Device, method and electronic equipment for collecting indoor documents

Abstract

The present invention belongs to the field of image acquisition technology, and solves the technical problem in the prior art that the image acquisition system uses a motor to drive a telephoto camera to aim at a target, resulting in optical path jitter and unclear imaging, and provides a device, method and electronic device for acquiring indoor documents. The device includes: a first camera mechanism, used to acquire a target image; a brushless motor, used to control the shooting angle of the first camera mechanism; a braking mechanism, which controls the brushless motor to stop rotating when the first camera mechanism is at a specified shooting angle, and when the brushless motor is in a braking state, the braking mechanism and the brushless motor both stop power output, and the optical path of the first camera mechanism to capture the target image is in a stable state. The present invention can accurately aim at indoor target document images for acquisition, and can avoid the problem of unclear imaging caused by motor jitter during acquisition, thereby achieving a high-precision document shooting effect.

Description

Technical Field

[0001] The present invention relates to the technical field of image acquisition, and in particular to a device, method and electronic equipment for acquiring indoor documents. Background Art

[0002] The image acquisition system is used to capture images or videos. There is currently an image acquisition system installed indoors, which is used to capture documents on desks in classrooms or to capture videos of indoor scenes. In order to obtain sufficiently clear images, a high-resolution camera or camera with a telephoto lens is required for shooting. Therefore, the image acquisition system needs to be able to cover multiple desks at the same time, and in actual application, it needs to meet the requirements of high speed and rapid alignment of each desk to complete the document photography in sequence.

[0003] The existing device for collecting indoor documents installed indoors requires telephoto shooting, so the angular position resolution of the telephoto lens aiming at the target document in the device for collecting indoor documents is required to be high enough. Assuming that the installation position of the device for collecting indoor documents is 3.5 meters away from the camera and the target, if the motor driving the camera has an angle error of 0.1°, the corresponding target aiming offset error is tan(0.1°)*3500mm=6.12mm; in addition, it is necessary to consider the system errors of the mechanical assembly and the system itself, as well as the error superposition and amplification effect of the multi-axis motor used in image acquisition, and the comprehensive error of target aiming can reach several centimeters; it can be seen that even a small motor control angle error will lead to a large error in shooting and aiming documents for identification. Therefore, it is very necessary to reduce the motor control angle error. The motor driver controls the motor to rotate at an angle close to the set value, that is, after the motor rotates at a preset angle, although it appears that the motor is stationary on the surface, in fact, the motor will still shake back and forth at a small angle at the preset angle. The reciprocating shaking of the motor will cause the image collected by the device for collecting indoor documents to be in a shaking state and cannot be stably shot. Therefore, the existing device for collecting indoor documents has a technical problem that when the motor drives the camera to aim at the target, there is optical path jitter, resulting in unclear imaging. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a device, method and electronic device for collecting indoor documents, so as to solve the technical problem that the existing device for collecting indoor documents has optical path jitter when the motor drives the camera to aim at the target, resulting in unclear imaging.

[0005] As a first aspect of the present invention, an embodiment of the present invention provides a device for collecting indoor documents, the device comprising:

[0006] A first camera mechanism, used for acquiring a target image;

[0007] A brushless motor, wherein the brushless motor is used to control the shooting angle of the first camera mechanism;

[0008] A braking mechanism, wherein the braking mechanism controls the brushless motor to stop rotating when the first camera mechanism is located at a specified shooting angle. When the brushless motor is in a braking state, both the braking mechanism and the brushless motor stop power output, and the optical path of the first camera mechanism for shooting the target image is in a stable state.

[0009] Preferably, there are two brushless motors: a first motor and a second motor; the motor support of the second motor is fixed on the rotor of the first motor, and the second motor and the first motor together constitute a driving mechanism of a two-degree-of-freedom dual-axis gimbal.

[0010] Preferably, there are two braking mechanisms: a first braking mechanism and a second braking mechanism, the first braking mechanism brakes the first motor, and the second braking mechanism brakes the second motor.

[0011] Preferably, the braking mechanism includes: a mounting seat, an elastic support mechanism and a brake lining arranged on the mounting seat, and an electromagnetic linear actuator; one end of the elastic support mechanism is connected to and supports the brake lining, and the other end is fixed to the mounting seat; the electromagnetic linear actuator is used to control whether the brake lining is in contact or not with the rotor of the brushless motor.

[0012] Preferably, the electromagnetic linear actuator comprises: a magnetic induction slide rod, a coil and a spring; the magnetic induction slide rod is located at one end of the brake lining and is provided with a flexible adhesive; the other end surface of the magnetic induction slide rod is provided with a thread, and the spring is used to generate a force against the brake lining.

[0013] Preferably, the electromagnetic linear actuator further comprises: a nut, the nut is used to adjust the movement stroke of the magnetic induction slide bar, the nut can abut against a baffle at a relative position on the mounting seat, and the baffle is provided with a buffer connected to the nut.

[0014] As a second aspect of the present invention, an embodiment of the present invention further provides a method for collecting indoor documents, the method comprising:

[0015] Obtain location information of the target document to be collected;

[0016] Determining the angle at which the first camera mechanism needs to rotate according to the position information;

[0017] According to the angle that the first camera mechanism needs to rotate, control the brushless motor to drive the first camera mechanism to rotate, and adjust the focal length of the first camera mechanism so that the first camera mechanism is in a shooting state;

[0018] When the difference between the actual rotation angle of the first camera mechanism and the required rotation angle of the first camera mechanism is less than a preset value, the braking mechanism is controlled to abut against the brushless motor to be in a braking state, so that the first camera mechanism stops rotating;

[0019] When the brushless motor is in a braking state, controlling the braking mechanism and the brushless motor to stop power output, so that the optical path of the first camera mechanism for capturing the target image is in a stable state;

[0020] Control the first camera mechanism to capture images.

[0021] Preferably, the obtaining the location information of the target document to be collected includes:

[0022] Controlling the second camera mechanism to identify the contour of the target document of interest at a first image resolution lower than the image resolution of the first camera mechanism;

[0023] Acquiring target angle position information of the first motor and the second motor according to the image coordinate information of the position of the target document contour;

[0024] According to the target angle position information, the first motor and the second motor are driven to rotate to the target angle position.

[0025] Preferably, before controlling the brushless motor to drive the first camera mechanism to rotate according to the angle that the first camera mechanism needs to rotate, and adjusting the focal length of the first camera mechanism so that the first camera mechanism is in a shooting state, the method further includes:

[0026] The braking mechanism is adjusted so that the noise generated when the braking mechanism brakes the brushless motor is within a preset range.

[0027] Preferably, the braking mechanism comprises:

[0028] A mounting seat, an elastic support mechanism and a brake lining and an electromagnetic linear actuator arranged on the mounting seat; one end of the elastic support mechanism is connected to and supports the brake lining, and the other end is fixed to the mounting seat; the electromagnetic linear actuator is used to control whether the brake lining is in contact or not with the rotor of the brushless motor; the electromagnetic linear actuator includes: a magnetic induction slide bar, a coil and a spring; the magnetic induction slide bar is located at one end of the brake lining and is provided with a flexible adhesive; the other end surface of the magnetic induction slide bar is provided with a thread, and the spring is used to generate a force abutting the brake lining; the electromagnetic linear actuator also includes: a nut, the nut is used to adjust the movement stroke of the magnetic induction slide bar, the nut can abut against a baffle at a relative position on the mounting seat, and the baffle is provided with a buffer connected to the nut.

[0029] As a third aspect, an embodiment of the present invention further provides an electronic device, comprising a display device and an apparatus for collecting indoor documents as described in any one of the above or a method for collecting indoor documents as described in any one of the above.

[0030] In summary, the beneficial effects of the present invention are as follows:

[0031] The device, method and electronic device for collecting indoor documents provided by the embodiment of the present invention use a brushless motor to drive the first camera mechanism, and brake the brushless motor through a braking mechanism, thereby eliminating the jitter of the brushless motor, ensuring the stability of the optical path of the first camera mechanism, and being able to accurately aim at the indoor target document and stably collect the target document image. In addition, since the brushless motor is used to drive the first camera mechanism for collection, the speed of collecting the target document is also greatly improved compared with the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings required for use in the embodiment of the present invention will be briefly introduced below. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work, and these are all within the protection scope of the present invention.

[0033] Figure 1 This is a schematic diagram of the structure of the device for collecting indoor documents in the first embodiment of the present invention;

[0034] Figure 2-1 It is a structural schematic diagram of the image acquisition device in the first specific embodiment of the present invention from another perspective;

[0035] Figure 2-2 for Figure 2-1 The enlarged view of point A in the middle;

[0036] Figure 3 It is a schematic diagram of the mechanism of the electromagnetic linear actuator in the first embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the braking state of the second motor in Embodiment 1 of the present invention;

[0038] Figure 5 This is a flow chart of controlling braking of the first motor in the first embodiment of the present invention;

[0039] Figure 6 This is a flow chart of controlling braking of the second motor in the first embodiment of the present invention;

[0040] Figure 7 This is a schematic diagram of the braking state of the first motor in the second embodiment of the present invention;

[0041] Figure 8This is a schematic diagram of the non-braking state of the first motor in the second embodiment of the present invention;

[0042] Fig. 9 It is a schematic diagram of a device for collecting indoor documents according to a fourth embodiment of the present invention;

[0043] Fig.10 It is a partial exploded schematic diagram of a device for collecting indoor documents according to a fourth embodiment of the present invention;

[0044] Fig.11 This is a flow chart of a method for collecting indoor documents according to Embodiment 5 of the present invention;

[0045] Fig.12 A schematic diagram of an image acquisition system according to a sixth embodiment of the present invention;

[0046] Fig.13 It is a schematic diagram of the structure of the electronic device according to the seventh embodiment of the present invention.

[0047] Parts and numbers in the picture:

[0048] 11. First motor; 111. Mounting rod; 12. Second motor; 21. First brake lining; 22. Second brake lining; 31. First brake mechanism; 32. Second brake mechanism; 311. Actuator housing; 312. Spring; 313. Magnetic induction slide bar; 314. Retaining spring; 315. Nut; 41. Support base plate; 42. Support frame; 43. Limiting rod; 51. First elastic support mechanism; 52. Second elastic support mechanism; 6. Buffer; 7. Elastic friction member; 8. Braking claw; 81. First brake arm; 82. Second brake arm; 83. First connecting arm; 84. Second connecting arm; 85. Third connecting arm; 9. Reset member; 10. Camera; 101. Reflector; 102. EVA adhesive layer; 103. First screw; 104. Second screw. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described in conjunction with the drawings in the embodiment of the present invention. It should be noted that, in this article, relational terms such as and are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. In the description of the present invention, it should be understood that the orientation or position relationship indicated by the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. In the absence of further restrictions, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article or device comprising the elements. If there is no conflict, the various features in the embodiments and examples of the present invention can be combined with each other, all within the scope of protection of the present invention.

[0050] The following combination Figure 1-Figure 13 The present invention is described in further detail.

[0051] Embodiment 1

[0052] The present invention provides a device for collecting indoor documents, which is mainly used in the collection of document images in classrooms and conference rooms. For example, when students are taking exams, a wide-angle lens 20 can be used to monitor the entire classroom and to perform an initial positioning of the entire shooting system; a telephoto lens can also be used to shoot the answering process of a single student or to collect the test papers and homework on the student's desk one by one, thus realizing intelligent teaching. Figure 1 As shown in FIG. 2 , the present invention provides a device for collecting indoor documents, the device for collecting indoor documents comprising:

[0053] A first camera mechanism, used for acquiring a target image;

[0054] A brushless motor, wherein the brushless motor is used to control the shooting angle of the first camera mechanism;

[0055] A braking mechanism, wherein the braking mechanism controls the brushless motor to stop rotating when the first camera mechanism is located at a specified shooting angle. When the brushless motor is in a braking state, both the braking mechanism and the brushless motor stop power output, and the optical path of the first camera mechanism for shooting the target image is in a stable state.

[0056] The device for collecting indoor documents of the embodiment of the present invention adopts a brushless motor to drive the first camera mechanism, and brakes the brushless motor through a braking mechanism, thereby eliminating the jitter of the brushless motor, ensuring the stability of the optical path of the first camera mechanism, and being able to accurately aim at the indoor target document and stably collect the target document image. In addition, since the brushless motor is used to drive the first camera mechanism for collection, the speed of collecting the target document is also greatly improved compared with the prior art. At the same time, since the brushless motor has the advantages of long working life, high angle accuracy, and noiseless operation, the volume of the entire image acquisition system product is reduced; the working life of the entire product is increased; the production cost and the operating noise of the product are reduced. Generally, the motor selection in the prior art includes a brushless motor with a built-in controller and a Hall angle sensor and a micro servo motor (servo) with a built-in gear reduction box and a Hall angle sensor. Since the servo has a built-in gear reduction box, it has the advantages of large torque and small static jitter, but the gear reduction box will bring a large return clearance to reduce the angle accuracy. In addition, the gear operation is noisy, and the most disadvantageous thing is that the gear has a limited working life. Therefore, a brushless motor with advantages such as long service life, high angle accuracy and noiseless operation is used. However, the static jitter frequency of a brushless motor is higher than that of a servo (the typical PID position closed-loop control frequency of a brushless motor is 2KHz). Assuming that the accuracy of the Hall sensor of a brushless motor is 14 bits, the theoretical quantization noise of the brushless motor is 360° / (2 14)=0.022°, that is to say, there is a jitter angle of 0.022°; the jitter distance of the target at 3.5 meters away is tan(0.022°)*3500≈1.34mm, so the theoretical pixel resolution upper limit of the image corresponding to the 60cm*40cm desk is only (600mm / 1.34mm)X (400mm / 1.34mm)≈(448X299) pixels, which shows that the resolution loss is large; when the product is running, in addition to the theoretical quantization noise, there are other errors such as signal noise and mechanical error that will further reduce the resolution of the entire system; it can be seen that when the brushless motor is used in the image acquisition system, it faces the jitter problem of controlling the brushless motor, which will reduce the image resolution and affect the quality of the acquired image. This embodiment adopts a brushless motor, which has high angular accuracy. In addition, the present invention adopts a braking mechanism to brake the brushless motor after the brushless motor rotates a certain angle, further eliminating the jitter of the brushless motor, thereby accelerating the optical path stabilization speed of the first camera mechanism, eliminating the jitter problem of the brushless motor during shooting, and thereby improving the accuracy of the image acquisition system in collecting documents. In addition, the noiseless operation of the brushless motor further reduces the noise of the product operation. In addition, the brushless motor angle execution is fast. In actual application, an image acquisition system has to cover 12 desks, and it takes an average of 2 seconds to complete the aiming, taking pictures and processing of a desk after the image is collected. Therefore, 12 desks only need 24 seconds to complete the process of collecting test papers and homework. This embodiment adopts a brushless motor, and the angular velocity execution command is fast, which greatly improves the speed of collecting test papers and homework.

[0057] In this embodiment, the first camera mechanism is set as a telephoto camera 10 to identify the document in the scene. Before identifying the document, it is necessary to use a second camera mechanism such as a wide-angle lens 20 to capture the image of the scene where the document is located to locate the location of the document. After the location of the document is determined, the telephoto camera 10 is used to accurately shoot it; after the brushless motor drives the first camera mechanism to rotate the preset angle, the brake mechanism is directly controlled to brake the brushless motor and control the brushless motor to stop rotating. When the brushless motor is in the braking state, the brake mechanism and the brushless motor both stop power output, and the optical path of the first camera mechanism to shoot the target image is in a stable state. In this way, the motor jitter is eliminated and the optical path of the first camera mechanism is stabilized. Due to the provision of a brake mechanism, when the first camera mechanism rotates to a specified angle, the brushless motor is controlled to stop rotating by the brake mechanism, so that the brushless motor stops shaking when the first camera mechanism is shooting, and the optical path during shooting is stabilized, which solves the technical problem of unclear imaging caused by optical path jitter when the motor drives the camera to aim at the target in the prior art, and has the advantage of accurately aiming at the document to capture the image.

[0058] In addition, when adjusting the rotation angle of the first camera mechanism, the focal length is adjusted at the same time, which is conducive to rapid focusing and further improves the speed of acquiring images.

[0059] In addition, after the brushless motor moves to the specified position, the braking mechanism enters the braking state, which immediately stops the power output of the braking mechanism and the brushless motor, so that the brushless motor will not have jitter problems and the efficiency of stably acquiring high-quality images is improved.

[0060] Preferably, the brushless motor comprises: a stator, a rotor and a motor support component; the rotor is connected to the stator, the rotor drives the first camera mechanism to move, and the stator is fixed on the brushless motor support component.

[0061] In this embodiment, the device for collecting indoor documents includes: a supporting base plate 41, a wiring groove is provided on the supporting base plate 41, and the wires of various electrical appliances pass through the wiring groove. The wiring groove is provided to make the entire device for collecting indoor documents more compact. The rotor of the brushless motor is arranged on the outer wall of the stator of the brushless motor. When the brushless motor is energized, the stator generates a magnetic field, causing the rotor to rotate, thereby driving the first camera mechanism to rotate. The motor support component is arranged on the supporting base plate 41, and the stator and the supporting base plate 41 are relatively fixed.

[0062] Preferably, an elastic friction member 7 is provided around the outer circumference of the rotor.

[0063] In this embodiment, an elastic friction member 7 is wound around the outer peripheral side wall of the rotor. Preferably, the elastic friction member 7 is made of EVA glue, which has the advantages of good weather resistance and high friction coefficient. The brake mechanism is fitted with the elastic friction member 7, which realizes the braking of the rotor on the one hand; on the other hand, when the brake mechanism abuts against the rotor, the elastic friction member 7 reduces the sound of the brake mechanism hitting the rotor, thereby reducing the device noise of the entire document collection room.

[0064] Preferably, the braking mechanism comprises:

[0065] A mounting seat, an elastic support mechanism and a brake lining and an electromagnetic linear actuator arranged on the mounting seat; one end of the elastic support mechanism is connected to and supports the brake lining, and the other end is fixed to the mounting seat; the electromagnetic linear actuator is used to control whether the brake lining is in contact or not with the rotor of the brushless motor.

[0066] Preferably, the electromagnetic linear actuator comprises: a magnetic induction slide rod, a coil and a spring; the magnetic induction slide rod is located at one end of the brake lining and is provided with a flexible adhesive; the other end surface of the magnetic induction slide rod is provided with a thread, and the spring is used to generate a force against the brake lining.

[0067] Preferably, the electromagnetic linear actuator further comprises: a nut, the nut is used to adjust the movement stroke of the magnetic induction slide bar, the nut can abut against a baffle at a relative position on the mounting seat, and the baffle is provided with a buffer connected to the nut.

[0068] In this embodiment, a plurality of weight-reducing holes are provided on the brake lining, which reduces the weight of the brake lining on the one hand, thereby reducing the driving force required by the motor. On the other hand, the hole walls between the plurality of weight-reducing holes form reinforcing ribs of the entire structure, and the plurality of weight-reducing holes prevent the shrinkage of the material of the brake lining during injection molding, thereby strengthening the structural strength of the entire brake lining. The mounting seat includes a support frame 42 and a support base plate 41, the support frame 42 is mounted on the support base plate 41, and the motor support component is mounted on the support base plate 41; an anti-skid structure is provided on the side of the brake lining facing the motor. The brake linings are all set to be a quarter of an arc shape, and the anti-skid structure is all set to be anti-skid teeth; the pressure exerted by the brake lining on the rotor of the motor is greater, and when the brake lining contacts the motor, the rotation of the motor can be stopped immediately, thereby eliminating the response time, accelerating the stable speed of the device for collecting indoor documents, and thereby preventing the motor from being affected by inertia and shaking when moving. The entire device for collecting indoor documents has a short response time, a fast braking speed, and a fast and stable effect; the optical path is stable and the shooting is clear.

[0069] The support frame 42 is perpendicular to the support base plate 41, and the electromagnetic linear actuator is installed on the support frame 42. The support base plate 41 and the support frame 42 are relatively fixed. The elastic support mechanism is connected to the brake lining, and the brake lining and the electromagnetic linear actuator are separately arranged. The elastic support mechanism can be deformed toward or away from the motor, thereby facilitating the electromagnetic linear actuator to abut the brake lining against the rotor of the motor or loosen it from the rotor of the motor. An elastic support mechanism is provided to support the brake lining, so that the electromagnetic linear actuator and the brake lining are separately provided, and the elastic force of the pre-loaded spring 312 of the electromagnetic linear actuator is used to provide an abutting force to the brake lining, and the elastic support mechanism can be deformed to keep the brake lining at a preset position at all times, thereby facilitating the control of the rotor of the brake motor of the brake lining; when the abutting force of the electromagnetic linear actuator is cancelled, the elastic force of the elastic support mechanism drives the brake lining to return to its original position, so that the brake lining returns to its original position quickly; in other embodiments, the electromagnetic linear actuator and the brake lining can also be bonded with double-sided tape, so that the electromagnetic linear actuator is connected to the brake lining, and the electromagnetic linear actuator drives the brake lining to move.

[0070] In addition, an abutment plate is provided on the side of the electromagnetic linear actuator facing the brake lining; the area of ​​the abutment plate is close to that of one side of the brake lining, which increases the area of ​​the electromagnetic linear actuator acting on the brake lining, thereby increasing the reliability of the electromagnetic linear actuator abutting the brake lining. An elastic member is provided on the side of the abutment plate facing the brake lining, on the one hand to eliminate the impact sound when the electromagnetic linear actuator acts on the brake lining, and on the other hand to prevent the electromagnetic linear actuator from directly impacting the brake lining and causing deformation of the lining. Specifically, a double-sided rubber sheet can be provided on the abutment plate to connect the electromagnetic linear actuator to the brake lining.

[0071] Preferably, Figure 3 As shown, the electromagnetic linear actuator includes: a magnetic induction slide bar 313 and a spring 312; the magnetic induction slide bar 313 is located at one end below the brake lining and is provided with a flexible adhesive; the other end of the magnetic induction slide bar 313 is a threaded rod, and the spring 312 is used to generate a force against the brake lining.

[0072] In this embodiment, the flexible adhesive can be set as a double-sided adhesive, and the electromagnetic linear actuator of the flexible adhesive is connected to the brake lining; the electromagnetic linear actuator also includes: an actuator housing 311 and a coil. The coil is arranged inside the actuator housing 311, and the magnetic induction slide bar 313 is passed through the coil and both ends of the magnetic induction slide bar 313 pass through the actuator housing 311; a retaining spring 314 is arranged on the magnet, and the spring 312 is arranged between the actuator housing 311 and the retaining spring 314. When the coil is energized, a magnetic field is generated, causing the magnetic induction slide bar 313 to move along the axis of the coil and compress the spring 312. When the coil is de-energized, the spring 312 returns to its original state and pushes the magnetic induction slide bar 313 back to its original position. The spring 312 is set to be a spring 312 with one end larger and the other end smaller, and the smaller end is close to the retaining spring 314; when the electromagnetic linear actuator is not powered, one end abuts against one end of the brake lining, and the spring 312 inside the electromagnetic linear actuator is in a pre-stressed state, the pre-stressed spring 312 gives the spring 312 inside the electromagnetic linear actuator an elastic force to abut the brake lining, and then the rotating part of the motor abuts. A flexible adhesive is set at one end of the electromagnetic linear actuator close to the brake lining to avoid noise when the electromagnetic linear actuator abuts against the brake lining. When the electromagnetic linear actuator is energized, the magnetic induction slide bar 313 of the electromagnetic linear actuator compresses the spring 312 and moves away from the motor, releasing the motor so that the motor is no longer restricted. At this time, it is easy to control the rotation of the motor. When the motor needs to be restricted, the electromagnetic linear actuator is powered off, the spring 312 is restored to its original state, and the slide bar of the electromagnetic linear actuator is pushed back to its original position to abut against the brake lining. At this time, the spring 312 is still in a pre-stressed state. That is, the electromagnetic linear actuator brakes the motor without energizing it, without consuming electrical energy. Since the device for collecting indoor documents is mostly in a stationary state, the camera 10 needs to be fixed and stationary to prevent the brushless motor from generating static heat power consumption and affecting the service life of the brushless motor.

[0073] Preferably, the electromagnetic linear actuator further comprises: a nut 315 , the nut 315 is used to adjust the movement stroke of the magnetic induction slide bar 313 , and the nut 315 can abut against a baffle at a relative position on the support frame 42 .

[0074] In this embodiment, the end of the magnetic induction slide bar 313 close to the baffle is provided with a sound-absorbing foam, which reduces the noise generated by the magnetic induction slide bar 313 hitting the support frame 42, or the noise generated by the magnetic induction slide bar 313 hitting the brake lining, and plays a sound-absorbing role; in addition, the end of the magnetic induction slide bar 313 away from the brake lining is provided with an external thread, and the external thread is connected with a nut 315. When the position adjustment of the nut 315 is determined, the nut 315 can be locked with a small nut or fixed by a dispensing method; the relative position of the nut 315 and the magnetic induction slide bar 313 is changed to adjust the stroke of the magnetic induction slide bar 313. In addition, the area of ​​the nut 315 is large, which increases the contact area between the electromagnetic linear actuator and the support frame 42, reduces the pressure on the contact surface, and increases the reliability of the electromagnetic linear actuator and the support frame 42. Here, the movement of the magnetic induction slide bar 313 is an acceleration process, and the stroke of the magnetic induction slide bar 313 should not be too large or too small. Because the acceleration movement of the magnetic induction slide bar 313 will cause the brake lining to hit the motor rotor too fast when the stroke is too large, thus generating a lot of noise. When the stroke is too small, the brake lining and the elastic friction part 7 will not be fully released from contact, resulting in resistance when the brushless motor rotates. This will cause sliding friction between the brake lining and the elastic friction part 7, which will affect the angular positioning accuracy of the brushless motor and make the first camera mechanism unable to aim. At the same time, the brake lining and the elastic friction part 7 will be worn. The debris after wear will affect the optical path and make the elastic friction part lose its function (such as losing the static friction and impact buffering functions).

[0075] Preferably, combined Figure 1 , Figure 2 and Figure 3 A buffer 6 for reducing the impact of the nut 315 is provided on the surface of the baffle plate facing the nut 315 .

[0076] In this embodiment, when the nut 315 hits the baffle, it directly hits the buffer 6. The contact surface of the nut is larger. When the nut is powered and moves, the buffer 6 is provided between the nut and the baffle to eliminate noise.

[0077] Preferably, there are two brushless motors: a first motor 11 and a second motor 12; the motor support of the second motor is fixed on the rotor of the first motor, and the second motor and the first motor together constitute a driving mechanism of a two-degree-of-freedom dual-axis gimbal.

[0078] Preferably, there are two braking mechanisms: a first braking mechanism and a second braking mechanism, the first braking mechanism brakes the first motor, and the second braking mechanism brakes the second motor.

[0079] In this embodiment, elastic friction members 7 are provided on the outer sides of the rotors of the first motor 11 and the second motor 12, and the specific elastic friction members 7 are elastic foam. The brake lining includes a first brake lining 21 and a second brake lining 22, which reduce the force of the first brake lining 21 on the first motor 11. At the same time, the first brake lining 21 with an anti-skid structure abuts against the elastic friction member 7, increasing the friction between the two, so that the first brake lining 21 can brake it well, making the first motor 11 more stable. The elastic friction member 7 is also provided on the outer wall of the rotating part of the second motor 12, which reduces the force of the second brake lining 22 on the second motor 12. At the same time, the second brake lining 22 with an anti-skid structure abuts against the elastic friction member 7, increasing the friction between the two, so that the second brake lining 22 can brake it well, making the second motor 12 more stable. Thus, the effect of the entire device for collecting indoor documents is better and the noise is lower.

[0080] The rotating part of the first motor 11 is connected to the second motor 12. Specifically, a mounting rod 111 is provided on the rotating part of the first motor 11. One end of the mounting rod 111 is provided with a mounting plate perpendicular to the mounting rod 111, and the second motor 12 is mounted on the mounting plate. Both ends of the mounting rod 111 extend toward the rotating part of the first motor 11 toward the outside of the first motor 11, and the mounting rod 111 can rotate with the rotation of the rotating part of the first motor 11. The second motor 12 is arranged at one end of the mounting rod 111, wherein the projection of the second motor 12 in the vertical direction does not overlap with the projection of the first motor 11, and the rotating shaft of the second motor 12 is perpendicular to the rotating shaft of the first motor 11, so that the volume of the entire device for collecting indoor documents is relatively compact; in other embodiments, the rotating shaft of the second motor 12 and the rotating shaft of the first motor 11 can be adjusted as needed.

[0081] The device for collecting indoor documents is correspondingly provided with a limit rod 43, which is used to limit the movement path of the installation rod 111 away from one end of the second motor 12, thereby limiting the rotation angle of the entire first motor 11 to prevent the first motor 11 from rotating too far.

[0082] Combination Figure 2-1 as well as Figure 2-2, a first screw rod 103 is provided on the support base plate 41, and the first screw rod 103 is threadedly connected to the support base plate 41; a second screw rod 104 is provided inside the first screw rod 103, and the second screw rod 104 axially passes through the first screw rod 103 and extends toward the mounting rod 111; the second screw rod 104 is threadedly connected to the first screw rod 103, and the length of the second screw rod 104 extending out of the first screw rod 103 can be adjusted by rotating the second screw rod 104. A fixing hole 1111 with an internal thread is provided at a position corresponding to the second screw rod 104 on the mounting rod 111; the second screw rod 104 is rotated from the side of the support base plate 41 away from the first motor 11, and the length of the second screw rod 104 extending out of the first screw rod 103 is adjusted until the second screw rod 104 is threadedly connected to the fixing hole 1111, so that the relative position of the mounting rod 111 and the support base plate 41 is fixed. When transporting the product, the second screw 104 is connected to the fixing hole 1111, so as to fix the mounting rod 111 and prevent the mounting rod 111 from rotating due to the freedom of the first motor 11 during transportation, thereby preventing the second motor 12 from shaking and affecting the accuracy of the first motor 11 and the second motor 12.

[0083] The rotating part of the second motor 12 is provided with a mounting part, which can be used to mount the reflector 101. In other embodiments, the mounting part is used to mount a camera 10 with a smaller mass. In this case, the entire device for collecting documents in the room is directly controlled to rotate the camera 10. In this embodiment, the elastic support component includes: a first elastic support mechanism 51 and a second elastic support mechanism 52; the first elastic support mechanism 51 is connected to the first brake lining 21, and the first elastic support mechanism 51 can be deformed toward or away from the first motor 11. The brake pad can be a 3D printed plastic part, or can be set up for injection molding, which is convenient for mass production; the first elastic support mechanism 51 is provided with a screw hole, and is installed on the support base plate 41 through the screw hole; the first elastic support seat is "L"-shaped, and the part where the first elastic support seat is connected to the first brake pad 21 is set as a thin sheet, so that the entire first elastic support mechanism 51 can be deformed toward or away from the first motor 11, thereby facilitating the first brake mechanism 31 to abut the first brake pad 21 against the rotating part of the first motor 11 or release it from the rotating part of the first motor 11. The first elastic support mechanism 51 is set to support the first brake pad 21, so that the first brake mechanism 31 and the first brake pad 21 are separated, and the elastic force of the pre-compression of the spring 312 of the first brake mechanism 31 is used to provide an abutting force to the first brake pad 21. The second elastic support mechanism 52 is connected to the second brake pad 22, and the second elastic support mechanism 52 can be deformed toward or away from the second motor 12. The second elastic support mechanism 52 is in an "L" shape. The second elastic support mechanism 52 is arranged on the mounting rod 111. The second elastic support mechanism 52 is provided with a screw hole and is detachably connected to the mounting rod 111. The portion where the second elastic support mechanism 52 is connected to the second brake lining 22 is a thin sheet. When subjected to external force, the second elastic support mechanism 52 can be deformed toward or away from the second motor 12. This facilitates the second brake mechanism 32 to abut the second brake lining 22 against the rotating part of the second motor 12 or to release it from the rotating part of the second motor 12. The second elastic support mechanism 52 is provided to support the second brake lining 22, so that the second brake mechanism 32 is separately provided from the second brake lining 22, and the elastic force of the pre-compression of the spring 312 of the second brake mechanism 32 is used to provide an abutting force to the second brake lining 22. A stepped structure is provided on the side of the second brake lining 22 facing the second brake mechanism 32, which is adapted to the outer contour of the second brake mechanism 32.

[0084] Preferably, the first camera mechanism includes a camera 10 and a reflector 101 . The first motor 11 and the second motor 12 drive the reflector 101 to aim at a target of interest of the camera 10 , and the camera 10 captures the target image through the reflector 101 .

[0085] In this embodiment, when the camera 10 is heavy, the reflector 101 is used to illuminate the target document, and the camera 10 collects the image formed on the reflector 101. In this way, the lighter reflector 101 can be driven to collect the image, which reduces the load of the brushless motor and improves the control speed and accuracy of the first camera mechanism.

[0086] Preferably, the rotation axis of the first motor 11 and the rotation axis of the second motor 12 are perpendicular to each other.

[0087] Preferably, there are two braking mechanisms: a first braking mechanism 31 and a second braking mechanism 32 , the first braking mechanism 31 corresponds to the first motor 11 , and the second braking mechanism 32 corresponds to the second motor 12 .

[0088] In this embodiment, the first brake pad 21 is located on the outside of the rotating part of the first motor 11; the first brake mechanism 31 is arranged on the side of the first brake pad 21 away from the first motor 11, and the first brake pad 21 is abutted against the outer side wall of the rotating part of the first motor 11; the second brake pad 22 is located on the outside of the rotating part of the second motor 12; the second brake mechanism 32 is arranged on the side of the second brake pad 22 away from the second motor 12, and the second brake pad 22 is abutted against the outer side wall of the rotating part of the second motor 12.

[0089] Combination Figure 5 as well as Figure 6 , the process control of this embodiment is as follows:

[0090] 1) Calculating the rotation angle position alpha of the first motor 11 and the rotation angle position beta of the second motor 12 according to the spatial orientation of the target that the camera 10 needs to aim at;

[0091] 2) controlling the first brake mechanism 31 to be energized, sending a command to rotate to the alpha angle position to the controller of the first motor 11, controlling the second brake mechanism 32 to be energized, sending a command to rotate to the beta angle position to the controller of the second motor 12;

[0092] 3) Send a command to read the current angle position to the controller of the first motor 11, read the angle position of the first motor 11, and if the absolute value of the difference between the read angle position value and the target angle position alpha is less than the preset error e1, control the first brake mechanism 31 to cut off power, and brake the first motor 11; send a command to read the current angle position to the controller of the second motor 12, read the angle position of the second motor 12, and if the absolute value of the difference between the read angle position value and the target angle position beta is less than the preset error e2, control the second brake mechanism 32 to cut off power, and brake the second motor 12.

[0093] Embodiment 2

[0094] The second embodiment of the present invention is different from the first embodiment in that the present embodiment provides a brake assembly, combined with Figure 7-Figure 8 The component includes: a brake clamp 8; a brake clamp 8 is used to replace the first brake lining 21 in the first embodiment; a brake mechanism, which is arranged on one side of the brake clamp 8, and the brake mechanism can move toward the brake clamp 8 to open the brake clamp 8 to form a braking state, or move away from the brake clamp 8 to retract the brake clamp 8.

[0095] In this embodiment, a brake clamp 8 is provided, and the brake clamp 8 is used to brake and hold the brushless motor of the device for collecting indoor documents, so as to eliminate the shaking problem of the device for collecting indoor documents when it is stationary. The brake clamp 8 replaces the brake lining in the original brake assembly, and the brake clamp 8 opens and closes with the movement of the brake mechanism. When the brushless motor needs to be braked, the brake mechanism is closed to open the clamp to brake the brushless motor. When the brake is not needed, the brake mechanism is started to move, so that the clamp is closed, and then the brake is released; because the brake clamp 8 can be opened, the brake clamp 8 is adapted to brushless motors of different sizes, and then the brake assembly is adapted to different brushless motors; because the brake clamp 8 can be opened or closed with the movement of the brake mechanism, the brake clamp 8 is always subjected to the force of resisting the brushless motor, which can quickly stop the rotation of the brushless motor, and eliminate the jitter of the device for collecting indoor documents caused by the displacement of the brushless motor due to the inertia; the problem of poor braking effect of the existing brake assembly is solved, and it has the advantages of stable braking and being able to adapt to brushless motors of more sizes.

[0096] Preferably, the brake clamp 8 includes: a folding mechanism and a first brake arm 81 and a second brake arm 82 that are rotatably connected to each other; the two ends of the folding mechanism are respectively connected to one end of the first brake arm 81 and the second brake arm 82 through a connecting mechanism, and the braking mechanism acts on the folding mechanism to open the first brake arm 81 and the second brake arm 82 to form a braking state.

[0097] In this embodiment, the middle parts of the first brake arm 81 and the second brake arm 82 are rotatably connected by a pin shaft, and the retracting mechanism opens or retracts the first brake arm 81 and the second brake arm 82, so that the brake mechanism drives the first brake arm 81 and the second brake arm 82 to open and close.

[0098] Preferably, the folding mechanism comprises a first connecting arm 83, a second connecting arm 84 and a third connecting arm 85 which are rotatably connected in sequence end to end; the first connecting arm 83 is rotatably connected to the first brake arm 81, and the third connecting arm 85 is connected to the second rotating arm.

[0099] In this embodiment, the folding mechanism is configured as a bridge structure, and the folding mechanism and the first brake arm 81 and the second brake arm 82 form a pentagonal structure, which pushes the second connecting arm 84, thereby opening the first brake arm 81 and the second brake arm 82, and removing the external force to reset the first connecting arm 83 and the second connecting arm 84.

[0100] Preferably, the brake clamp 8 further comprises: a reset member 9 ; the reset member 9 is arranged on a side of the second connecting arm 84 facing the first brake arm 81 .

[0101] In this embodiment, the reset member 9 is configured as a spring, so that after the external force applied to the second connecting arm 84 is removed, the second connecting arm 84 is deformed by the spring to return to its original position, so that the first brake arm 81 and the second brake arm 82 automatically return to their original positions, disengaging the brake brushless motor, and achieving a rapid breaking braking state.

[0102] Preferably, an anti-slip structure is provided on the surfaces of the first brake arm 81 and the second brake arm 82 facing each other.

[0103] In this embodiment, the anti-skid structure is configured as anti-skid teeth, so that the pressure exerted by the brake clamp 8 on the rotating part of the brushless motor is greater. When the brake clamp 8 contacts the brushless motor, the rotation of the brushless motor can be stopped immediately, thereby reducing the corresponding time and speeding up the stable speed of the device for collecting indoor documents, thereby preventing the brushless motor from being affected by inertia and shaking during movement.

[0104] Preferably, the first brake arm 81 and the second brake arm 82 form a semicircular arc structure when in the braking state.

[0105] In this embodiment, the first brake arm 81 and the second brake arm 82 are more closely fitted to the brushless motor, and the braking effect is better.

[0106] Embodiment 3

[0107] Based on the optimization of the first embodiment, the output end of the motor is connected to the camera.

[0108] In this embodiment, when the camera is light, the camera can be directly set at the output end of the motor, specifically at the output end of the second motor. The motor directly drives the camera to facilitate driving and controlling the camera. Among them, the rotation axis of the first motor 11, the rotation axis of the second motor 12 and the optical axis of the camera 10 are perpendicular to each other and intersect at one point, which is convenient for controlling the angle of the camera 10.

[0109] Embodiment 4

[0110] Based on the first embodiment, optimization is performed, such as Fig. 9 as well as Fig.10As shown, the difference from the first embodiment is that the anti-skid structure provided on the brake lining is an EVA rubber layer 102, so that the entire brake lining structure is relatively simple, no anti-skid teeth are provided, and the production process is simple; in addition, the elastic friction member 7 provided on the outer wall of the motor adopts an anti-skid tape with raised dots on the outer side; when the brake lining provided with the anti-skid structure abuts against the outer wall of the motor, the EVA rubber layer 102 contacts the anti-skid tape with raised dots, and the friction between the two is relatively large, thereby increasing the force of the brake lining abutting against the motor, so that the brake lining can brake the motor more stably. The anti-skid structure of the brake lining adopts the form of directly sticking the EVA rubber layer 102, which has a simple structure, a simple production process, and a good anti-skid effect.

[0111] Embodiment 5

[0112] The present invention provides a method for collecting indoor documents, combining Fig.11 As shown, the method includes:

[0113] S1: Obtain the location information of the target document to be collected;

[0114] S2: Determine the angle at which the first camera mechanism needs to rotate according to the position information;

[0115] S3: According to the angle that the first camera mechanism needs to rotate, control the brushless motor to drive the first camera mechanism to rotate, and adjust the focal length of the first camera mechanism so that the first camera mechanism is in a shooting state;

[0116] S4: when the difference between the actual rotation angle of the first camera mechanism and the required rotation angle of the first camera mechanism is less than a preset value, the braking mechanism is controlled to abut against the brushless motor to be in a braking state, so that the first camera mechanism stops rotating;

[0117] S5: when the brushless motor is in a braking state, controlling the braking mechanism and the brushless motor to stop power output, so that the optical path of the first camera mechanism to capture the target image is in a stable state;

[0118] S6: Control the first camera mechanism to capture images.

[0119] In a preferred embodiment, in the above step S1, a rectangular coordinate system is established within the range that the first camera mechanism can collect. Since all documents are placed on the surface of the desk, the desks and chairs in the same classroom are not far apart, so it can be considered that all documents are on the same horizontal plane, and a two-dimensional rectangular coordinate system can be established for the range collected by the first camera mechanism; each desk is placed in the rectangular coordinate system, one coordinate point corresponds to one desk, and the corresponding desk number is bound to the student information and stored. Therefore, the desk on the corresponding coordinate can be matched with the document on the corresponding desk. To obtain the location information of the target document to be collected, it can be to search for the desk corresponding to the student in the storage medium according to the student's information, and then confirm the location information of the target document, that is, to match the coordinate point where the document is located; it can also be to scan the desks in the classroom one by one in order; before obtaining the location information of the target document to be collected, it also includes: judging whether there is a document on the desk, and whether there is a document can be confirmed by judging whether there is a student answering, etc.; this saves the scanning of documents in the vacant position of the desk, reduces unnecessary scanning, and thus speeds up the scanning of all documents.

[0120] In the above step S2, confirming the angle that the first camera mechanism needs to rotate also includes: obtaining the starting position of the first camera mechanism, specifically a relative position relationship between the optical axis of the lens of the first camera mechanism and the established rectangular coordinate system; then confirming the relative position relationship between the target document and the optical axis based on the coordinate point of the target document on the rectangular coordinate system; and then calculating the angle that the first camera mechanism needs to rotate so that the optical axis of the first camera mechanism is aligned with the target document.

[0121] In the above step S3, during the rotation of the first camera mechanism, the focal length of the first camera mechanism is adjusted, and the focal length of the camera is adjusted at the same time. The relative position relationship between the target document and the optical axis can be determined when the rotation angle of the first camera mechanism is determined; the focal length parameters that need to be adjusted for the first camera mechanism are confirmed; while the first camera mechanism is rotated, the focal length of the first camera mechanism is adjusted, thereby reducing the time for waiting for the first camera mechanism to adjust the focal length after positioning, thereby shortening the time for collecting documents, and improving the efficiency of shooting documents.

[0122] Specifically, the step of simultaneously adjusting the focal length of the first camera mechanism so that the first camera mechanism is in a shooting state includes: confirming the focal length parameters that need to be adjusted for the first camera mechanism, preliminarily adjusting the focal length of the first camera mechanism so that the focal length of the first camera mechanism differs from the focal length that needs to be adjusted within a preset range, and after the first camera mechanism is in a stable state, accurately adjusting the focal length of the first camera mechanism; so as to capture a clear document image.

[0123] In the above step S4, the angle sensor is used to read the actual angle of rotation, and the braking component is started to brake the motor of the first camera mechanism when there is a certain angle difference between the first camera mechanism and the target angle. This is because simply stopping the power of the motor will cause drift under the drive of the load gravity after the brushless motor stops power output. Therefore, after the first camera mechanism rotates a certain angle, it is braked, thereby accelerating the speed at which the first camera mechanism stops rotating, eliminating the jitter of the first camera mechanism, and thereby accelerating the stabilization of the optical path of the first camera mechanism, thereby achieving rapid capture of document images. Specifically, if the angle that the motor needs to rotate is a, the angle sensor reads that the absolute value of the difference between the actual angle of rotation of the first camera mechanism and the angle a is within a preset error range, and the error is preferably set to be less than 0.1°.

[0124] This embodiment provides a method for collecting indoor documents. By obtaining the position information of the target document, the angle that the first camera mechanism needs to rotate can be determined. At the same time, the focal length of the first camera mechanism can be adjusted so that the first camera mechanism is in a shooting state. After aiming at the target document, the document can be quickly photographed. Furthermore, after the first camera mechanism rotates a certain angle, the brake assembly is directly controlled to brake the motor, eliminating the time for the motor to stop shaking, and accelerating the stability of the optical path of the first camera mechanism. When adjusting the angle of the first camera mechanism, the focal length is adjusted at the same time. After the first camera mechanism rotates to a certain angle, the motor is braked immediately to stop the motor. The speed of stabilizing the first camera mechanism is improved in many aspects, thereby improving the speed of collecting documents. In this way, it is much more efficient than the prior art, and there is no need to wait for the motor to shake, nor is there a need to wait for the time to adjust the focal length of the first camera mechanism. The technical problem of slow shooting in the image acquisition system in the prior art is solved, and the advantage of fast document collection is obtained.

[0125] Preferably, the step of obtaining the location information of the target document to be collected includes: S01, obtaining the target area where the target document to be collected is located; and responding to the location instruction of the target to be collected.

[0126] In this embodiment, a wide-angle lens is used to shoot indoors to obtain information about a large area where the target document to be collected is located, initially locate the target document, and then obtain the target document as needed to respond to user requests and accurately locate the target document to be collected.

[0127] Preferably, step S1: obtaining the location information of the target document to be collected includes:

[0128] The second camera mechanism is controlled to identify the contour of the target document of interest at a first image resolution lower than the image resolution of the first camera mechanism; generally speaking, the second camera mechanism can adopt a wide-angle camera to capture a larger scene. To reduce costs, a wide-angle camera with a general resolution can be adopted.

[0129] Acquire target angle position information of the first motor and the second motor according to the image coordinate information of the position of the target document contour;

[0130] According to the target angle position information, the first motor and the second motor are driven to rotate to the target angle position.

[0131] In a preferred embodiment, the method for collecting indoor documents of the present invention further includes, before controlling the brushless motor to drive the first camera mechanism to rotate according to the angle at which the first camera mechanism needs to rotate, and adjusting the focal length of the first camera mechanism so that the first camera mechanism is in a shooting state:

[0132] The brake mechanism is adjusted so that the noise generated when the brake mechanism brakes the brushless motor is within a preset range. This is mainly achieved by adjusting the internal structures of the first brake mechanism and the second brake mechanism. Specifically, the following steps are mainly included:

[0133] S11: adjusting the position of the nut in the electromagnetic linear actuator of the first brake mechanism to adjust the movement stroke of the magnetic induction sliding rod;

[0134] S12: controlling the electromagnetic linear actuator of the first brake mechanism to test whether there is noise when the brake lining is in contact or not in contact with the rotor of the brushless motor;

[0135] S13: Determine whether the decibel value of the noise is within a preset range;

[0136] S14: If yes, fix the nut by using a small nut or dispensing glue;

[0137] S15: If it is not within the preset range, continue to adjust the position of the nut in the electromagnetic linear actuator of the first brake mechanism to adjust the movement stroke of the magnetic induction slide rod again, and then repeat steps S12 to S14. The same is true for the second brake mechanism.

[0138] In one embodiment, when the second motor and the first motor are combined to form a driving mechanism of a two-degree-of-freedom dual-axis gimbal, synchronously controlling the rotation of the first motor and the second motor can speed up the stabilization speed of the optical path during the acquisition of the target document, thereby improving the efficiency of acquiring the target document and speeding up the response time of the entire device. In other embodiments, the first motor and the second motor can be controlled to stably adjust the optical path of the first camera mechanism, and the first motor and the second motor can be controlled to rotate asynchronously in time sharing.

[0139] Preferably, the method further comprises: acquiring the light intensity of the environment, and if the light intensity of the environment is less than a preset value, controlling the light path to be supplemented with light.

[0140] Before step S1, the ambient light is detected. If the ambient light is too dark, the collection of documents is affected. During the rotation of the first camera mechanism, the ambient light is supplemented and whether the ambient light is within the range suitable for collecting documents is detected, which further speeds up the supplement of ambient light.

[0141] Preferably, the step S4 comprises: S41, controlling the brake assembly to be powered off, so as to control the brake assembly to abut against a motor for controlling the rotation of the first camera mechanism.

[0142] In this embodiment, a power-off signal is sent to the brake assembly, and the brake assembly abuts the motor after power is off to brake the motor. Since the first camera mechanism is in the process of collecting documents most of the time, the motor needs to be in a static state for a long time to prevent the brushless motor from generating static heat power consumption and affecting the service life of the brushless motor.

[0143] Preferably, before the step of controlling the first camera mechanism to capture images, the method further includes: controlling the motor to stop power output so that the motor stops driving the first camera mechanism to rotate.

[0144] Embodiment 6

[0145] Another aspect of the present invention provides an image acquisition system. Fig.12 As shown, the image acquisition system includes a camera and a control module. The control module is arranged on one side of the device for collecting documents in the room to control the operation of the entire image acquisition system. The camera is arranged on the other side of the image acquisition system. The optical axis of the camera is perpendicular to the rotation axis of the first motor and the rotation axis of the second motor, that is, the optical axis of the camera and the rotation axis of the first motor and the rotation axis of the second motor all intersect vertically at one point, which is convenient for controlling the entire image acquisition system.

[0146] The control module runs on the mainboard of the industrial computer. The mainboard of the industrial computer is connected to the control board through the USB bus and sends instructions to the control board. The control board is connected to the first motor and the second motor through the 485 bus. The control module sends the command to the control board through the USB bus, and the control board converts the command into the 485 bus protocol command of the first motor and the second motor. The control board outputs the first power supply to connect the first brake mechanism, and the control board outputs the second power supply to connect the second brake mechanism. The control board responds to the command of the image acquisition system control module to control the output and / or shutdown of the first power supply and the second power supply.

[0147] Embodiment 7

[0148] Another aspect of the present invention is an intelligent electronic device, such as Fig.13 As shown, the intelligent electronic device includes: a display device and a device for collecting indoor documents as described in any one of the above. The display device is used to display the document image collected by the above-mentioned device for collecting indoor documents. In common indoor application scenarios, such as classrooms or conference rooms, the device for collecting indoor documents is usually installed above the room to capture images or videos in the indoor scene, and the captured images or videos are displayed on the indoor display device in real time. In this way, during class, the teacher can display the classwork done by each student in real time, conduct on-site error correction and explanation, and students can also understand their own classwork status in a timely manner.

[0149] In this embodiment, the intelligent electronic device has all the advantages of the above-mentioned device for collecting indoor documents because it adopts the above-mentioned device for collecting indoor documents.

[0150] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device for collecting indoor documents, characterized in that: The device comprises: A first camera mechanism, used for acquiring a target image; A brushless motor, wherein the brushless motor is used to control the shooting angle of the first camera mechanism; A braking mechanism, wherein the braking mechanism controls the brushless motor to stop rotating when the first camera mechanism is located at a specified shooting angle. When the brushless motor is in a braking state, the braking mechanism and the brushless motor both stop power output, and the optical path of the target image captured by the first camera mechanism is in a stable state. The braking mechanism comprises: a mounting seat, an elastic support mechanism and a brake lining arranged on the mounting seat, and an electromagnetic linear actuator; one end of the elastic support mechanism is connected to and supports the brake lining, and the other end is fixed to the mounting seat; the electromagnetic linear actuator is used to control the brake lining to contact or not contact the rotor of the brushless motor.

2. The device for collecting indoor documents according to claim 1, characterized in that: There are two brushless motors: a first motor and a second motor; the motor support of the second motor is fixed on the rotor of the first motor, and the second motor and the first motor together constitute a driving mechanism of a two-degree-of-freedom dual-axis gimbal.

3. The device for collecting indoor documents according to claim 2, characterized in that: There are two braking mechanisms: a first braking mechanism and a second braking mechanism. The first braking mechanism brakes the first motor, and the second braking mechanism brakes the second motor.

4. The device for collecting indoor documents according to claim 1, characterized in that: The electromagnetic linear actuator comprises: a magnetic induction slide bar, a coil and a spring; the magnetic induction slide bar is located at one end of the brake lining and is provided with a flexible adhesive; the other end surface of the magnetic induction slide bar is provided with a thread, and the spring is used to generate a force abutting against the brake lining.

5. The device for collecting indoor documents according to claim 4, characterized in that: The electromagnetic linear actuator further comprises: a nut, which is used to adjust the movement stroke of the magnetic induction sliding rod, and the nut can abut against a baffle at a relative position on the mounting seat, and the baffle is provided with a buffer connected to the nut.

6. A method for collecting indoor documents, characterized in that: The method comprises: Obtain location information of the target document to be collected; Determining the angle at which the first camera mechanism needs to rotate according to the position information; According to the angle that the first camera mechanism needs to rotate, control the brushless motor to drive the first camera mechanism to rotate, and adjust the focal length of the first camera mechanism so that the first camera mechanism is in a shooting state; When the difference between the actual rotation angle of the first camera mechanism and the required rotation angle of the first camera mechanism is less than a preset value, the braking mechanism is controlled to abut against the brushless motor to be in a braking state, so that the first camera mechanism stops rotating; When the brushless motor is in a braking state, controlling the braking mechanism and the brushless motor to stop power output, so that the optical path of the first camera mechanism for capturing the target image is in a stable state; Controlling the first camera mechanism to collect images, wherein the braking mechanism comprises: A mounting seat, an elastic support mechanism and a brake lining and an electromagnetic linear actuator arranged on the mounting seat; one end of the elastic support mechanism is connected to and supports the brake lining, and the other end is fixed to the mounting seat; the electromagnetic linear actuator is used to control whether the brake lining is in contact or not with the rotor of the brushless motor.

7. The method for collecting indoor documents according to claim 6, characterized in that: The brushless motors are two: a first motor and a second motor, and the acquisition of the position information of the target document to be collected includes: Controlling the second camera mechanism to identify the contour of the target document of interest at a first image resolution lower than the image resolution of the first camera mechanism; Acquiring target angle position information of the first motor and the second motor according to the image coordinate information of the position of the target document contour; According to the target angle position information, the first motor and the second motor are driven to rotate to the target angle position.

8. The method for collecting indoor documents according to claim 6, characterized in that: Before controlling the brushless motor to drive the first camera mechanism to rotate according to the angle that the first camera mechanism needs to rotate, and adjusting the focal length of the first camera mechanism so that the first camera mechanism is in a shooting state, the method further includes: The braking mechanism is adjusted so that the noise generated when the braking mechanism brakes the brushless motor is within a preset range.

9. The method for collecting indoor documents according to claim 8, characterized in that: The electromagnetic linear actuator includes: a magnetic induction slide rod, a coil and a spring; the magnetic induction slide rod is located at one end of the brake lining and is provided with a flexible adhesive; the other end surface of the magnetic induction slide rod is provided with a thread, and the spring is used to generate a force to abut the brake lining; the electromagnetic linear actuator also includes: a nut, which is used to adjust the movement stroke of the magnetic induction slide rod, and the nut can abut against a baffle in a relative position on the mounting seat, and the baffle is provided with a buffer connected to the nut.

10. An electronic device, characterized in that: The electronic device comprises a display device and a device for collecting indoor documents according to any one of claims 1 to 5 or a device for executing a method for collecting indoor documents according to any one of claims 6 to 9.

Images