Nine-degree-of-freedom binocular bionic eyes

Abstract

The invention belongs to the technical field of intelligent bionic robots, and particularly relates to a kind of nine-degree-of-freedom binocular bionic eyes. According to the technical scheme adopted by the invention, the nine-degree-of-freedom binocular bionic eyes comprise binocular bionic eyes and a neck mechanism, wherein the binocular bionic eyes are composed of a left eyeball mechanism and a right eyeball mechanism; the left eyeball mechanism comprises a camera which is arranged in an eyeball and can automatically rotate, a first motor used for controlling the eyeball to move left and right and a second motor used for controlling the eyeball to move up and down; the left eyeball mechanism is mounted on a bracket; the right eyeball mechanism and the left eyeball mechanism are the same in structure, and are mounted on the bracket in a mirror-symmetry mode; the neck mechanism comprises a third neck motor used for driving the binocular bionic eyes to carry out rotational motion, a first neck motor used for driving the binocular bionic eyes to carry out up-down pitching motion, and a second neck motor used for driving the binocular bionic eyes to swing left and right. The nine-degree-of-freedom binocular bionic eyes can be utilized to realize all-scene visual information acquisition.

Description

technical field [0001] The invention belongs to the technical field of intelligent bionic robots, in particular to a nine-degree-of-freedom binocular bionic eye. Background technique [0002] Eyes are one of the most important organs for human beings to interact with the external environment. More than 90% of the information that humans perceive the external environment is obtained through the eyes. "Eye" is also one of the most important sensing devices for bionic robots. The research on bionic eyes can improve the autonomy and environmental adaptability of intelligent bionic robots, and promote the development of core vision technology of intelligent bionic robots. Therefore, research on bionic The eye is a research hotspot in the field of intelligent bionic robot technology. [0003] Human anatomy and physiology studies have shown that each human eye has six muscles and three degrees of freedom. Under the control of the brain, the human eyes perform saccade, smooth track...

AI Technical Summary

Problems solved by technology

Patent CN201220166296.0 proposes a bionic robot eye movement mechanism, the left and right eyeballs of the mechanism are fixed together with the eyeball connecting frame, respectively connected to the frame through two Hooke hinges, and the up and down synchronization of the two eyeballs is realized through the drive of the electric push rod Rotation; the motor drives the lead screw to rotate to realize the linear motion of the slider, and then realize the synchronous left and right rotation of the two eyeballs; each eyeball of this mechanism has only two degrees of freedom, and the two eyeballs can only rotate synchronously, and cannot move in different directions; Bodies do not have a neck

Patent CN201210551864.3 proposes a binocular three-dimensional bionic eye mechanism with panoramic capture and positioning functions. Each eyeball of the mechanism has three degrees of freedom, and the neck has only one degree of freedom for left and right rotation. No specific mechanical structure and transfer method

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