Control system for binocular head and eye coordination exercise and positioning method of control system

Abstract

The invention belongs to the field of bio-robot control and particularly provides a control system for binocular head and eye coordination exercise and a positioning method of the control system to solve the problem that an existing head and eye coordination exercise control system is relatively difficult to actually apply in engineering. The control system comprises a rotating plate and a swivel mount. The rotating plate is provided with a first camera, a first drive device driving the first camera to do pitching and deflection actions relative to the rotating plate, a second camera and a second drive device driving the second camera to do pitching and deflection actions relative to the rotating plate. When the control system works, firstly, the two cameras are primarily positioned, and then an external parameter matrix between the two cameras are acquired in real time through parameters in the cameras and parameters of the hands and the eyes. According to the control system, external parameters between the two cameras can be acquired in real time in the moving process of the cameras only by carrying out three-dimensional calibration at the initial position once.

Description

technical field [0001] The invention belongs to the field of bionic robot control, and specifically provides a control system for binocular head-eye coordinated movement and a positioning method thereof. Background technique [0002] Eyes are the most important senses for human beings to obtain external information, and are responsible for about 80% of human information acquisition tasks. After millions of years of evolution, the human visual system has been highly developed and perfected, forming an extremely precise and complete mechanism, and possessing the ability to adapt to changes in the internal and external environments. Therefore, it is one of the research directions that many domestic and foreign researchers are currently working on to equip robots and machine vision devices with intelligent eyes, so that they can perceive and obtain environmental information like humans, and quickly and accurately identify and track targets. [0003] However, due to the complexi...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the existing head-eye coordinated movement control system is relatively difficult in engineering practice, the present invention provides a control system for binocular head-eye coordinated movement and its In the positioning method, the control system includes a rotating member, and the rotating member is provided with: a first camera and a first driving device that drives the first camera to perform pitch and yaw movements relative to the rotating member; a second camera and drives the second Second drive means for pitching and yawing motion of the camera relative to said rotating plate

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