CN-121973281-A - Multi-degree-of-freedom human eye-like device based on rope driving and control method thereof

CN121973281ACN 121973281 ACN121973281 ACN 121973281ACN-121973281-A

Abstract

A multi-degree-of-freedom human eye-like device based on rope driving comprises an eyeball and an imaging module, wherein the eyeball is a hollow sphere, the camera and the lens module are arranged in an inner cavity of the eyeball and synchronously move along with the eyeball, a spherical pair supporting structure comprises a base, the base is provided with a ball socket and is matched with an outer sphere of the eyeball to form a spherical hinge, a base threading hole is formed in the base, a motion control rope is fixed with the eyeball through the base threading hole, a weft guide groove and a warp guide groove are formed in the surface of the eyeball, the motion control rope outwards runs through the weft guide groove and the warp guide groove, a driving supporting structure comprises a rope control supporting frame connected with the base, a rope guide hole is formed in the rope control supporting frame, and the motion control rope is connected with a winding wheel of a rope control motor through the rope guide hole. The invention can reduce the structure volume and the rotational inertia, improve the dynamic response capability and the degree of freedom and has accurate control.

Inventors

XIA XIAOHUA
ZHANG YUAN
MA XINZHE
WANG QINZHE
Huo Huaiyu
DAI JIFA
Zhou Zhiyaojia
LIU YAN
ZHOU YANRU
CAO BIN

Assignees

长安大学

Dates

Publication Date: 20260505
Application Date: 20260130

Claims (10)

1. A multi-degree of freedom human eye-like device based on rope drive, comprising: The eyeball and imaging module consists of an eyeball (30), a camera and a lens module (20), wherein the eyeball (30) is a hollow sphere, and the camera and the lens module (20) are arranged in an inner cavity of the eyeball (30) and synchronously move along with the eyeball; the spherical pair supporting structure comprises a base, a base threading hole, a motion control rope, a base connecting rod and a base connecting rod, wherein the base is provided with a ball socket and is matched with an outer ball surface of an eyeball (30) to form a spherical hinge; the driving support structure comprises a rope control support frame (50) connected with the base, a rope guide hole is formed in the rope control support frame (50), and a motion control rope is connected with a winding wheel of a rope control motor (70) through the rope guide hole.
2. The rope-driven multi-degree of freedom human eye-like apparatus of claim 1 wherein the eyeball (30) is a front-back split structure comprising a front hemisphere and a back hemisphere connected.
3. The rope-driven multi-degree-of-freedom human eye-like device of claim 1 wherein the camera and lens module (20) comprises a prime lens (21), a liquid zoom lens (22) and a camera body (23) which are sequentially arranged along the optical axis direction, wherein the prime lens, the liquid zoom lens and the camera body (23) are connected through threads, and the camera and lens module (20) is rigidly fixed in an inner cavity of an eyeball (30) through a bracket and moves synchronously with the eyeball.
4. The multi-freedom-degree human-like eye device based on rope driving of claim 1, wherein the base comprises an upper base (10) and a lower base (40), wherein spherical surfaces are processed on the inner sides of the upper base (10) and the lower base (40), and a ball socket is formed after buckling; The base threading hole is a gap or an opening reserved at the joint surface of the upper base (10) and the lower base (40).
5. The multi-degree of freedom human eye-like apparatus of claim 4 wherein the rope controlled support frame (50) comprises a first ring member and a second ring member coaxially arranged, the first ring member is fixedly connected with the lower base (40), the second ring member has a smaller diameter than the first ring member, the first ring member and the second ring member are connected by a plurality of rods distributed uniformly, and the rope guiding hole is formed in the second ring member.
6. The rope-driven multi-degree of freedom human eye-like apparatus of claim 5 further comprising a motor support (60) connected to the second ring member, wherein six rope-controlled motors (70) are provided, and six rope-controlled motors (70) are distributed on the motor support (60) at positions connected to the winding wheel, wherein two rope-controlled motors (70) are used for controlling rolling movement of the eyeball (30), and the other four rope-controlled motors (70) are used for controlling pitching and yawing movement of the eyeball (30).
7. The rope-driven multi-degree of freedom human eye-like apparatus of claim 6 wherein the weft guiding grooves are located between the two most distal points of the equatorial position of the eyeball (30), two parallel grooves are formed on the outer wall of the lower base (40) and serve as guiding tracks for the outward running of the motion control rope, and the motion control rope fixed on the weft guiding grooves of the eyeball (30) is connected with the two rope-controlled motors (70) through the connection positions of the two winding wheels on the motor supporting frame (60) after passing through the two rope guiding holes on the second ring part.
8. The rope-driven multi-degree-of-freedom human eye-like device of claim 6 wherein the warp guide grooves start at four initial anchor points uniformly distributed along the equatorial direction of the eyeball (30) and extend and converge towards the bottom of the eyeball (30) along the longitudinal direction, and when the motion control rope fixed on the eyeball (30) passes outwards, the motion control rope passes through the bottom of the lower base (40) and passes through four rope guide holes on the second ring part, and then is respectively connected with four rope control motors (70) through four reel connection positions on the motor support frame (60).
9. The multi-degree of freedom human eye-like apparatus of claim 1 wherein the motion control cords are made of polyethylene fiber material.
10. A control method of a multi-degree of freedom human-simulated eye device based on rope drive according to any of claims 1-9 comprising roll motion control, pitch motion control and yaw motion control, respectively as follows: The rolling motion control is carried out by respectively driving motion control ropes fixed on weft guide grooves of eyeballs (30) through two rope control motors (70), controlling one rope control motor (70) to take up and the other rope control motor (70) to pay off, so that the motion control ropes generate tangential tension to drive the eyeballs (30) to rotate clockwise around an optical axis, and otherwise, rotating anticlockwise around the optical axis; The pitching motion control is carried out by respectively driving a pair of motion control ropes fixed on the eyeball (30) through a warp guide groove through two rope control motors (70), wherein the equatorial circumferential interval of the pair of motion control ropes is 180 degrees, and one rope control motor (70) is controlled to take up and the other rope control motor (70) is controlled to pay off so that the eyeball (30) is lifted upwards; Yaw motion control, namely driving another pair of motion control ropes fixed on the eyeball (30) through the warp guide grooves through two rope control motors (70), wherein the equatorial circumferential interval of the other pair of motion control ropes is 180 degrees, and controlling one rope control motor (70) to take up and the other rope control motor (70) to pay off so as to enable the eyeball (30) to deflect leftwards, and otherwise, deflecting rightwards.

Description

Multi-degree-of-freedom human eye-like device based on rope driving and control method thereof Technical Field The invention belongs to the technical field of bionic robots and machine vision, and particularly relates to a multi-degree-of-freedom human eye-like device based on rope driving and a control method thereof. Background With the rapid development of the bionic robot technology and the visual prosthesis technology, the bionic eye mechanical structure is taken as a core component for sensing the external environment of the robot, and related researches are paid attention to. The biological human eye has the characteristics of compact structure, flexible movement, high dynamic response and the like, and can realize the movements of pitching, yawing and rotating around the optical axis in three degrees of freedom. Among them, rotational movement (internal rotation/external rotation) of the eyeball around the optical axis is important for maintaining the stability of the visual horizon and for vestibulo-ocular reflex control. However, the existing bionic eye mechanical structure design has the following technical bottlenecks in the following aspects: 1. the structure is large in size and low in integration level, and the existing bionic eye mechanical structure mostly adopts a multi-shaft universal joint structure or a gear rack transmission mechanism, and the rigid transmission structure is simple to control, but has huge overall size and is difficult to plug into a bionic eye socket with standard size. 2. The rotating inertia is large, the dynamic response is poor, and the motor is usually directly arranged on the rotating shaft or is arranged in the eyeball in the existing bionic eye mechanical structure. The scheme of the built-in motor not only has difficult heat dissipation, but also obviously increases the quality of moving parts, and cannot realize high-speed glancing movement as the human eyes. 3. The degree of freedom is lacking, most compact bionic eye mechanical structures at present only can realize two degrees of freedom of pitching and yawing, and lack a third degree of freedom rotating around an optical axis, so that the motion function of human eyes cannot be completely reproduced. Disclosure of Invention The invention aims to solve the problems in the prior art, and provides a multi-degree-of-freedom human eye imitation device based on rope driving and a control method thereof, which are used for reducing the structural volume and the moment of inertia, improving the dynamic response capability and the degree of freedom and realizing accurate control. In order to achieve the above purpose, the present invention has the following technical scheme: in a first aspect, a rope-driven multi-degree of freedom human eye-like device is provided, comprising: the eyeball and imaging module consists of an eyeball, a camera and a lens module, wherein the eyeball is a hollow sphere, and the camera and the lens module are arranged in an inner cavity of the eyeball and synchronously move along with the eyeball; The spherical pair supporting structure comprises a base, a motion control rope, a base support and a base, wherein the base is provided with a ball socket which is matched with a spherical hinge formed by the outer sphere of an eyeball; The driving support structure comprises a rope control support frame connected with the base, wherein rope guide holes are formed in the rope control support frame, and a motion control rope is connected with a winding wheel of the rope control motor through the rope guide holes. As a preferable scheme, the eyeball adopts a front-back split structure formed by connecting a front hemisphere and a back hemisphere. As a preferable scheme, the camera and the lens module comprise a fixed focus lens, a liquid zoom lens and a camera body which are sequentially arranged along the optical axis direction, and the three are connected through threads; the camera and the lens module are rigidly fixed in the inner cavity of the eyeball through the bracket and synchronously move along with the eyeball. As a preferable scheme, the base comprises an upper base and a lower base, wherein the inner sides of the upper base and the lower base are respectively provided with a spherical surface, and ball sockets are formed after buckling; The base threading hole is a gap or an opening reserved at the joint surface of the upper base and the lower base. As a preferable scheme, the rope control support frame comprises a first circular ring part and a second circular ring part which are coaxially arranged, the first circular ring part is fixedly connected with the lower base, the diameter of the second circular ring part is smaller than that of the first circular ring part, the first circular ring part and the second circular ring part are connected through a plurality of rods which are uniformly distributed, and the rope guide hole is formed in the second circular ring part. As a prefer