An unmanned vehicle based on multi-angle imaging

Abstract

The present invention discloses an unmanned vehicle based on multi-angle image acquisition, which is characterized by comprising a drone main body, a first adjusting device installed above the drone main body, and a second adjusting device located inside the drone main body. In the present invention, the first adjusting device and the second adjusting device are provided on the drone main body. The first adjusting device is provided with a lifting and rotating shaft, and the lifting and rotating shaft drives the camera body to perform lifting motion and rotational motion around the vertical axis through the second adjusting device. In addition, a driving rod is also provided on the first adjusting device. When one end of the driving rod brakes, under the action of the driving rod, the lifting of the lifting and rotating shaft will drive the entire camera body to perform rotational motion around the horizontal axis. The present invention can enable the camera body to perform lifting motion, rotational motion around the horizontal axis and the vertical axis, so that the camera body can acquire images from multiple angles, and solves the problems in the prior art.

Description

Technical Field

[0001] The present invention relates to an unmanned vehicle based on multi-angle imaging. Background Art

[0002] High-speed monitoring cameras are the "eyes" of highways and can monitor various situations on the highways in real time. Traditional "eyes of the highway" are either fixed on the highway or installed on unmanned vehicles or drones.

[0003] In the prior art, the imaging range of the "eyes of the highway" on unmanned vehicles is small. When multi-angle imaging is required, multiple control mechanisms need to be set up, resulting in a complex structure and inconvenient operation. Summary of the Invention

[0004] The purpose of the present invention is to provide an unmanned vehicle capable of adjusting the camera at multiple angles.

[0005] To solve the above problems, the present invention provides an unmanned vehicle based on multi-angle imaging, which is characterized by including an unmanned vehicle main body, a first adjusting device installed above the unmanned vehicle main body, and a second adjusting device located inside the unmanned vehicle main body. The first adjusting device includes:

[0006] A camera body, which is controlled by a control device to take pictures or videos;

[0007] A fixed mounting seat, the camera body is rotatably connected to one side of the fixed mounting seat along a horizontal axis, the other side of the fixed mounting seat is an arc surface, and an arc-shaped fixed sliding groove concentric with the arc surface is provided on the arc surface;

[0008] A rotating shaft, fixedly connected to the bottom of the camera body, and a vertical first vertical sliding groove is provided on the rotating shaft;

[0009] A lifting and rotating shaft, rotatably connected to the bottom of the rotating shaft through a rotating connector, and the lifting and rotating shaft is driven by the second adjusting device to perform lifting and rotating movements;

[0010] A fixed bracket, which is vertically arranged, and a second vertical sliding groove is provided on the fixed bracket;

[0011] A telescopic rod, one end of which is rotatably connected to a first sliding block capable of sliding in the fixed sliding groove, and the other end is slidably arranged in the second vertical sliding groove;

[0012] A rotating connection disk, rotatably connected to the rotating shaft and capable of sliding in the first vertical sliding groove;

[0013] The driving rod is a rod-shaped structure, one end of which is rotatably connected to the bottom of the rotating connecting plate, and the other end is slidably connected to the second vertical slide groove. The fixed bracket is provided with a brake device to limit the sliding of one end of the driving rod therein.

[0014] As a further improvement of the present invention, the second adjusting device comprises:

[0015] The rotating sleeve is a hollow cylindrical structure, wherein the inner cavity of the rotating sleeve is provided with a first chamber and a second chamber both having cylindrical inner walls from top to bottom, the inner wall of the first chamber has at least one vertically arranged strip groove, and the rotating sleeve is provided with a first driving device outside to drive it to rotate along its axis;

[0016] A lifting shaft core, which is fixedly connected to the lifting rotating shaft, the lifting shaft core comprises a first shaft body located in the first chamber and a second shaft body located in the second chamber, the first shaft body is provided with an insertion strip that can be inserted into the strip groove and can slide therein, the second shaft body can slide in the second chamber, and the upper part of the first shaft body is connected to the second rotating shaft through a transmission device;

[0017] The movable slide plate and the fixed limit plate are both pancake-shaped structures, the movable slide plate is slidably connected to the second shaft body, the fixed limit plate is fixed to the second shaft body and can slide in the second chamber, and the cavity wall of the first chamber can limit the movable slide plate from entering the first chamber;

[0018] A return spring, sleeved on the second shaft body and located between the movable slide plate and the fixed limiting plate;

[0019] The lifting mechanism is located directly below the lifting shaft core. The lifting mechanism is driven by the lifting mechanism and is used to lift the lifting shaft core. When the lifting mechanism contacts the bottom of the lifting shaft core, they are connected in a way that does not transmit torque.

[0020] As a further improvement of the present invention, the lifting mechanism includes a first lifting device and a second lifting device.

[0021] The first lifting device is provided with a first lifting arm connected to the lifting mechanism and capable of lifting and lowering, and a first lifting seat; the second lifting device includes a second lifting rod and a second rotating sleeve, the first lifting seat is fixed on the second lifting rod, and is provided with at least one threaded section with an external thread, the second rotating sleeve is provided with an internal thread connected to the threaded section, and is driven to rotate by a second driving device;

[0022] The first lifting mechanism is a cylinder, the first lifting arm is a cylinder arm, the first lifting seat is a cylinder seat. The first lifting seat is slidably connected to a vertically arranged fixing plate through a slide rail. The fixing plate is fixed to the bottom of the second lifting rod through a horizontally arranged first connecting plate. The bottom of the first lifting arm is connected with a second connecting plate, and one end of the second connecting plate is connected with the lifting mechanism.

[0023] As a further improvement of the present invention, the lifting mechanism is one of the following structures:

[0024] The lifting mechanism is a first chassis fixed on the second shaft body. One end of the second connecting plate is rotatably connected to the first chassis, and the upper surface of the first chassis is fixed directly below the second shaft body.

[0025] The lifting mechanism is a second chassis located directly below the second shaft body and having no relative connection relationship with the second shaft body in the initial position. When the second chassis moves upward to contact the second shaft body, their connection method is a rotational connection.

[0026] As a further improvement of the present invention, a concentric annular groove is provided on the outer circumference of the first chassis. The free end of the second connecting plate is provided with an arc-shaped protruding arm, and a plurality of first balls are rotatably arranged on the inner side surface of the arc-shaped protruding arm. The first balls are installed on the annular groove and can roll therein.

[0027] As a further improvement of the present invention,

[0028] At least the bottom of the second shaft body is provided with a conical structure connecting portion;

[0029] An installation hole is provided on the second chassis, and a concentric annular installation groove is provided on the inner wall of the installation hole. A plurality of second balls are rotatably connected in the annular installation groove. When the lifting mechanism ascends, the connecting portion of the second shaft body is inserted into the installation hole and contacts the second balls.

[0030] As a further improvement of the present invention, pulley wheels are provided on both the rotating sleeve and the second rotating sleeve. The first driving device and the second driving device are both pulse motors, and driving wheels connected to the motor shafts are provided on the pulse motors. The driving wheels and the pulley wheels are tightly connected by belts.

[0031] As a further improvement of the present invention, four of the strip-shaped grooves are provided on the inner wall of the first chamber and are evenly arranged along the circular inner wall of the first chamber. Four of the inserting strips are provided on the first shaft body and are evenly arranged along its axial direction.

[0032] As a further improvement of the present invention,

[0033] The rotating connection disk includes a sleeve with a cylindrical structure and a disk rotatably connected to the sleeve. At least one second sliding block is fixedly installed on the inner wall of the sleeve, and the second sliding block can slide in the first vertical sliding groove. A fixed installation block is provided at the bottom of the disk, and one end of the driving rod is rotatably connected to the second sliding block;

[0034] The telescopic rod includes a first rod body and a second rod body inserted into the first rod body and capable of sliding at least partially out of the first rod body. One end of the first rod body is rotatably connected to the first sliding block, and the second rod body is rotatably connected to a third sliding block that can slide vertically in the second vertical sliding groove.

[0035] As a further improvement of the present invention, there are four such strip-shaped grooves on the inner wall of the first chamber, and they are evenly arranged along the circular inner wall of the first chamber. Four such insertion strips are arranged on the first shaft body along its axial direction evenly.

[0036] The beneficial effect of the present invention is that the present invention is provided with a first adjustment device and a second adjustment device on the UAV body. Among them, the first adjustment device is provided with a lifting and rotating shaft, and this lifting and rotating shaft drives the camera body to perform lifting motion and rotational motion around the vertical axis through the second adjustment device. In addition, a driving rod is also provided on this first adjustment device. When one end of the driving rod brakes, under the action of the driving rod, the lifting of the lifting and rotating shaft will drive the entire camera body to perform rotational motion around the horizontal axis. The present invention can enable the camera body to perform lifting motion, rotational motion around the horizontal axis and vertical axis, so that the camera body can take pictures from multiple angles and solves the problems in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a structural schematic diagram of the present invention;

[0038] Figure 2 is a structural schematic diagram of the second adjustment device of the first embodiment of the present invention;

[0039] Figure 3 is a partial structural schematic diagram of the second adjustment device of the second embodiment of the present invention;

[0040] In the figure: 100 - First adjustment device; 101 - Camera body; 102 - Fixed mounting base; 103 - Fixed sliding groove; 104 - Rotating shaft; 106 - Lifting and rotating shaft; 107 - Fixed bracket; 108 - Second vertical sliding groove; 109 - Telescopic rod; 110 - First vertical sliding groove; 111 - Rotating connection disk; 112 - Driving rod; 113 - Sleeve; 114 - Disk; 115 - First rod body; 116 - Second rod body; 117 - Rotating connection head; 118 - Limit ball sleeve; 119 - Rolling body; 200 - Second adjustment device; 210 - Rotating sleeve; 212 - Strip-shaped groove; 220 - Lifting shaft core; 222 - First shaft body; 224 - Second shaft body; 226 - Insertion strip; 230 - Movable sliding plate; 240 - Fixed limit plate; 250 - Return spring; 260 - Lifting mechanism; 261 - First chassis; 262 - Second chassis; 263 - Annular groove; 264 - Arc-shaped extending arm; 265 - Annular mounting groove; 266 - Second ball; 270 - Lifting mechanism; 272 - Second lifting rod; 273 - First lifting arm; 274 - First lifting seat; 275 - Second rotating sleeve; 276 - Slide rail; 277 - Fixed plate; 278 - First connecting plate; 279 - Second connecting plate; 300 - UAV body. Detailed implementation mode

[0041] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation modes.

[0042] As Figure 1 shown, the present invention includes:

[0043] A UAV body 300, a first adjustment device 100 installed above the UAV body 300, and a second adjustment device 200 located inside the UAV body 300, wherein the first adjustment device 100 includes:

[0044] A camera body 101, which is controlled by a control device to take pictures or videos;

[0045] A fixed mounting base 102, the camera body 101 is rotatably connected to one side of the fixed mounting base 102 along a horizontal axis, the other side of the fixed mounting base 102 is an arc surface, and an arc-shaped fixed sliding groove 103 concentric with the arc surface is provided on the arc surface;

[0046] A rotating shaft 104, fixedly connected to the bottom of the camera body 101, and a vertical first vertical sliding groove 110 is provided on the rotating shaft 104;

[0047] A lifting and rotating shaft 106, rotatably connected to the bottom of the rotating shaft 104 through a rotating connection head 117, and the lifting and rotating shaft 106 is driven by the second adjustment device 200 to perform lifting motion and rotating motion;

[0048] A fixed bracket 107 is vertically arranged, and a second vertical slide groove 108 is arranged on the fixed bracket 107;

[0049] A telescopic rod 109, one end of which is rotatably connected to a first sliding block capable of sliding in the fixed sliding groove 103, and the other end of which is slidably disposed in the second vertical sliding groove 108;

[0050] A rotating connecting plate 111 is rotatably connected to the rotating shaft 104 and is able to slide in the first vertical sliding groove 110;

[0051] The driving rod 112 is a rod-shaped structure, one end of which is rotatably connected to the bottom of the rotating connecting plate 111, and the other end is slidably connected to the second vertical slide groove 108. The fixed bracket 107 is provided with a brake device to limit the sliding of one end of the driving rod 112 therein.

[0052] As a further improvement of the present invention, the second adjusting device 200 comprises:

[0053] The rotating sleeve 210 is a hollow cylindrical structure, and its inner cavity is provided with a first chamber and a second chamber both having cylindrical inner walls from top to bottom, and the inner wall of the first chamber has at least one vertically arranged strip groove 212, and the rotating sleeve 210 is provided with a first driving device outside to drive it to rotate along its axis;

[0054] The lifting shaft core 220 is fixedly connected to the lifting rotating shaft 106. The lifting shaft core includes a first shaft body located in the first chamber and a second shaft body 224 located in the second chamber. The first shaft body is provided with an insertion strip 226 that can be inserted into the strip groove 212 and can slide therein. The second shaft body 224 can slide in the second chamber. The upper part of the first shaft body is connected to the second rotating shaft through a transmission device.

[0055] The movable slide plate 230 and the fixed limit plate 240 are both pancake-shaped structures. The movable slide plate is slidably connected to the second shaft body 224. The fixed limit plate 240 is fixed to the second shaft body 224 and can slide in the second chamber. The cavity wall of the first chamber can limit the movable slide plate 230 from entering the first chamber.

[0056] A return spring 250 is sleeved on the second shaft 224 and is located between the movable slide plate 230 and the fixed limiting plate 240;

[0057] The lifting mechanism 260 is located directly below the lifting shaft core. The lifting mechanism 260 is driven by a lifting mechanism 270 and is used to lift the lifting shaft core. When the lifting mechanism 260 contacts the bottom of the lifting shaft core, they are connected in a manner that does not transmit torque.

[0058] As a further improvement of the present invention, the lifting mechanism 270 includes a first lifting device and a second lifting device.

[0059] The first lifting device is provided with a first lifting arm 273 connected to the lifting mechanism 260 and capable of performing a lifting movement, and a first lifting seat 274; the second lifting device includes a second lifting rod 272 and a second rotating sleeve 275. The first lifting seat 274 is fixed on the second lifting rod 272 and at least has a threaded section with an external thread. The second rotating sleeve 275 is provided with an internal thread connected to the threaded section and is driven to rotate by a second driving device.

[0060] The first lifting mechanism 270 is a cylinder, the first lifting arm 273 is a cylinder arm, the first lifting seat 274 is a cylinder seat. The first lifting seat 274 is slidably connected to a vertically arranged fixing plate 277 through a slide rail 276. The fixing plate 277 is fixed to the bottom of the second lifting rod 272 through a horizontally arranged first connecting plate 278. The bottom of the first lifting arm is connected to a second connecting plate 279, and one end of the second connecting plate 279 is connected to the lifting mechanism 260.

[0061] As a further improvement of the present invention, the lifting mechanism 260 is one of the following structures:

[0062] The lifting mechanism 260 is a first chassis 261 fixed on the second shaft body 224. One end of the second connecting plate 279 is rotatably connected to the first chassis 261, and the upper surface of the first chassis 261 is fixed directly below the second shaft body 224.

[0063] The lifting mechanism 260 is a second chassis 262 located directly below the second shaft body 224 and having no relative connection relationship with the second shaft body 224 in the initial position. When the second chassis 262 moves upward to contact the second shaft body 224, their connection method is a rotational connection.

[0064] As a further improvement of the present invention, a concentric annular groove 263 is provided on the outer circumference of the first chassis 261. The free end of the second connecting plate 279 is provided with an arc-shaped protruding arm 264. A plurality of first balls are rotatably arranged on the inner side surface of the arc-shaped protruding arm 264. The first balls are installed on the annular groove 263 and can roll therein.

[0065] As a further improvement of the present invention,

[0066] The second shaft body 224 is provided with a conical structure connecting portion at least at the bottom;

[0067] The second chassis 262 is provided with mounting holes, and the inner wall of the mounting holes is provided with concentric annular mounting grooves 265. A plurality of second balls 266 are rotatably connected in the annular mounting grooves 265. When the lifting mechanism 260 rises, the connecting portion of the second shaft body 224 is inserted into the mounting holes and contacts the second balls 266.

[0068] As a further improvement of the present invention, belt pulleys are provided on both the rotating sleeve 210 and the second rotating sleeve 275. The first driving device and the second driving device are both pulse motors, and driving wheels connected to the motor shafts are provided on the pulse motors. The driving wheels and the belt pulleys are tightly connected by belts.

[0069] As a further improvement of the present invention, the inner wall of the first chamber has four of the strip-shaped grooves 212, which are uniformly arranged along the circular inner wall of the first chamber. Four of the inserting strips 226 are provided on the first shaft body along its axial direction and are uniformly arranged.

[0070] As a further improvement of the present invention,

[0071] The rotary connection disk 111 includes a sleeve 113 in a cylindrical structure and a disk 114 rotatably connected to the sleeve 113. At least one second sliding block is fixedly installed on the inner wall of the sleeve 113. The second sliding block can slide in the first vertical sliding groove 110. A fixed installation block is provided at the bottom of the disk 114. One end of the driving rod 112 is rotatably connected to the second sliding block;

[0072] The telescopic rod 109 includes a first rod body 115 and a second rod body 116 inserted into the first rod body 115 and capable of sliding out of the first rod body 115 at least partially by sliding. One end of the first rod body 115 is rotatably connected to the first sliding block, and the second rod body 116 is rotatably connected to a third sliding block that can slide vertically in the second vertical sliding groove 108.

[0073] As a further improvement of the present invention, the inner wall of the first chamber has four of the strip-shaped grooves 212, which are uniformly arranged along the circular inner wall of the first chamber. Four of the inserting strips 226 are provided on the first shaft body along its axial direction and are uniformly arranged.

[0074] The specific principle of the present invention is as follows:

[0075] I. Vertical lifting

[0076] (1) The first lifting device moves. Here, the first lifting device is a cylinder. During operation, the first lifting seat 274 moves up and down along the slide rail 276 on the fixed plate 277, driving the first lifting arm 273 to move up and down;

[0077] (2) The first lifting arm 273 drives the second connecting plate 279 to move up and down;

[0078] (3) As Figure 2 , in an embodiment of the present invention,

[0079] When rising:

[0080] i. The second connecting plate 279 drives the first chassis 261 to rise and fall;

[0081] ii. The first bottom plate is fixedly connected to the second shaft body 224 of the lifting shaft core, thereby driving the second shaft body 224 to rise and fall, and thus driving the lifting and rotating shaft 106 connected to the lifting shaft core to rise;

[0082] iii. When the lifting and rotating shaft 106 rises, it drives the rotating shaft 104 to rise and fall. Since the second sliding block on the driving rod 112 and the third sliding block on the second rod body 116 can slide vertically in the second vertical sliding groove 108, when the rotating shaft 104 drives the entire camera assembly to rise and fall, the camera assembly simultaneously drives the telescopic rod 109 and the driving rod 112 to rise and fall. Therefore, no horizontal force is generated. Therefore, at this time, the camera assembly only makes a lifting and falling motion.

[0083] iv. Here, the first ball in the arc-shaped extension arm 264 of the second connecting plate 279 and the first chassis 261 is installed in the annular groove 263, so that when the first chassis 261 rotates driven by the lifting shaft core, the second connecting plate 279 can ensure vertical support without transmitting torque, ensuring the normal operation of the first lifting device and the second lifting device;

[0084] v. The movable slide plate 230 and the fixed limit plate 240 are provided, and a return spring 250 is provided between them. The movable slide plate 230 restricts the return spring 250 from entering the first chamber of the rotating sleeve 210, and the fixed limit plate 240 restricts the bottom position of the return spring 250. The setting of the movable slide plate 230 and the fixed limit plate 240 compresses the return spring 250 during the rising process. Here, the function of the return spring 250 is to eliminate the gaps generated by errors in the manufacturing and assembly processes of each workpiece in the vertical direction, so that the control during rising is more precise;

[0085] When descending:

[0086] i. The second connecting plate 279 drives the first chassis 261 to descend;

[0087] ii. The first base plate is fixedly connected to the second shaft body 224 of the lifting shaft core, thereby driving the lifting and rotating shaft 106 to descend, and further driving the camera body 101 to descend;

[0088] (4) As Figure 3 shown, this is the second embodiment of the present invention, which is different from the first embodiment in that the second chassis 262 has no contact with the second shaft body 224, and contacts the second shaft body 224 through the second ball 266 in the annular mounting groove 265, so as to transmit the lifting movement while maintaining a connection in a manner that does not transmit torque.

[0089] II. The camera rotates around the vertical axis

[0090] The first driving mechanism (such as a motor) drives the rotating sleeve 210 to rotate. The strip groove 212 in the rotating sleeve 210 cooperates with the insertion strip 226 so that the torque of the rotating sleeve 210 can be transmitted to the lifting shaft core. The lifting shaft core drives the lifting and rotating shaft 106 fixedly connected thereto to perform a rotating motion (the lifting shaft core and the lifting and rotating shaft 106 can be connected by a flange), driving the camera assembly to rotate around the vertical axis. The amplitude of this rotating motion should not be too large, generally about 0 - 180°.

[0091] III. The camera rotates around the horizontal axis

[0092] (1) The second driving device drives the second rotating sleeve 275 to rotate. The second driving device is preferably a pulse motor, so as to achieve adjustable rotation speed and number of rotation circles;

[0093] (2) The rotation of the second rotating sleeve 275 drives the second lifting rod 272 threadedly connected thereto to rise and fall, and drives the first chassis 261 or the second chassis 262 to rise and fall through the first connecting plate 278, the first lifting device and the second connecting plate 279, thereby driving the entire rotating shaft core to rise and fall. Since the rotation speed and number of rotation circles of the second rotating sleeve 275 are adjustable, the entire lifting speed and stroke are also adjustable;

[0094] (3) The lifting and rotating shaft 106 rises, driving the rotating shaft 104 to rise and fall. Because the braking device on the second sliding block of the driving rod 112 brakes (the braking device is such as a rubber brake pad, which contacts the fixed bracket 107 and generates sufficient friction to limit its relative movement), the second sliding block cannot slide in the second vertical sliding groove 108. At this time, when the rotating shaft 104 drives one end of the driving rod 112 to rise, it will drive the entire driving rod 112 to rotate around the second sliding block, so that the position of the other end of the driving rod 112 in the horizontal direction changes, thereby driving the entire rotating shaft 104 to rotate around the lifting and rotating shaft 106, that is, the rolling body 119 moves in the limit ball sleeve 118, so that the camera assembly rotates around the horizontal axis.

[0095] The technical principle of the present invention has been described above in connection with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be construed in any way as a limitation on the protection scope of the present invention. Based on the explanations herein, those skilled in the art can readily conceive of other specific embodiments of the present invention without creative efforts, and these embodiments will fall within the protection scope of the present invention.

Claims

1. An unmanned vehicle based on multi-angle photography, It is characterized in that The invention comprises a drone body (300), a first adjustment device (100) installed above the drone body (300), and a second adjustment device (200) located inside the drone body (300), wherein the first adjustment device (100) comprises: A camera body (101) is controlled by a control device to take photos or videos; A fixed mounting seat (102), the camera body (101) being rotatably connected to one side of the fixed mounting seat (102) along a horizontal axis, the other side of the fixed mounting seat (102) being an arc surface, the arc surface being provided with an arc-shaped fixed sliding groove (103) which is concentric with the arc surface; A rotating shaft (104) fixedly connected to the bottom of the camera body (101), wherein a vertical first vertical slide groove (110) is provided on the rotating shaft (104); A lifting and rotating shaft (106) is rotatably connected to the bottom of the rotating shaft (104) via a rotating connector (117), and the lifting and rotating shaft (106) is driven by a second adjusting device (200) to perform lifting and rotating motions; A fixed bracket (107) is arranged vertically, and a second vertical slide groove (108) is arranged on the fixed bracket (107); A telescopic rod (109), one end of which is rotatably connected to a first sliding block capable of sliding in the fixed sliding groove (103), and the other end of which is slidably disposed in the second vertical sliding groove (108); A rotating connection plate (111) is rotationally connected to the rotating shaft (104) and is capable of sliding in the first vertical sliding groove (110); The driving rod (112) is a rod-shaped structure, one end of which is rotatably connected to the bottom of the rotating connection plate (111), and the other end of which is slidably connected in the second vertical slide groove (108), and the fixed bracket (107) is provided with a brake device for limiting the sliding of one end of the driving rod (112) therein.

2. According to claim 1, an unmanned vehicle based on multi-angle photography, It is characterized in that The second adjusting device (200) comprises: The rotating sleeve (210) is a hollow cylindrical structure, wherein the inner cavity thereof is provided with a first chamber and a second chamber both having cylindrical inner walls from top to bottom, the inner wall of the first chamber having at least one vertically arranged strip groove (212), and the rotating sleeve (210) is provided with a first driving device on the outside thereof for driving it to rotate along its axis; A lifting shaft core (220) fixedly connected to the lifting rotating shaft (106), the lifting shaft core comprising a first shaft body located in the first chamber and a second shaft body (224) located in the second chamber, the first shaft body being provided with an insertion strip (226) capable of being inserted into and sliding in the strip-shaped groove (212), the second shaft body (224) being capable of sliding in the second chamber, and the upper portion of the first shaft body being transmission-connected to the lifting rotating shaft (106) via a transmission device; The movable slide plate (230) and the fixed limit plate (240) are both disc-shaped structures. The movable slide plate (230) is slidably connected to the second shaft body (224). The fixed limit plate (240) is fixed to the second shaft body (224) and can slide in the second chamber. The chamber wall of the first chamber can limit the movable slide plate (230) from entering the first chamber; The return spring (250) is sleeved on the second shaft body (224) and is located between the movable slide plate (230) and the fixed limit plate (240); The lifting mechanism (260) is located directly below the lifting shaft core (220). The lifting mechanism (260) is driven by a lifting mechanism (270) and is used to lift the lifting shaft core (220). When the lifting mechanism (260) contacts the bottom of the lifting shaft core (220), they are connected in a way that does not transmit torque.

3. A driverless vehicle based on multi-angle image acquisition according to claim 2, wherein, The lifting mechanism (270) includes a first lifting device and a second lifting device. The first lifting device is provided with a first lifting arm (273) connected to the lifting mechanism (260) and capable of performing a lifting movement, and a first lifting seat (274). The second lifting device includes a second lifting rod (272) and a second rotating sleeve (275). The first lifting seat (274) is fixed to the second lifting rod (274) and at least has a threaded section with an external thread. The second rotating sleeve (275) is provided with an internal thread connected to the threaded section and is driven to rotate by a second driving device; The first lifting mechanism (271) is a cylinder, the first lifting arm (273) is a cylinder arm, the first lifting seat (274) is a cylinder seat. The first lifting seat (274) is slidably connected to a vertically arranged fixing plate (277) through a slide rail (276). The fixing plate (277) is fixed to the bottom of the second lifting rod (274) through a horizontally arranged first connecting plate (278). The bottom of the first lifting arm (273) is connected to a second connecting plate (279), and one end of the second connecting plate (279) is connected to the lifting mechanism (260).

4. A driverless vehicle based on multi-angle image acquisition according to claim 3, wherein, The lifting mechanism (260) is one of the following structures: The lifting mechanism (260) is a first chassis (261) fixed to the second shaft body (224). One end of the second connecting plate (279) is rotatably connected to the first chassis (261). The upper surface of the first chassis (261) is fixed directly below the second shaft body (224); The lifting mechanism (260) is a second chassis (262) located directly below the second shaft body (224) and having no relative connection relationship with the second shaft body (224) in the initial position. When the second chassis (262) moves upward and contacts the second shaft body (224), the connection mode between them is a rotational connection.

5. An unmanned vehicle based on multi-angle imaging according to claim 4, wherein, A circular groove (263) concentric with it is provided on the outer circumference of the first chassis (261). An arc-shaped extending arm (264) is provided at the free end of the second connecting plate (279). A plurality of first ball bearings are rotatably mounted on the inner side surface of the arc-shaped extending arm (264). The first ball bearings are mounted on the circular groove (263) and can roll therein.

6. An unmanned vehicle based on multi-angle imaging according to claim 5, wherein, At least the bottom of the second shaft body (224) is provided with a conical structure connecting portion; An installation hole is provided on the second chassis (262). A circular installation groove (265) concentric with the inner wall of the installation hole is provided on the inner wall of the installation hole. A plurality of second ball bearings (266) are rotatably connected in the circular installation groove (265). When the lifting mechanism (260) rises, the connecting portion of the second shaft body (224) is inserted into the installation hole and contacts the second ball bearings (266).

7. An unmanned vehicle based on multi-angle imaging according to claim 6, wherein, Pulley wheels are provided on both the rotary sleeve (210) and the second rotary sleeve (275). The first driving device and the second driving device are both pulse motors. Driving wheels connected to the motor shafts are provided on the pulse motors. The driving wheels and the pulley wheels are tension-connected by belts.

8. An unmanned vehicle based on multi-angle imaging according to claim 7, wherein, Four of the strip-shaped grooves (212) are provided on the inner wall of the first chamber and are evenly arranged along the circular inner wall of the first chamber. Four of the insertion strips (226) are provided on the first shaft body and are evenly arranged along its axial direction.

9. An unmanned vehicle based on multi-angle imaging according to claim 8, wherein, The rotary connection disk (111) includes a sleeve (113) in a cylindrical structure and a disk (114) rotatably connected to the sleeve (113). At least one second sliding block is fixedly installed on the inner wall of the sleeve (113). The second sliding block can slide in the first vertical sliding groove (110). A fixed installation block is provided at the bottom of the disk (114). One end of the driving rod (112) is rotatably connected to the second sliding block; The telescopic rod (109) includes a first rod body (115) and a second rod body (116) inserted into the first rod body (115) and capable of sliding at least partially out of the first rod body (115). One end of the first rod body (115) is rotatably connected to the first sliding block, and the second rod body (116) is rotatably connected to a third sliding block that can slide vertically in the second vertical sliding groove (108).

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