the swing arm frame 130 and the two first driving mechanisms 140 disposed on the swing arm frame 130 to swing up and down through the second swing arm wheel 132, the first transmission assembly 162 and the second transmission assembly 163 convert the up-down swinging motion of the swing arm frame 130 and the two first driving mechanisms 140 disposed thereon into up-down linear motion of the balancing weight 161, and since the weight of the balancing weight 161 is matched with the weight of the swing arm frame 130 and the two first driving mechanisms 140 disposed on the swing arm frame 130, the weight of the balancing weight 161 can balance the weight of the swing arm frame 130 and the two first driving mechanisms 140 disposed thereon, so that the resistance of the second driving mechanism 150 to up-down control the swing arm frame 130 and the two first driving mechanisms 140 disposed thereon is the same, thereby ensuring the up-down rotation speed of the simulated eyeball camera module 122 is consistent.
In some embodiments of the present application, both the first transmission assembly 162 and the second transmission assembly 163 may be either a pulley transmission assembly or a sprocket transmission assembly; in the embodiment of the present application, as shown in fig. 3 and 4, the first transmission assembly 162 and the second transmission assembly 163 are exemplary pulley transmission assemblies, each of the pulley transmission assemblies includes a pulley having a partial circular shape, a transmission belt and guide wheels, the pulley is disposed at one side of the swing arm frame 130 far from the swing end 131, the plurality of guide wheels are disposed on the mounting frame 110, the transmission belt is sleeved outside the swing arm frame 130, the transmission belt is sleeved on the pulley, and both ends of the transmission belt are vertically connected with the balancing weight 161 by bypassing the guide wheels at the corresponding sides, respectively; the second swing arm wheel 132 is disposed at the outer edge of the pulley of the first transmission assembly 162. It will be appreciated that if the pulleys and belt are replaced with sprockets and chains, respectively, the first drive assembly 162 and the second drive assembly 163 are sprocket drive assemblies.
In some embodiments of the present application, as shown in fig. 5 and 15, a positioning hole 1611 is formed on the weight 161 along the moving direction thereof, and a positioning post 111 is disposed on the mounting frame 110, and the positioning post 111 is movably inserted into the positioning hole 1611, so that when the weight 161 moves up and down under the driving of the first transmission component 162 and the second transmission component 163, the positioning post 111 moves along the positioning hole 1611, thereby limiting the weight 161 to only move up and down and avoiding deformation of the transmission member 160-2 caused by the weight of the weight 161.
In some embodiments of the present application, as shown in fig. 20-23, a first angle detecting device is disposed between each first swing arm wheel 123 and the swing arm frame 130, and is configured to detect the left-right rotation angle of the eyeball artificial camera module 122, and a second angle detecting device is disposed between the driving wheel 160-1 of the second driving assembly 163 and the mounting frame 110, and is configured to detect the up-down synchronous rotation angle of the two eyeball artificial camera modules 122; thereby, the rotation angle of the eyeball simulation camera module 122 can be accurately controlled, and the automatic convergence of the visual angle axes of the eyeball simulation camera module 122 can be conveniently realized.
In some embodiments of the present application, as shown in fig. 20 to 23, each of the first angle detecting means and the second angle detecting means employs a contact angle sensor including an angle sensor substrate 171 and a brush module 172, the angle sensor substrate 171 being disposed on a side of the first swing arm wheel 123 or the driving wheel 160-1, the brush module 172 being mounted on the swing arm frame 130 or the mounting frame 110, the brush module 172 being in constant contact with the angle sensor substrate 171 and being electrically connected thereto, the brush module 172 being configured to sense a rotational angle (a left-right rotational angle or an up-down rotational angle) of the eyeball-emulating camera module 122 by detecting a dynamic resistance value (the resistance value can be converted into a digital voltage value by a circuit and an angle corresponding to each voltage value can be known by correlating with a reference value) of the angle sensor substrate 171; therefore, when the motor assembly is adopted by the first driving mechanism 140 and the second driving mechanism 150, the rotation angle of the eyeball simulation camera module 122 can be accurately controlled by matching with the angle detection device, so that the automatic convergence of the visual angle axes of the eyeball simulation camera module 122 can be conveniently realized. It is understood that the first angle sensing device and the second angle detecting device are not limited to contact angle sensors, but non-contact angle sensors, such as magnetic induction angle sensors with high reliability, may be used.
In some embodiments of the present application, as shown in FIGS. 21-23, the angle sensor substrate 171 includes a circuit board (PCB) 1711, an arcuate resistive runner 1712, an arcuate copper foil runner 1713, and electrical connection points 1714; the circuit board 1711 is disposed on the side of the first swing arm wheel 123 or the driving wheel 160-1, the arc-shaped resistive sliding bars 1712 and the arc-shaped copper foil sliding bars 1713 are concentrically disposed on the circuit board 1711 at intervals, and the electrical connection points 1714 are disposed between the arc-shaped resistive sliding bars 1712 and the ends of the arc-shaped copper foil sliding bars 1713. The brush module 172 includes a first brush piece 1721, a second brush piece 1722, an insulating pad 1723, an insulating seat 1724 and a fastener (fixing screw) 1725, the insulating seat 1724 is disposed on the swing arm support 130 or the mounting frame 110, the insulating seat 1724 is provided with an insulating cylinder 1726, the first brush piece 1721, the second brush piece 1722 and the insulating pad 1723 are provided with a through hole 1727 adapted to the insulating cylinder 1726, the insulating pad 1723, the first brush piece 1721, the insulating pad 1723 and the second brush piece 1722 are sequentially stacked on the insulating seat 1724 from far to near, the insulating cylinder 1726 is disposed in the through holes 1727 of the insulating pad 1723, the first brush piece 1721, the insulating pad 1723 and the second brush piece 1722, and the fastener 1725 passes through the insulating cylinder 1726 and is fixedly connected to the swing arm support 130 or the mounting frame 110; the first brush piece 1721 and the second brush piece 1722 are made of elastic copper sheets, each of which is L-shaped, a contact 1728 is arranged at the top end of the short side of the L-shape, and a lead welding point 1729 is arranged at the top end of the long side of the L-shape; the contact 1728 of the first brush piece 1721 is in constant contact with the arc resistive slider 1712 and the contact 1728 of the second brush piece 1722 is in constant contact with the arc copper foil slider 1713. Therefore, when the first driving mechanism 140 drives the eyeball-like camera module 122 to rotate left and right relative to the eyeballs-like universal shaft sleeve 121, or the second driving mechanism 150 drives the two eyeball-like camera modules 122 to rotate up and down synchronously, the first and second brush pieces 1721 and 1722 of the brush module 172 rotate and slide synchronously on the arc-shaped resistive sliding strip 1712 and the arc-shaped copper foil sliding strip 1713 respectively, the resistance between the first and second brush pieces 1721 and 1722 changes along with the change of the rotation angle, the rotation angle of the brush module 172 can be detected through the detection of the corresponding circuit, and then the left-right and up-down rotation angles of the eyeball-like camera module 122 are detected, in addition, the rotation angle of the eyeball-like camera module 122 is sensed through the dynamic resistance value of the angle sensor substrate 171, the limit angles of the left-right and up-down rotation of the eyeball-like camera module 122 can be precisely controlled, and thus the limit device of the mechanical switch with larger occupied space can be omitted, and the control structure is simpler.
In some embodiments of the present application, as shown in fig. 24-26, the binocular bionic convergence camera 100 further includes an eyelid bionic driving mechanism 180, the eyelid bionic driving mechanism 180 includes an eyelid driving shell 181 and a third driving mechanism 182, the eyelid driving shell 181 is a partially hollow sphere, and the eyelid driving shell 181 is rotatably sleeved outside the eye-wheel-shaped universal shaft sleeve 121; the third driving mechanism 182 is provided on the mounting frame 110, and the third driving mechanism 182 is connected to the eyelid driving housing 181 and configured to drive the eyelid driving housing 181 to rotate up and down with respect to the eye-wheel universal shaft sleeve 121. Thus, the eyelid driving shells 181 are respectively and rotatably sleeved on the two-eye wheel-shaped universal shaft sleeves 121, the skins of the upper eyelid are adhered to the eyelid driving shells 181, the skins of the lower eyelid are directly adhered to the two-eye wheel-shaped universal shaft sleeves 121, and the two eyelid driving shells 181 are respectively driven to rotate up and down through the two third driving mechanisms 182, so that the skins of the upper eyelid are driven to be opened or closed, and the opening and closing of eyes of a person are realized just like the opening and closing of eyes of a person from the external effect, so that the simulation of the eyelid is realized.
In some embodiments of the present application, as shown in fig. 25-26, the third driving mechanism 182 includes a transmission mechanism 1821 and a power mechanism 1822, where the transmission mechanism 1821 adopts a planar linkage mechanism, and includes a first linkage rod 1821-1, a second linkage rod 1821-2 and a third driving arm 1821-3 that are located on the same plane, one end of the first linkage rod 1821-1 is fixedly connected to the eyelid driving housing 181, the other end of the first linkage rod 1821-1 is rotatably connected to one end of the second linkage rod 1821-2, the other end of the second linkage rod 1821-2 is rotatably connected to one end of the third driving arm 1821-3, the other end of the third driving arm 1821-3 is connected to the power mechanism 1822, and the power mechanism 1822 is configured to drive the third driving arm 1821-3 to swing up and down, thereby drive the eyelid driving housing 181 to rotate up and down relative to the eye-shaped universal shaft 121.
In some embodiments of the present application, as shown in FIGS. 25-26 and 28-29, the power mechanism 1822 includes a steering engine mount 1822-1 and a steering engine 1822-2; the steering engine fixing frame 1822-1 is fixedly arranged on the mounting frame 110, the steering engine 1822-2 is fixedly arranged on the steering engine fixing frame 1822-1, the steering engine 1822-2 is provided with a steering engine shaft 1822-3, a screw hole 1822-4 is formed in the steering engine shaft 1822-3, and a first tooth trace is formed in the outer side of the steering engine shaft 1822-3; the other end of the third driving arm 1821-3 is provided with a second shaft hole 1821-4, the other end of the third driving arm 1821-3 is also provided with a step hole 1821-5 coaxial with the second shaft hole 1821-4, and the inner side wall of the step hole 1821-5 is provided with a second tooth pattern which is matched with the first tooth pattern; the screw is coupled to the screw hole 1822-4 through the second shaft hole 1821-4. In the embodiment of the disclosure, the steering engine 1822-2 is also called a micro steering engine, the steering engine 1822-2 is fixedly installed on the steering engine fixing frame 1822-1, a steering engine shaft 1822-3 is arranged on the steering engine 1822-2, a screw hole 1822-4 is arranged on the steering engine shaft 1822-3, a screw is connected to the screw hole 1822-4 of the steering engine shaft 1822-3 through the second shaft hole 1821-4, so that the third driving arm 1821-3 is fixed on the steering engine shaft 1822-3 of the steering engine 1822-2, and the rotation angle of the third driving arm 1821-3 can be controlled by controlling the rotation angle of the steering engine shaft 1822-3, and thus the rotation angle of the eyelid driving shell 181 can be finally controlled; in addition, the second insection on the inner side wall of the step hole 1821-5 is matched with the first insection on the steering engine shaft 1822-3, so that slipping between the third driving arm 1821-3 and the steering engine shaft 1822-3 can be effectively prevented, and the accuracy of the rotation angle of the eyelid driving shell 181 controlled by the power mechanism 1822 is improved.
In some embodiments of the present disclosure, as shown in fig. 30, a stabilizing plate 190 is disposed at a middle position of a side of the mounting frame 110 far away from the cantilever crane 130, and the middle position of the stabilizing plate 190 is fixed to a steering engine fixing frame 1822-1, in embodiments of the present disclosure, two sides of the stabilizing plate 190 are respectively fixed to the mounting frame 110, and the middle position of the stabilizing plate 190 is fixed to the steering engine fixing frame 1822-1, so that when the eyelid bionic driving mechanism 180 operates, the amplitude of vibration of the steering engine 1822-2 during operation can be greatly reduced, thereby making the whole binocular bionic convergence camera 100 more stable.
In some embodiments of the present application, as shown in fig. 26 and 27, one end of the first link 1821-1 is fixedly connected to the center of the eyelid driving housing 181 near the edge of the first swing arm wheel 123, and the first link 1821-1 and the third driving arm 1821-3 are parallel to each other, whereby the rotation angle of the third driving arm 1821-3 is consistent with the rotation angle of the first link 1821-1, so that the rotation angle of the eyelid driving housing 181 can be more precisely controlled.
In some embodiments of the present application, as shown in fig. 17, 18 and 27, two third shaft holes 1811 are provided on both sides of the eyelid-driving housing 181, two rotation shafts 1214 are provided on both sides of the hollow hemisphere and along the axis extension thereof, and the two third shaft holes 1811 on the eyelid-driving housing 181 are correspondingly inserted through the two rotation shafts 1214 of the hollow hemisphere, thereby conveniently rotatably sleeving the eyelid-driving housing 181 on the outside of the eye-wheel-shaped universal shaft sleeve 121.
In some embodiments of the present application, the eyelid driving housing 181 is made of a ductile material, and by providing the eyelid driving housing 181 with a ductile material, the eyelid driving housing 181 can be more easily sleeved on the eye-wheel-shaped universal shaft sleeve 121.
An embodiment of the second aspect of the present application proposes a bionic robot comprising the binocular bionic convergence camera 100 of the above embodiment. In the binocular bionic converging camera 100 in the above embodiment, the first swing arm wheel 123 on the eyeball simulation camera module 122 is used as a control point for controlling the eyeball simulation camera module 122, so that the eyeball simulation camera module 122 can better adapt to the spatial depth of the eye socket of the bionic robot, in addition, the eyeball simulation camera module 122 is arranged in a hollow hemisphere and can rotate left, right, up and down in the hollow hemisphere, so that the eyeball simulation camera module 122 protruding out of the eye-wheel-shaped universal shaft sleeve 121 has a larger visual angle moving range; that is, the binocular bionic convergence camera 100 in the above embodiment may be applied to a bionic robot, and the range of view angle movement of the bionic robot is larger.
In some embodiments of the present application, an acceleration sensor is disposed on the head of the bionic robot, so when the eyeball simulation camera module 122 tilts left and right or tilts forward and backward along with the movement of the head in practical application, the acceleration sensor on the head of the bionic robot can sense the left and right inclination angle and pitch angle, and correct the actual angle between the eyeball simulation camera module 122 and the target based on the horizontal plane by using the parameters, so that the distance between the convergence point and the eyeball simulation camera can be calculated more accurately by a formula, thereby providing more accurate parameters for 3D video modeling, greatly improving the operation speed of intelligent behavior analysis of the bionic robot, and reducing the calculation power resources occupied by the ranging algorithm of the bionic robot.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The various embodiments of the present application are described in a related manner, and identical and similar parts of the various embodiments are all mutually referred to, and each embodiment is mainly described in terms of differences from the other embodiments.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims (21)

1. A binocular bionic convergence camera, comprising:
A mounting frame;
The two eyeball bionic rotating mechanisms are arranged on two sides of the mounting frame and comprise an eye-wheel-shaped universal shaft sleeve fixed on the mounting frame, an eyeball simulation camera module arranged in the eye-wheel-shaped universal shaft sleeve and a first swing arm wheel arranged on one side of the eyeball simulation camera module, which is far away from the eye-wheel-shaped universal shaft sleeve; the eye wheel-shaped universal shaft sleeve is a hollow hemisphere, a first through hole in the shape of an eye wheel is formed in the middle of the hollow hemisphere, and the eyeball simulation camera module performs shooting work through the first through hole;
the swinging end of the swinging arm frame is rotationally connected to the middle position of one side, far away from the eye-wheel-shaped universal shaft sleeve, of the mounting frame, and a second swinging arm wheel is arranged on one side, far away from the swinging end, of the swinging arm frame;
The first driving mechanisms are arranged on two sides of the swing arm frame, each first driving mechanism is connected with the first swing arm wheel on the corresponding side and is configured to drive the eyeball simulation camera module to rotate left and right relative to the eye-wheel-shaped universal shaft sleeve through the first swing arm wheel;
The second driving mechanism is fixed on the mounting frame, is connected with a second swing arm wheel and is configured to drive the swing arm frame to swing up and down along with the two first driving mechanisms arranged on the swing arm frame around a rotating shaft line between the swinging end and the mounting frame through the second swing arm wheel so as to drive the two eyeball simulation camera modules to synchronously rotate up and down relative to the two eyewheel-shaped universal shaft sleeves;
a gravity balancing mechanism, the gravity balancing mechanism comprising:
the balancing weights are distributed below the swing arm frame, and the weight of the balancing weights is matched with the weight of the swing arm frame and the weight of the two first driving mechanisms arranged on the swing arm frame;
The first transmission assembly and the second transmission assembly are distributed in parallel at intervals and have the same structure, each of the first transmission assembly and the second transmission assembly comprises a transmission wheel which is provided with a partial circle and is arranged on one side of the swing arm frame far away from the swing end, a plurality of guide wheels are arranged on the mounting frame, and a transmission piece is sleeved outside the swing arm frame; the transmission part is sleeved on the transmission wheel, and two ends of the transmission part respectively bypass the guide wheels at the corresponding sides and are vertically connected with the balancing weights; the second swing arm wheel is arranged at the outer edge of the driving wheel of the first transmission assembly or the second transmission assembly.
2. The binocular bionic convergence camera of claim 1, wherein: the eyeball simulation camera module comprises:
The center of one side of the spherical shell is provided with a second through hole, and the first swing arm wheel is arranged on one side of the spherical shell, which is away from the second through hole;
a transparent cover arranged outside the second through hole;
the iris imitation decorative piece is arranged on the inner side of the second through hole;
The miniature camera lens module is arranged in the spherical shell and is used for shooting through the center of the iris-imitating decorative sheet, the transparent cover and the first through hole.
3. The binocular bionic convergence camera of claim 2, wherein: the diameter of the transparent cover is equal to that of the cornea of the human eye; the front surface of the iris-imitating decorative sheet is printed with an iris pattern, and a fourth through hole is formed in the middle of the iris-imitating decorative sheet; the miniature camera lens module comprises a round circuit board arranged in the spherical shell, a lens mounting seat arranged on the round circuit board and a miniature lens arranged on the lens mounting seat; the miniature lens passes through the fourth through hole and abuts against the hole edge of one side of the iris-pattern-printed imitation decorative piece.
4. A binocular bionic convergence camera according to any one of claims 1 to 3, wherein: the free end of the first swing arm wheel is provided with a first arc gear surface, the free end of the second swing arm wheel is provided with a second arc gear surface, and the first driving mechanism and the second driving mechanism both adopt gear-motor assemblies;
Or the free ends of the first swing arm wheel and the second swing arm wheel are respectively set to be a first cambered surface and a second cambered surface, and the first driving mechanism and the second driving mechanism both adopt friction wheel-motor assemblies or belt pulley-motor assemblies.
5. The binocular bionic convergence camera of claim 4, wherein: the first arc gear surface, the second arc gear surface or the circle centers of the first arc and the second arc are all positioned on the rotating shaft line between the swinging end and the mounting frame; the rotation axis between the swinging end and the mounting frame coincides with the center of the eye-wheel-shaped universal shaft sleeve.
6. The binocular bionic convergence camera of claim 1, wherein: the two ends of one side of the swing arm support, which is close to the swing end, are respectively provided with an arc chute, the arc chute is matched with the motion track of the first swing arm wheel, and the first swing arm wheel of the eyeball simulation camera module stretches into the corresponding arc chute and is connected with the first driving mechanism.
7. The binocular bionic convergence camera of claim 1, wherein: the first swing arm wheel is biased towards the center of the mounting frame and is arranged on one side, far away from the eye wheel-shaped universal shaft sleeve, of the eyeball simulation camera module.
8. The binocular bionic convergence camera of claim 1, wherein: the diameter of the inner side surface of the hollow hemisphere is larger than or equal to the sphere diameter of the eyeball simulation camera module, a first mounting arm and a second mounting arm which are used for being connected with the mounting frame are arranged on the tangential direction of the side walls of the two sides of the hollow hemisphere, and a first hanging lug and a second hanging lug which are matched with the first mounting arm and the second mounting arm are arranged on the mounting frame.
9. The binocular bionic convergence camera of claim 1, wherein: the locating holes are formed in the balancing weight and along the movement direction of the balancing weight, the mounting frame is provided with locating columns, and the locating columns are movably inserted into the locating holes.
10. The binocular bionic convergence camera of claim 1, wherein: the first transmission assembly and the second transmission assembly are belt wheel transmission assemblies or chain wheel transmission assemblies.
11. The binocular bionic convergence camera of claim 1, wherein: a first angle detection device is arranged between each first swing arm wheel and each swing arm frame, and the first angle detection devices are configured to detect the left-right rotation angle of the eyeball simulation camera module; and a second angle detection device is arranged between the driving wheel of the second transmission assembly and the mounting frame and is configured to detect the angle of the up-down synchronous rotation of the two eyeball simulation camera modules.
12. The binocular bionic convergence camera of claim 11, wherein: the first angle detection device and the second angle detection device both adopt contact type angle sensors, and the contact type angle sensors comprise angle sensor substrates arranged on the side surfaces of the first swing arm wheels or the driving wheels and electric brush modules arranged on the swing arm frames or the mounting frames; the electric brush module is always in contact with the angle sensor substrate to form electric connection, and the electric brush module is configured to sense the rotation angle of the eyeball simulation camera module by detecting the dynamic resistance value of the angle sensor substrate.
13. The binocular bionic convergence camera of claim 12, wherein: the angle sensor substrate comprises a circuit board arranged on the side surface of the first swing arm wheel or the driving wheel, an arc-shaped resistance sliding strip and an arc-shaped copper foil sliding strip which are concentrically arranged on the circuit board at intervals, and an electrical connection point arranged between the ends of the arc-shaped resistance sliding strip and the arc-shaped copper foil sliding strip;
the electric brush module comprises an insulating seat, an insulating gasket, a first electric brush piece, an insulating gasket and a second electric brush piece which are sequentially stacked on the insulating seat from far to near, and a fastener for fixing the electric brush module on the swing arm support or the mounting frame; the insulating seat is arranged on the swing arm support or the mounting frame, the insulating seat is provided with an insulating cylinder, through holes are formed in the first electric brush sheet, the second electric brush sheet and the insulating gasket, and the insulating cylinder is arranged in the through holes in the insulating gasket, the first electric brush sheet, the insulating gasket and the second electric brush sheet in a penetrating mode; the fastener passes through the insulating cylinder and is fixedly connected to the swing arm support or the mounting frame; the first electric brush sheet and the second electric brush sheet are made of elastic copper sheets and are L-shaped, the top end of the short side of the L-shape is provided with a contact, and the top end of the long side of the L-shape is provided with a lead welding point; the contact of the first electric brush piece is always in contact with the arc-shaped resistance sliding strip, and the contact of the second electric brush piece is always in contact with the arc-shaped copper foil sliding strip.
14. The binocular bionic convergence camera of claim 1, wherein: the binocular bionic convergence camera further comprises an eyelid bionic driving mechanism, and the eyelid bionic driving mechanism comprises:
The eyelid driving shell is of a partial hollow sphere shape and is rotationally sleeved outside the eye-wheel-shaped universal shaft sleeve;
The third driving mechanism is arranged on the mounting frame, is connected with the eyelid driving shell and is configured to drive the eyelid driving shell to rotate up and down relative to the eye-wheel-shaped universal shaft sleeve.
15. The binocular bionic convergence camera of claim 14, wherein: the third driving mechanism comprises a transmission mechanism and a power mechanism which are plane connecting rod mechanisms; the transmission mechanism comprises a first linkage rod, a second linkage rod and a third driving arm which are positioned on the same plane, one end of the first linkage rod is fixedly connected with the eyelid driving shell, the other end of the first linkage rod is rotationally connected with one end of the second linkage rod, the other end of the second linkage rod is rotationally connected with one end of the third driving arm, and the other end of the third driving arm is connected with the power mechanism; the power mechanism is arranged on the mounting frame and is configured to drive the third driving arm to swing up and down.
16. The binocular bionic convergence camera of claim 15, wherein: the power mechanism comprises a steering engine fixing frame fixedly arranged on the mounting frame and a steering engine fixedly arranged on the steering engine fixing frame; the steering engine is provided with a steering engine shaft, a screw hole is formed in the steering engine shaft, and a first tooth trace is formed in the outer side of the steering engine shaft; the other end of the third driving arm is provided with a second shaft hole, the other end of the third driving arm is also provided with a step hole coaxial with the second shaft hole, and the inner side wall of the step hole is provided with a second tooth pattern which is matched with the first tooth pattern; the screw passes through the second shaft hole and is connected to the screw hole.
17. The binocular bionic convergence camera of claim 15, wherein: one end of the first linkage rod is fixedly connected to the center position of the edge, close to the first swing arm wheel, of the eyelid driving shell, and the first linkage rod is parallel to the third driving arm.
18. The binocular bionic convergence camera of claim 14, wherein: two third shaft holes are formed in two sides of the eyelid driving shell, two rotating shafts are arranged on two sides of the hollow hemisphere and along an axis extension line of the hollow hemisphere, and the two third shaft holes in the eyelid driving shell are correspondingly penetrated through the two rotating shafts of the hollow hemisphere.
19. The binocular bionic convergence camera of claim 16, wherein: the middle position of one side of the mounting frame far away from the cantilever crane is provided with a stabilizing plate, and the middle position of the stabilizing plate is fixed with the steering engine fixing frame.
20. The binocular bionic convergence camera of claim 14, wherein: the eyelid driving shell is made of a tough material.
21. A biomimetic robot, characterized in that: a binocular biomimetic converging camera comprising according to any one of claims 1 to 20.
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