Design On Visual System With 4-D.O.F. And Control System Implementation

People accept 80% information from surroundings through eyes . Recently, by using the instruments of video cameras and graphics cards, the vision identification technique can make up three-dimensional stereo figure using two-dimensional figure information ,achieve object positioning and etc.The theory of vision technology refers to image manipulation, pattern recognition, artificial intelligence, mechanical construction and etc. This subject mainly carries on the research of robotic vision system by imitating human visual function. This topic devises a kind of four degree of freedom vision setting that basically satisfies the structure and functional demand for the vision of apery. Using two video cameras instead of two eyes of man, adopting two circulating degree of freedom to imitate man's two eyes that adjust the sweeping angles on the horizontal level, make sure two video cameras meet each other; imitating man's neck turning we introduce two circulating two freedom angle ,which makes two get-together video cameras wholly like man's neck that circulates on the horizontal level, whose eddy range reaches(-л,л); pitching circulating on the vertical level ,whose eddy range reaches(-л/4,л/4) , moreover through step motor controls the corner size and bearing of each degree of freedom ,thus accomplish the function of vision setting circulating sweep on the horizontal level ,sweeping circulating search function on vertical level ,greatly enlarging the activity and search range of vision system .It not only enlarges the view, but also has a portable structure and concise design ,which avoids the doings of many vision devices that enlarge search range by unilaterally increasing the mechanical structure .We devise a simple and stable mechanical flat on the basis of it ,which sustains the video cameras to complete its orientation .This vision setting has features of portable structure ,simple control, extensive use-area, strong currency ,moreover has a broad applicant perspective.We establish four degree of freedom vision device movement model to educe the switch calculation from any dot on the object to the corresponding dot in the computer image. We accomplish the theoretical deduce and the figure of calculation about the CCD video cameras adjustment , solid match ,seek of crossed dots in space radicals, the confirmation of the space position of laser dots and etc.At last, we complete the design of control system on the basis of structure design to achieve the control towards the acts of the four degree of freedom vision setting.