一种基于多轴高响应直线驱动的仿生视觉平台

摘要

根据自主视觉导引机器人(如无人驾驶、自动导航、机器手作业和空间探测等)在复杂场景下因颠簸、振动、坡度变化、离焦和目标快速移动造成成像不理想甚至失去对目标的跟踪问题,提出了一种自主机器人仿生视觉平台.该平台仿照人眼运动机理,通过多轴直线电机驱动模型可对目标物体进行随动跟踪.与传统仿生视觉平台不同,直线电机高响应性的特点不仅可以提供更快更精确的追踪效果,而且有能力应对外界干扰并进行快速响应.为自主机器人智能追踪系统提供了关键基础部件的设计原理和方法.%This paper intends to present a stable imaging platform for the visual system of autonomous robot,aiming at improving the non- optimal quality of image which is caused by tremor,vibration,slope alteration as well as rapid movement of the target during the moving process in intricate circumstances. According to the mechanism of human optical system,a bionic imaging platform driven by multi - axis linear motors is given, in which the function of swift tracing is integrated.Moreover,a better tracking effect and capacities of anti- interference can be available due to the high response of linear motor when comparing to the traditional bionic eye. This research also contributes fundamental approaches to the framework designs of the visual system of autonomous robot.