Wide-field-of-view anti-shake high-dynamic bionic eye

Patent metadata

Field	Value
Publication number	US-11614719-B2
Application number	US-202016742542-A
Country	US
Kind code	B2
Filing date	Jan 14, 2020
Priority date	Jul 25, 2019
Publication date	Mar 28, 2023
Grant date	Mar 28, 2023

Abstract

The present application discloses a wide-field-of-view anti-shake high-dynamic bionic eye. A trajectory tracking method based on a bionic eye robot includes: establishing a linear model according to a bionic eye robot; establishing a full state feedback control system on the basis of the linear model; in the full state feedback control system, acquiring an angle and an angular acceleration required for a joint in a target tracking process of the bionic eye on the basis of a preset trajectory expectation value and a preset joint angle expectation value; the method further includes: adopting a linear quadratic regulator (LQR) to calculate a parameter K in the full state feedback control system, and minimizing energy consumption by establishing an energy function, so as to optimize the coordinated head-eye motion control of the linear bionic eye. The present application achieves the optimal control of the target tracking.

First claim

What is claimed is:

1. A trajectory tracking method based on a bionic eye robot, for a multi-degree-of-freedom linear bionic eye, wherein the multi-degree-of-freedom refers to the degree of freedom of a neck joint and the degree of freedom of a single eyeball joint, the method comprises:
establishing a linear model according to a bionic eye robot, wherein the linear model comprises at least a gravity vector and a joint vector;
establishing a full state feedback control system on the basis of the linear model, wherein the full state feedback control system comprises a state feedback controller and a full state feedback control system expression, wherein an angle and an angular velocity state of each joint of the bionic eye are treated as state vectors of the state feedback controller;
in the full state feedback control system, acquiring an angle and an angular acceleration required for a joint in a target tracking process of the bionic eye on the basis of a preset trajectory expectation value and a preset joint angle expectation value; and
adopting a linear quadratic regulator (LQR) to calculate a parameter K in the full state feedback control system, and minimizing energy consumption by establishing an energy function, so as to optimize the coordinated head-eye motion control of the linear bionic eye, wherein the parameter K is a system parameter.

2. The trajectory tracking method based on a bionic eye robot according to claim 1 , wherein a system input moment matrix in the linear model established according to the bionic eye robot comprises:
u=M ( q ) {umlaut over (q)}+C ( q,{dot over (q)} ){dot over ( q )}+ B {dot over ( q )}+ Gq
wherein M is a symmetric positive definite inertia matrix, G is a gravity vector, C denotes a broad sense centrifugal force and Coriolis force matrix, q is a broad sense coordinate matrix, namely a joint vector, and B is a friction coefficient matrix; furthermore, the inertia matrix is:
M ( q )= D ( q )+ J

wherein J is a diagonal matrix the diagonal elements of which are r k 2 J m k , r k is a variable-speed ratio of a motor k, and J m k is a moment of inertia of the motor k.

3. The trajectory tracking method based on a bionic eye robot according to claim 1 , wherein the full state feedback control system expression of the full state feedback control system established on the basis of the linear model comprises:
{dot over (x)}=Ax+Bu
y=Cx
And the input of the state feedback controller is:
u=Kx

A, B and C respectively represent a matrix.

4. The trajectory tracking method based on a bionic eye robot according to claim 1 , wherein the preset trajectory expectation value and the preset joint angle expectation value comprise:
setting expectation motion trajectories of each joint, wherein x* and u* are preset trajectory expectation values, then:
x*=M x y d
u*=M u y d

wherein y d is a given joint angle expectation value, that is, the angle and the angular acceleration required for a joint in a target tracking process of the bionic eye are solved through the angle expectation value, M x and M u .

5. The trajectory tracking method based on a bionic eye robot according to claim 1 , wherein adopting a linear quadratic regulator (LQR) to calculate a parameter K in the full state feedback control system, and minimizing energy consumption by establishing an energy function, comprises:
establishing the energy function on the basis of the LQR regulator;
J= ½∫ 0 28 (Δ x T QΔx+Δu T RΔu ) dt

wherein the matrix Q is a weight of a performance index function to a state variable, and is a diagonal matrix; and the matrix R is a weight of a control variable, is also a diagonal matrix, and is positive definite.

6. A bionic eye robot, comprising a computer program for, when executed by a processor, realizing the steps of the trajectory tracking method based on a bionic eye robot as claimed in claim 1 .

7. A trajectory tracking device based on a bionic eye robot, for a multi-degree-of-freedom linear bionic eye, wherein the multi-degree-of-freedom refers to the degree of freedom of a neck joint and the degree of freedom of a single eyeball joint, the device comprises:
a linear model module, for establishing a linear model according to a bionic eye robot, wherein the linear model comprises at least a gravity vector and a joint vector;
a full state feedback control system model, for establishing a full state feedback control system on the basis of the linear model, wherein the full state feedback control system comprises a state feedback controller and a full state feedback control system expression, wherein an angle and an angular velocity state of each joint of the bionic eye are treated as state vectors of the state feedback controller;
an expectation module, for acquiring, in the full state feedback control system, an angle and an angular acceleration required for a joint in a target tracking process of the bionic eye on the basis of a preset trajectory expectation value and a preset joint angle expectation value; and
an optimal control module, for adopting a linear quadratic regulator (LQR) to calculate a parameter K in the full state feedback control system, and minimizing energy consumption by establishing an energy function, so as to optimize the coordinated head-eye motion control of the linear bionic eye.

8. The trajectory tracking device based on a bionic eye robot according to claim 7 , wherein the optimal control module is used to introduce the linear quadratic regulator (LQR) to the coordinated head-eye motion control of the multi-degree-of-freedom linear bionic eye.

9. A bionic eye, comprising the trajectory tracking device as claimed in claim 8 .

10. The trajectory tracking device based on a bionic eye robot according to claim 7 , wherein the full state feedback control system module is used to establish the full state feedback control system expression of the full state feedback control system
{dot over (x)}=Ax+Bu
and the input of the state feedback controller is:
u=Kx

A, B and C respectively represent a matrix.

11. A bionic eye, comprising the trajectory tracking device as claimed in claim 10 .

12. A bionic eye, comprising the trajectory tracking device as claimed in claim 7 .

13. A wide-field-of-view anti-shake high-dynamic bionic eye, comprising a binocular bionic eye having the trajectory tracking device of claim 7 and a neck mechanism,
wherein the neck mechanism drives a motion of the binocular bionic eye, the neck mechanism comprises a three-degree-of-freedom neck joint, the binocular bionic eye comprises two two-degree-of-freedom eyeball mechanisms, and
wherein the motion of the binocular bionic eye under the drive of the neck mechanism refers to an up-and-down motion, a left-and-right motion, a rotary motion, or a combined motion of the three motions above.

14. The bionic eye according to claim 13 , wherein when the neck mechanism drives the motion of the binocular bionic eye, the bionic eye is used for binocular tracking.

15. The bionic eye according to claim 14 , wherein when the neck mechanism drives the motion of the binocular bionic eye, the bionic eye is used to acquire full scene visual information.

16. The bionic eye according to claim 15 , wherein the binocular bionic eye comprises a right eyeball mechanism and a left eyeball mechanism which have the same internal structure, and a bracket, wherein the right eyeball mechanism and the left eyeball mechanism are respectively symmetrically mounted at the ends of the brac

Assignees

• Beijing Institute Tech

Inventors

• Huang Qiang
• Chen Xiaopeng
• Xu Yang
• Yu Zhangguo
• Chen Xuechao
• Zhang Weimin

Classifications

• B25J9/163

  learning, adaptive, model based, rule based expert control · CPC title

• B25J11/0015 Primary

  Face robots, animated artificial faces for imitating human expressions · CPC title

• G05B2219/40604

  Two camera, global vision camera, end effector neighbourhood vision camera · CPC title

• B25J9/1648

  non-linear control combined or not with linear control · CPC title

• B25J9/1607

  Calculation of inertia, jacobian matrixes and inverses · CPC title