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Bionic binocular stereovision apparatus

A technology of binocular stereo vision and connecting rod, which is applied in the field of robotics, can solve the problems of many calibration tasks and increase the complexity of the system, and achieve the effect of reducing the number, expanding the application prospect and compact mechanism.

Inactive Publication Date: 2009-07-08
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The movement of the above two parallel mechanisms is independent of each other. When acquiring images, the mutual position between the two cameras requires more calibration work, and increases the complexity of the system.

Method used

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  • Bionic binocular stereovision apparatus
  • Bionic binocular stereovision apparatus
  • Bionic binocular stereovision apparatus

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Embodiment Construction

[0015] The embodiments of the present invention will be further described in detail below with reference to the drawings: this embodiment is implemented on the premise of the solution of the present invention, and detailed implementation manners are given, but the protection scope of the present invention is not limited to the following embodiments.

[0016] Such as Figure 1-3 As shown, this embodiment includes the following components: a base 1, a U-shaped piece 8, two cameras 7, 15, four driving swing rods 4, 10, 12, 16, two motors 2, 3, and six connecting rods 5, 6, 9, 11, 13, 14, also contain some commonly used connecting parts, such as rotating joints 17-33. The two motors 2 and 3 are arranged on the base 1, the base 1 and the second link 6 provided with the camera 7 are connected by two branches, and the base 1 and the sixth link 14 provided with the camera 15 pass through The two branches are connected. among them:

[0017] The two branches containing camera 7 are as follow...

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Abstract

The invention relates to a bionic binocular stereoscopic vision device in the technical file of bionics, wherein a base is connected with a second connecting rod provided with a camera through two branches; one end of a driving pendulum rod of the first branch is connected with a motor through a revolute pair, and the other end of the driving pendulum rod of the first branch is connected with one end of a first connecting rod through a revolute pair; the other end of the first connecting rod is connected with the second connecting rod provided with the camera through a revolute pair; one end of a driving pendulum rod of the second branch is connected with a motor through a revolute pair, and the other end of the driving pendulum rod of the second branch is connected with one end of a third connecting rod; the other end of the third connecting rod is connected with one end of a U-shaped piece provided with a camera though a revolute pair; and the base is connected with a sixth connecting rod provided with a camera through two branches as well. The bionic binocular stereoscopic vision device utilizes two motors to realize synchronous motion of two cameras, has a compact structure because all the motors are arranged on the base, and reduces the difficulty of system calibration because mutual positions between the two cameras are fixed.

Description

Technical field [0001] The invention relates to a target calibration device in the technical field of robots, in particular to a bionic binocular stereo vision device. Background technique [0002] In recent years, with the rapid development of technology, the research and application of robots, especially humanoid robots, have made significant progress. As a visual sensor system that obtains external three-dimensional coordinate information, it is becoming more and more important in the successful application of robots. Therefore, the development of binocular stereo vision devices is of great significance. [0003] A literature search on the prior art found that most of the existing equipment currently uses a series mechanism to drive the movement of two cameras (human-like multi-degree-of-freedom stereo binocular vision device, application number: 03124756.3). Due to the existence of the tandem mechanism, this solution reduces its accuracy, rigidity, load and other performance....

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
Inventor 高峰金振林杨加伦赵现朝
Owner SHANGHAI JIAO TONG UNIV
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