CN116980728B - Bionic robot image recognition equipment - Google Patents
Bionic robot image recognition equipment Download PDFInfo
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- CN116980728B CN116980728B CN202310941089.0A CN202310941089A CN116980728B CN 116980728 B CN116980728 B CN 116980728B CN 202310941089 A CN202310941089 A CN 202310941089A CN 116980728 B CN116980728 B CN 116980728B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 65
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- 230000004438 eyesight Effects 0.000 claims abstract description 17
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- 206010020675 Hypermetropia Diseases 0.000 abstract description 16
- 208000001491 myopia Diseases 0.000 abstract description 16
- 238000011161 development Methods 0.000 abstract description 5
- 238000011160 research Methods 0.000 abstract description 4
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Classifications
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/14—Mountings, adjusting means, or light-tight connections, for optical elements for lenses adapted to interchange lenses
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/51—Housings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- Engineering & Computer Science (AREA)
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Abstract
The invention provides bionic robot image recognition equipment which comprises a bionic eyeball assembly and a vision adjusting mechanism. The bionic eyeball component comprises a hemispherical shell, a fixing piece and a visual field collecting piece, wherein a through hole is formed in the center of the hemispherical shell, the fixing piece is connected with the hemispherical shell, and the visual field collecting piece is connected with the fixing piece and is located in the hemispherical shell and opposite to the through hole. The vision adjusting mechanism is located inside the hemispherical shell and comprises a plurality of transparent pieces and a plurality of first driving pieces, the first driving pieces are used for driving the transparent pieces to move relative to the through holes, and when different transparent pieces shield the through holes, the focal length of the vision collecting pieces can be changed to different degrees. When the image information acquisition and recognition conditions of a near-sighted or far-sighted crowd are required to be simulated, different near-sighted or far-sighted degrees can be simulated, and more comprehensive data support is provided for development and research of automobiles.
Description
Technical Field
The invention relates to the technical field of automobile detection, in particular to bionic robot image recognition equipment.
Background
Along with the development of the automobile industry and the continuous improvement of the importance degree of people on the safety performance of vehicles, the intellectualization and reliability of the automobiles are increasingly emphasized by various large automobile companies. In the existing automobile test process, a bionic robot is generally adopted to replace a real person to complete test contents so as to test the intelligent degree of an automobile. During driving of an automobile, a driver observes surrounding conditions through eyes, and recognizes image information collected by the eyes to perform driving operation. However, the current visual field acquisition part in the bionic robot is set according to the vision of normal human eyes, and can not simulate the image information acquisition and recognition conditions of people with myopia or hyperopia.
Disclosure of Invention
The invention mainly aims to provide bionic robot image recognition equipment, which aims to solve the technical problem that a bionic robot in the prior art cannot simulate the image information acquisition and recognition conditions of people with myopia or hyperopia.
The invention provides bionic robot image recognition equipment, which comprises:
The bionic eyeball component comprises a hemispherical shell, a fixing piece and a visual field collecting piece, wherein the center of the hemispherical shell is provided with a through hole, the fixing piece is connected with the hemispherical shell, the visual field collecting piece is connected with the fixing piece and is positioned in the hemispherical shell and opposite to the through hole, and the visual field collecting piece is positioned in the hemispherical shell and opposite to the through hole
The vision adjusting mechanism is located inside the hemispherical shell and comprises a plurality of transparent pieces and a plurality of first driving pieces, the first driving pieces are used for driving the transparent pieces to move relative to the through holes, and the focal length of the vision collecting pieces can be changed to different degrees when the transparent pieces cover the through holes.
In one embodiment, the lens piece comprises two side-by-side sub-lens pieces;
the transparent piece comprises a transparent piece, a through hole, a transparent piece and a transparent piece, wherein the transparent piece is provided with a folding state and a separating state, in the folding state, the inner side edges of the two sub transparent pieces are mutually abutted, and the transparent piece shields the through hole;
the first driving piece is used for driving the two sub-transparent pieces to be close to or far away from each other so as to enable the transparent pieces to be switched between the folding state and the separating state.
In one embodiment, the vision adjustment mechanism further comprises a plurality of traction wires;
the first driving piece is provided with a telescopic rod;
The upper ends of the sub-transparent sheets are rotatably connected to the inner side of the hemispherical shell, and the lower ends of the sub-transparent sheets are connected with the telescopic rods by virtue of the traction wires;
When the telescopic rod is shortened, the two sub-transparent sheets are pulled by the traction wire to rotate around the directions far away from each other, so that the transparent sheet piece is switched from the folding state to the separating state, and when the telescopic rod is extended, the two sub-transparent sheets rotate around the directions close to each other under the action of gravity, so that the transparent sheet piece is switched from the separating state to the folding state.
In one embodiment, the first driver further comprises a flapper and a spring;
the baffle is connected to the front end of the telescopic rod;
the spring is sleeved on the telescopic rod.
In one embodiment, the upper part of the fixing piece is provided with a perforation for penetrating the traction wire.
In one embodiment, the bionic robot image recognition apparatus further comprises a bionic skull and a visual field moving mechanism;
the bionic eyeball assembly and the visual field moving mechanism are both positioned inside the bionic skull;
the visual field moving mechanism is connected with the fixing piece and the bionic skull and used for driving the bionic eyeball component to move relative to the bionic skull.
In one embodiment, the view moving mechanism includes:
The upper end of the suspender is connected with the top spherical hinge of the bionic skull, the lower end of the suspender is connected with the middle spherical hinge of the connecting rod, the front end of the connecting rod is fixedly connected with the fixing piece, and the rear end of the connecting rod is connected with the spherical hinge of the sliding piece;
The first sliding rail is in sliding connection with the sliding piece, and the second driving piece is used for driving the sliding piece to slide relative to the first sliding rail;
The second sliding rail is connected with the bionic skull and is in sliding connection with the first sliding rail, and the third driving piece is used for driving the first sliding rail to slide relative to the second sliding rail;
the sliding direction of the sliding piece relative to the first sliding rail is perpendicular to the sliding direction of the first sliding rail relative to the second sliding rail.
In one embodiment, the fixing member comprises two fixing rods vertically connected;
two ends of each fixing rod are respectively connected with the edges of the hemispherical shell;
The connecting part of the two fixing rods is opposite to the through hole and is connected with the visual field collecting piece.
In one embodiment, the bionic robot image recognition device further comprises a bionic skull, a main board and a remote control computer;
the bionic eyeball component and the main board are both positioned inside the bionic skull;
the main board is connected with the visual field acquisition piece and the first driving piece in a wired manner;
The remote control computer is in wireless connection with the main board, so that the image information acquired by the visual field acquisition part is acquired through the main board, and an execution command is input to the first driving part.
In one embodiment, the biomimetic robotic image recognition device further comprises a timer;
The timer is positioned inside the bionic skull;
The timer is connected with the main board in a wired way so as to count when the main board acquires the image information acquired by the visual field acquisition part;
And the remote control computer acquires the time information corresponding to the image information through the main board.
According to the invention, the hemispherical shell of the bionic eyeball assembly is internally provided with the plurality of lens pieces and the first driving piece for driving the lens pieces to move relative to the through holes, when the image information acquisition and recognition conditions of a near-sighted or far-sighted crowd are required to be simulated, the first driving piece is controlled to enable the lens pieces to shield the through holes so as to change the focal length of the visual field acquisition piece, so that the effect of near-sighted or far-sighted eyes is simulated, different near-sighted or far-sighted degrees can be simulated by changing the lens pieces shielding the through holes, and more comprehensive data support is provided for development and research of automobiles.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural diagram of a bionic robot image recognition apparatus according to an embodiment of the present invention;
Fig. 2 is a schematic structural diagram of a bionic robot image recognition apparatus according to another embodiment of the present invention;
FIG. 3 is a schematic view of a transparent sheet according to an embodiment of the present invention;
FIG. 4 is a schematic view of a sheet member according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of a first driving member according to an embodiment of the invention;
FIG. 6 is a partial schematic view of FIG. 2A;
Fig. 7 is a schematic diagram of hardware connection of a bionic robot image recognition device according to an embodiment of the invention.
Reference numerals illustrate:
100. The bionic eyeball comprises a bionic eyeball component, 110 parts, a hemispherical shell, 110a parts, a through hole, 120 parts, 121 parts, a fixing rod, 120a parts, a perforation, 130 parts, a visual field acquisition part, 200 parts, a visual field adjusting mechanism, 210 parts, a lens piece, 211 parts, 211a parts, a first connecting hole, 211b parts, a second connecting hole, 220 parts, a first driving part, 221 parts, a telescopic rod, 222 parts, a fixing part, 223 parts, a baffle plate, 224 parts, a spring, 300 parts, a visual field moving mechanism, 310 parts, a hanging rod, 320 parts, a connecting rod, 330 parts, a sliding part, 340 parts, a first sliding rail, 350 parts and a second sliding rail.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 shows a schematic structural diagram of a bionic robot image recognition apparatus according to an embodiment of the present invention, and fig. 2 shows a schematic structural diagram of a bionic robot image recognition apparatus according to another embodiment of the present invention.
Referring to fig. 1 and 2, an embodiment of the present invention provides a bionic robot image recognition apparatus including a bionic eye assembly 100 and a vision adjusting mechanism 200. The bionic eyeball assembly 100 comprises a hemispherical shell 110, a fixing piece 120 and a visual field collecting piece 130, wherein a through hole 110a is formed in the center of the hemispherical shell 110, the fixing piece 120 is connected with the hemispherical shell 110, and the visual field collecting piece 130 is connected with the fixing piece 120 and is located in the hemispherical shell 110 and is opposite to the through hole 110 a. The vision adjusting mechanism 200 is located inside the hemispherical shell 110, and the vision adjusting mechanism 200 includes a plurality of lens elements 210 and a plurality of first driving elements (not shown in fig. 1 and 2), wherein the first driving elements are used for driving the lens elements 210 to move relative to the through holes 110a, and the focal length of the vision collecting element 130 can be changed to different extents when different lens elements 210 shield the through holes 110 a.
Specifically, the main functions of the automobile are mostly concentrated on the graphic display of the instrument panel, and the bionic robot image recognition device is mainly used for collecting and recognizing image information required by driving operation from the instrument panel. The hemispherical shell 110 simulates the appearance of an eyeball of a human eye, and the central through hole 110a is used for allowing external light to enter, so that the visual field acquisition member 130 arranged opposite to the through hole 110a acquires image information. The view collecting member 130 is disposed at a position facing the through hole 110a inside the hemispherical shell 110 by means of the fixing member 120. Alternatively, the field of view acquisition member 130 may employ a high frequency camera to quickly and accurately capture image information. Two modules, namely a highlight area identification module and a dark area identification module, can be implanted in the high-frequency camera.
The lens member 210 is a convex lens or a concave lens structure to achieve the effect of shortening or lengthening the focal length. Illustratively, the side of the sheet member 210 adjacent to the through hole 110a in fig. 1 is configured as a convex cambered surface. When the lens member 210 shields the through hole 110a, external light enters the through hole 110a, and then passes through the lens member 210 and then the lens of the vision collecting member 130 for imaging, and is converged in advance or is converged behind due to the influence of the convex lens structure or the concave lens structure, and the focal length is changed, so that the vision collecting member 130 cannot obtain clear image information, and the imaging condition of myopia or hyperopia is simulated. When the near-sight or far-sight effect is required to be simulated, the first driving member drives the lens piece 210 to move to a position for shielding the through hole 110a, and when the normal human eye effect is required to be simulated, the first driving member drives the lens piece 210 to move to a position for avoiding the through hole 110a. By superimposing and replacing different lens elements 210, the focal length of the view acquisition element 130 can be varied to different extents, thereby simulating different extents of myopia or hyperopia. Illustratively, three lens elements 210 are provided in fig. 1, each having a convex lens configuration, which simulates mild, moderate and high myopia conditions as the number of lens elements 210 increases.
In this embodiment, a plurality of lens elements 210 and a first driving element for driving the lens elements 210 to move relative to the through holes 110a are disposed inside the hemispherical shell 110 of the bionic eyeball assembly 100, when the image information acquisition and recognition of a near-sighted or far-sighted person are required to be simulated, the first driving element is controlled to enable the lens elements 210 to shield the through holes 110a so as to change the focal length of the visual field acquisition element 130, thereby simulating the effect of near-sighted or far-sighted, different near-sighted or far-sighted degrees can be simulated by changing the lens elements 210 shielding the through holes 110a, and more comprehensive data support is provided for development and research of automobiles.
Referring to fig. 2, in some embodiments, the fixing member 120 includes two fixing bars 121 vertically connected. Two ends of each fixing rod 121 are respectively connected with the edge of the hemispherical shell 110, and the connection part of the two fixing rods 121 is opposite to the through hole 110a and is connected with the visual field acquisition member 130. That is, the centers of the two fixing rods 121 are connected to form a cross structure, which facilitates the precise installation of the view field collecting member 130, and simultaneously facilitates the calculation of the viewpoint position and the line of sight range.
Referring to fig. 1, in some embodiments, the lens piece 210 includes two side-by-side sub-lens pieces 211. The lens piece 210 has a closed state and a separated state. In the closed state, the inner edges of the two sub-lens pieces 211 are abutted against each other, and the lens piece 210 shields the through hole 110a. In the separated state, the inner edges of the two sub-transmission sheets 211 are separated from each other, and the transmission sheet 210 is kept away from the through hole 110a. The first driving member is used for driving the two sub-transparent sheets 211 to approach or separate from each other so as to switch the transparent sheet 210 between the folded state and the separated state. Thus, compared with the scheme of moving the transparent piece 210 in whole, the movement of the two sub transparent pieces 211 can more effectively utilize the space inside the hemispherical shell 110, and simultaneously avoid collision with other structures in the moving process of the transparent piece 210.
Fig. 3 is a schematic structural view of a transparent sheet according to an embodiment of the present invention, fig. 4 is a schematic structural view of a transparent sheet according to another embodiment of the present invention, and fig. 5 is a schematic structural view of a first driving member according to an embodiment of the present invention.
Referring to fig. 3,4, and 5, in some embodiments, the vision adjustment mechanism 200 further includes a plurality of traction wires (not shown). The first driving member 220 has a telescopic rod 221, and the upper end of the sub-lens 211 is rotatably connected to the inner side of the hemispherical shell 110, and the lower end of the sub-lens 211 is connected to the telescopic rod 221 by means of a traction wire. When the telescopic rod 221 is shortened, the two sub-transparent sheets 211 are pulled by the traction wire to rotate around the direction away from each other, so that the transparent sheet piece 210 is switched from the closed state to the separated state, and when the telescopic rod 221 is extended, the two sub-transparent sheets 211 rotate around the direction close to each other under the action of gravity, so that the transparent sheet piece 210 is switched from the separated state to the closed state. Thus, compared with the scheme that the movement mode of the sub-transparent sheet 211 is set to be translational, the movement mode of the sub-transparent sheet 211 is set to be rotational, structures such as guide are not required to be arranged, and only the rotating shaft connection is required to be arranged, so that the installation is convenient. In fig. 3, the lowermost sheet member 210 is in a closed state, and the two upper sheet members 210 are in a separated state.
Specifically, the first driving member 220 is a driving device having a telescopic rod 221, for example, an air cylinder, an electric push rod, an electric cylinder, or the like. The first driving member 220 further includes a fixing portion 222, the telescopic rod 221 is telescopic with respect to the fixing portion 222, and the fixing portion 222 is used for mounting and fixing. The upper ends of the sub-transparent sheets 211 are provided with circular arcs, so that interference is avoided when the two sub-transparent sheets 211 rotate around the directions away from each other. The upper end of the sub-lens 211 is provided with a first coupling hole 211a for rotatably coupling with the hemispherical shell 110. The lower end of the sub-lens 211 is provided with a second connection hole 211b for connection with the traction wire.
Alternatively, referring to fig. 3, the first connection holes 211a of the plurality of sub-lenses 211 positioned at the same side may share the same rotation shaft to connect the hemispherical housing 110. Referring to fig. 4, the first connection holes 211a of the plurality of sub-lenses 211 positioned at the same side may also be connected to the hemispherical housing 110 using different rotation shafts, respectively.
Referring to fig. 5, in some embodiments, the first driver 220 further includes a stop 223 and a spring 224. The baffle 223 is connected to the front end of the telescopic rod 221, and the spring 224 is sleeved on the telescopic rod 221. Thus, under the elastic action of the spring 224, the first driving member 220 maintains an extended state when no command is performed, and the lens member 210 maintains a closed state, simulating a myopia or hyperopia effect.
Fig. 6 shows a partial schematic view at a in fig. 2.
Referring to fig. 6, in some embodiments, the upper portion of the fixing member 120 is provided with a penetration hole 120a for passing the traction wire. In this way, the trend of the traction wire is conveniently controlled, and when the first driving member 220 is installed at most positions in the hemispherical shell 110, the shortening of the telescopic rod 221 can enable the traction wire to stably pull the penetrating piece 211 to rotate upwards.
With continued reference to fig. 2, in some embodiments, the biomimetic robotic image recognition device further includes a biomimetic skull (not shown) and a field of view movement mechanism 300. The simulated eyeball assembly 100 and the visual field moving mechanism 300 are both positioned inside the simulated skull. The visual field moving mechanism 300 is connected with the fixing member 120 and the bionic skull, and is used for driving the bionic eyeball assembly 100 to move relative to the bionic skull. It can be appreciated that, the movement of the visual field depends on the rotation of the eyeball in addition to the overall movement of the head, and by providing the visual field moving mechanism 300, the bionic eyeball assembly 100 can move relative to the bionic skull, so as to simulate the rotation of the human eye and improve the simulation. In capturing image information, in addition to the image information on the dashboard, the rotation of the simulated eyeball assembly 100 may also be controlled by the visual field moving mechanism 300 to capture the image information of the rest of the center console.
As an alternative embodiment, the view moving mechanism 300 includes a boom 310, a connecting rod 320, a slider 330, a first rail 340, a second driver (not shown), a second rail 350, and a third driver (not shown). The upper end of the suspender 310 is connected with the top spherical hinge of the bionic skull, the lower end of the suspender 310 is connected with the middle spherical hinge of the connecting rod 320, the front end of the connecting rod 320 is fixedly connected with the fixing piece 120, and the rear end of the connecting rod 320 is connected with the sliding piece 330 spherical hinge. The first sliding rail 340 is slidably connected to the sliding member 330, and the second driving member is configured to drive the sliding member 330 to slide relative to the first sliding rail 340. The second sliding rail 350 is connected to the bionic skull and is slidably connected to the first sliding rail 340, and the third driving member is configured to drive the first sliding rail 340 to slide relative to the second sliding rail 350. The sliding direction of the sliding member 330 relative to the first sliding rail 340 is perpendicular to the sliding direction of the first sliding rail 340 relative to the second sliding rail 350.
In this embodiment, the lower end of the boom 310 is connected with the spherical hinge in the middle of the connecting rod 320, and the sliding piece 330 is connected with the spherical hinge in the rear end of the connecting rod 320, so that the sliding piece 330 can drive the connecting rod 320 to freely rotate around the connecting point in the middle, thereby driving the bionic eyeball assembly 100 connected to the front end of the connecting rod 320 to rotate relative to the connecting point in the middle of the connecting rod 320. The sliding connection of the slider 330 with the first sliding rail 340 and the sliding connection of the first sliding rail 340 with the second sliding rail 350 enable the slider 330 to have two degrees of freedom of movement in directions perpendicular to each other. The upper end of the suspender 310 is connected with a spherical hinge at the top of the bionic skull to coordinate with the movement of the sliding piece 330, and the position of the middle part of the connecting rod 320 is adjusted.
Alternatively, the second driving member and the third driving member may employ a driving device having a telescopic rod such as an air cylinder, an electric push rod, an electric cylinder, or the like.
Fig. 7 is a schematic diagram showing hardware connection of the image recognition device of the bionic robot according to an embodiment of the present invention.
Referring to fig. 7, in some embodiments, the biomimetic robotic image recognition device further comprises a biomimetic skull, a motherboard, and a remote control computer. The simulated eyeball assembly 100 and the main board are both positioned inside the simulated skull. The main board is wired to the field of view collecting member 130 and the first driving member 220. The remote control computer is wirelessly connected with the main board to acquire image information acquired by the field acquisition member 130 through the main board and input an execution command to the first driving member 220. Therefore, the staff can finish automobile detection by operating the remote control computer, the staff is not required to be positioned in the automobile for operation, the man-machine separation is realized, and the safety of the staff is ensured when accidents occur.
In particular to the embodiment shown in fig. 2, the main board is also wired to the second and third driving members. The remote control computer also inputs execution commands to the second driving piece and the third driving piece through the main board.
Further, the bionic robot image recognition device further comprises a timer, and the timer is located inside the bionic skull. The timer is connected with the main board in a wired manner so as to count when the main board acquires the image information acquired by the view acquisition member 130. The remote control computer obtains time information corresponding to the image information through the main board.
Specifically, the time information corresponding to the image information includes the occurrence time and duration of the image information, and further, the flicker duration, the flicker number, and the like of the image information can be deduced.
In summary, in the bionic robot image recognition apparatus of the present invention, the hemispherical shell 110 of the bionic eyeball assembly 100 is internally provided with the plurality of lens elements 210 and the first driving element 220 for driving the lens elements 210 to move relative to the through holes 110a, when the image information acquisition and recognition conditions of the near-sighted or far-sighted person need to be simulated, the first driving element 220 is controlled to enable the lens elements 210 to block the through holes 110a so as to shorten the focal length of the view acquisition element 130, thereby simulating the effect of near-sighted or far-sighted, different near-sighted or far-sighted degrees can be simulated by changing the number of the lens elements 210 blocking the through holes 110a, and more comprehensive data support is provided for development and research of automobiles.
In the description of the present invention, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Unless specifically stated or limited otherwise, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, or indirectly connected via an intervening medium, or may be in communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that in the present invention, 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 an element.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A biomimetic robotic image recognition device, the biomimetic robotic image recognition device comprising:
The bionic eyeball component comprises a hemispherical shell, a fixing piece and a visual field collecting piece, wherein the center of the hemispherical shell is provided with a through hole, the fixing piece is connected with the hemispherical shell, the visual field collecting piece is connected with the fixing piece and is positioned in the hemispherical shell and opposite to the through hole, and the visual field collecting piece is positioned in the hemispherical shell and opposite to the through hole
The vision adjusting mechanism is positioned in the hemispherical shell and comprises a plurality of lens pieces and a plurality of first driving pieces, wherein the first driving pieces are used for driving the lens pieces to move relative to the through holes, and the focal length of the vision collecting piece can be changed to different degrees when different lens pieces shield the through holes;
the transparent piece comprises two sub transparent pieces arranged side by side;
the transparent piece comprises a transparent piece, a through hole, a transparent piece and a transparent piece, wherein the transparent piece is provided with a folding state and a separating state, in the folding state, the inner side edges of the two sub transparent pieces are mutually abutted, and the transparent piece shields the through hole;
the first driving piece is used for driving the two sub-transparent pieces to be close to or far away from each other so as to enable the transparent pieces to be switched between the folding state and the separating state.
2. The biomimetic robotic image recognition device of claim 1, wherein the vision adjustment mechanism further comprises a plurality of traction wires;
the first driving piece is provided with a telescopic rod;
The upper ends of the sub-transparent sheets are rotatably connected to the inner side of the hemispherical shell, and the lower ends of the sub-transparent sheets are connected with the telescopic rods by virtue of the traction wires;
When the telescopic rod is shortened, the two sub-transparent sheets are pulled by the traction wire to rotate around the directions far away from each other, so that the transparent sheet piece is switched from the folding state to the separating state, and when the telescopic rod is extended, the two sub-transparent sheets rotate around the directions close to each other under the action of gravity, so that the transparent sheet piece is switched from the separating state to the folding state.
3. The biomimetic robotic image recognition device of claim 2, wherein the first driver further comprises a baffle and a spring;
the baffle is connected to the front end of the telescopic rod;
the spring is sleeved on the telescopic rod.
4. The bionic robot image recognizing apparatus according to claim 2, wherein the fixing member is provided at an upper portion thereof with a penetration hole for penetrating the traction wire.
5. The biomimetic robotic image recognition device of any one of claims 1-4, wherein the biomimetic robotic image recognition device further comprises a biomimetic skull and field of view movement mechanism;
the bionic eyeball assembly and the visual field moving mechanism are both positioned inside the bionic skull;
the visual field moving mechanism is connected with the fixing piece and the bionic skull and used for driving the bionic eyeball component to move relative to the bionic skull.
6. The biomimetic robotic image recognition device of claim 5, wherein the field of view movement mechanism comprises:
The upper end of the suspender is connected with the top spherical hinge of the bionic skull, the lower end of the suspender is connected with the middle spherical hinge of the connecting rod, the front end of the connecting rod is fixedly connected with the fixing piece, and the rear end of the connecting rod is connected with the spherical hinge of the sliding piece;
The first sliding rail is in sliding connection with the sliding piece, and the second driving piece is used for driving the sliding piece to slide relative to the first sliding rail;
The second sliding rail is connected with the bionic skull and is in sliding connection with the first sliding rail, and the third driving piece is used for driving the first sliding rail to slide relative to the second sliding rail;
the sliding direction of the sliding piece relative to the first sliding rail is perpendicular to the sliding direction of the first sliding rail relative to the second sliding rail.
7. The biomimetic robotic image recognition device of any one of claims 1-4, wherein the fixture comprises two fixing rods vertically connected;
two ends of each fixing rod are respectively connected with the edges of the hemispherical shell;
The connecting part of the two fixing rods is opposite to the through hole and is connected with the visual field collecting piece.
8. The biomimetic robotic image recognition device of any one of claims 1-4, further comprising a biomimetic skull, a motherboard and a remote control computer;
the bionic eyeball component and the main board are both positioned inside the bionic skull;
the main board is connected with the visual field acquisition piece and the first driving piece in a wired manner;
The remote control computer is in wireless connection with the main board, so that the image information acquired by the visual field acquisition part is acquired through the main board, and an execution command is input to the first driving part.
9. The biomimetic robotic image recognition device of claim 8, wherein the biomimetic robotic image recognition device further comprises a timer;
The timer is positioned inside the bionic skull;
The timer is connected with the main board in a wired way so as to count when the main board acquires the image information acquired by the visual field acquisition part;
And the remote control computer acquires the time information corresponding to the image information through the main board.
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| CN106405869A (en) * | 2016-12-14 | 2017-02-15 | 北京耐德佳显示技术有限公司 | Lens set with adjustable focal length |
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| CN210864238U (en) * | 2019-12-24 | 2020-06-26 | 辽宁省欧视德创新科技有限公司 | Full-fusion difference light area physiotherapy glasses |
| CN114153066A (en) * | 2020-09-08 | 2022-03-08 | 未来（北京）黑科技有限公司 | Head-up display device and head-up display system |
| CN115670368A (en) * | 2021-07-23 | 2023-02-03 | 京东方科技集团股份有限公司 | Imaging adjusting device and method, wearable device and storage medium |
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| CN106297521A (en) * | 2016-10-18 | 2017-01-04 | 温州医科大学 | A kind of real time dynamic simulation device based on the adjustable simulated eye of spatial light modulator aberration and real time dynamic simulation method thereof |
| CN106405869A (en) * | 2016-12-14 | 2017-02-15 | 北京耐德佳显示技术有限公司 | Lens set with adjustable focal length |
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