Camera array multi-degree-of-freedom adjusting device and camera array three-dimensional image acquisition system

Abstract

This application discloses a multi-degree-of-freedom adjustment device for a camera array and a three-dimensional image acquisition system for a camera array. The multi-degree-of-freedom adjustment device includes a camera array support, a first degree-of-freedom adjustment component, a second degree-of-freedom adjustment component, a third degree-of-freedom adjustment component, and a fourth degree-of-freedom adjustment component. The rotational connections or kinetic connections between the camera array support, the first degree-of-freedom adjustment component, the second degree-of-freedom adjustment component, the third degree-of-freedom adjustment component, and the fourth degree-of-freedom adjustment component have different rotational directions or kinetic connections. This allows the camera array support to rotate around a first direction and move along a second direction, increasing the camera array support's four degrees of freedom and thus its range of motion. This allows the camera mounted on the camera array support to have a larger shooting angle and shooting range, increases the number of available light field viewpoints, and ultimately improves the stereoscopic acquisition effect.

Description

Technical Field

[0001] This application belongs to the field of three-dimensional image acquisition technology, and particularly relates to a camera array multi-degree-of-freedom adjustment device and a camera array three-dimensional image acquisition system. Background Technology

[0002] In related technologies, the fixed parameters between camera arrays result in a small 3D image acquisition range, which cannot meet the needs of large-scale 3D image acquisition.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] This application aims to at least partially solve the technical problem that the fixed parameters between camera arrays result in a small 3D image acquisition range, failing to meet the needs of large-scale 3D image acquisition. To this end, this application provides a multi-degree-of-freedom adjustment device for a camera array and a 3D image acquisition system for a camera array.

[0005] This application provides a camera array multi-degree-of-freedom adjustment device, which includes:

[0006] Camera array bracket, the camera array bracket including multiple camera mounting positions; and,

[0007] The first degree of freedom adjustment component is rotatably connected to the camera array support about a first direction or a second direction, or is movably connected in the first direction or the second direction.

[0008] The second degree of freedom adjustment component is rotatably connected to the first degree of freedom adjustment component about the first direction or the second direction, or is movably connected in the first direction or the second direction.

[0009] A third degree-of-freedom adjustment component, wherein the third degree-of-freedom adjustment component is rotatably connected to the second degree-of-freedom adjustment component about the first direction or the second direction, or is movably connected in the first direction or the second direction; and...

[0010] A fourth degree of freedom adjustment component, wherein the fourth degree of freedom adjustment component is rotatably connected to the third degree of freedom adjustment component about the first direction or the second direction, or is movably connected in the first direction or the second direction;

[0011] Wherein, the first direction is different from the second direction, and the rotation direction of the rotational connection or the movement direction of the locating connection between the camera array bracket, the first degree of freedom adjustment component, the second degree of freedom adjustment component, the third degree of freedom adjustment component, and the fourth degree of freedom adjustment component is different.

[0012] In some embodiments, the multiple camera mounting positions are arranged in a convergent array on the camera array bracket.

[0013] In some implementations, the first direction is perpendicular to the second direction.

[0014] In some embodiments, the first degree of freedom adjustment component includes:

[0015] First rotating support;

[0016] A first rotating shaft is mounted on the first rotating bracket, and the first rotating shaft is connected to the camera array bracket; and...

[0017] The first rotation drive is used to drive the first rotation shaft to rotate around the first direction.

[0018] In some embodiments, the second degree of freedom adjustment component includes:

[0019] Second movable support;

[0020] The second movable rack is connected to the first rotating bracket, and the second movable rack extends along the first direction or the second direction;

[0021] The second movable gear is disposed on the second movable bracket, and the second movable gear meshes with the second movable rack.

[0022] The second moving drive is used to drive the second moving gear to rotate about a third direction that is perpendicular to both the first direction and the second direction.

[0023] In some embodiments, the second movable bracket is provided with a second movable slide rail extending in the same direction as the second movable rack, and the second movable rack is provided with a second movable support slider, which can slide in the second movable slide rail.

[0024] In some embodiments, the third degree of freedom adjustment component includes:

[0025] Third rotating bracket;

[0026] A third rotating shaft is disposed on the third rotating bracket, and the first rotating shaft is connected to the second movable bracket; and

[0027] The third rotation drive is used to drive the third rotation shaft to rotate around the second direction.

[0028] In some embodiments, the third rotating bracket is provided with a third rotating slide rail coaxial with the rotation direction of the third rotating shaft, and the second moving bracket is provided with a third rotating support slider, which can slide in the third rotating slide rail.

[0029] In some embodiments, the fourth degree of freedom adjustment component includes:

[0030] Fourth movable support;

[0031] A fourth movable rack is connected to the fourth movable bracket, and the fourth movable rack extends along the second direction;

[0032] A fourth movable gear is disposed on the third rotating bracket, and the fourth movable gear meshes with the fourth movable rack;

[0033] A fourth moving drive is used to drive the fourth moving gear to rotate around the first direction, or to drive the fourth moving gear to rotate around the third direction.

[0034] This application embodiment also provides a camera array three-dimensional image acquisition system, which includes the above-mentioned camera array multi-degree-of-freedom adjustment device and a camera disposed in the camera mounting position.

[0035] The embodiments of this application have at least the following beneficial effects:

[0036] The aforementioned multi-degree-of-freedom adjustment device for the camera array, through the first, second, third, and fourth degree-of-freedom adjustment components, enables the camera array support to rotate around the first and second directions and move along the first and second directions. By rotating and moving, the camera array support can gain four degrees of freedom, increasing its range of motion. This allows the camera mounted on the camera array support to have a larger shooting angle and shooting range, thereby improving the image acquisition range of the camera array 3D image acquisition system, increasing the number of available light field viewpoints, and ultimately achieving the goal of improving the stereoscopic acquisition effect. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A schematic diagram of a one-dimensional matrix camera array arrangement is shown.

[0039] Figure 2 A schematic diagram of a convergent array camera arrangement is shown;

[0040] Figure 3 A three-dimensional structural schematic diagram of the camera array multi-degree-of-freedom adjustment device in an embodiment of this application is shown;

[0041] Figure 4 It shows Figure 3 A three-dimensional structural diagram of the camera array multi-degree-of-freedom adjustment device from another angle;

[0042] Figure 5 It shows Figure 3 A three-dimensional structural diagram of the camera array multi-degree-of-freedom adjustment device at another angle;

[0043] Figure 6 It shows Figure 3 A top view of the camera array multi-degree-of-freedom adjustment device in the image;

[0044] Figure 7 It shows Figure 3 A magnified view of the multi-degree-of-freedom adjustment device for the camera array in the image;

[0045] Figure 8 It shows Figure 3 A schematic diagram of the structure of the second degree of freedom adjustment component and the third degree of freedom adjustment component in the camera array multi-degree-of-freedom adjustment device.

[0046] Figure label:

[0047] 100. Camera array bracket; 110. Camera mounting position; 200. First degree of freedom adjustment assembly; 210. First rotating bracket; 220. First rotating shaft; 230. First rotating drive; 300. Second degree of freedom adjustment assembly; 310. Second moving bracket; 320. Second moving rack; 321. Second upper moving rack; 322. Second lower moving rack; 330. Second moving gear; 340. Second moving drive; 350. Second moving slide rail; 360. Second moving support slider; 400. Third degree of freedom... Degree adjustment component; 410, third rotating bracket; 420, third rotating shaft; 440, third rotating slide rail; 450, third rotating support slider; 500, fourth degree of freedom adjustment component; 510, fourth moving bracket; 511, fourth moving bracket main board; 512, fourth moving bracket main board connecting board; 520, fourth moving rack; 530, fourth moving gear; 540, fourth moving drive component; X, first direction; Y, second direction; Z, third direction; Z', shooting axis; Y', mounting center axis; 1000, camera. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0049] Furthermore, reference numerals and / or reference letters may be repeated in different examples in this application. Such repetition is for simplification and clarity purposes and does not in itself indicate a relationship between the various embodiments and / or settings discussed. In addition, this application provides examples of various specific processes and materials; however, those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0050] This application is described below with reference to the accompanying drawings and specific embodiments:

[0051] On the acquisition side of 3D content, the camera 1000's scene acquisition is a process of projecting the 3D world onto a 2D plane. During this projection, depth information is lost. Therefore, the traditional single-camera 1000 acquisition method cannot meet the needs of acquiring 3D scene information. Two or more cameras 1000 need to simultaneously acquire the same scene to obtain the 3D depth information. Two-point stereoscopic display simulates how the human eye observes the world to achieve stereoscopic scene display. However, because two-point stereoscopic display only presents information from two viewpoints, the stereoscopic effect is only correct when viewed from the position corresponding to the binocular acquisition orientation. Viewing from other positions will result in stereoscopic distortion or even errors. Compared to two-point stereoscopic display, multi-viewpoint stereoscopic display technology, because it acquires scene information from multiple viewpoints, can present the correct stereoscopic effect from different positions during multi-viewpoint stereoscopic display. Therefore, viewers can still obtain correct stereoscopic information while moving, improving the immersive experience of the stereoscopic display system.

[0052] With the development of computer technology, the ability of computers to store, process, and transmit information has greatly improved, prompting 3D displays to develop towards a greater number of viewpoints, denser locations, and a wider field of view, posing a significant challenge to stereoscopic acquisition and 3D information processing technologies. A real scene appears as a continuous curve when viewed from a continuous perspective, while the light field reproduced after acquisition is a broken line composed of discontinuous viewpoints. It is easy to see that the more viewpoints acquired and the denser the acquisition locations, the closer the scene is to a continuous real scene, and the more realistic the reproduced light field. To achieve dense viewpoint acquisition, various camera array topologies have been rapidly developed, including matrix arrays, axially distributed arrays, 360-degree panoramic arrays, and random distributed acquisition. Matrix array camera acquisition refers to an acquisition method where the topology of the camera array is rectangular. Among them, the one-dimensional matrix form of the camera array is the most common, and it is the camera array topology used in raster free-form stereoscopic display technology.

[0053] One-dimensional matrix camera arrays include parallel, convergent, and off-axis types. Parallel camera arrays are the most common dense viewpoint acquisition method. In a parallel camera array, the optical centers (baseline) of all 1000 cameras are the same, their optical axes are parallel, and they lie in the same plane. However, the common area of ​​the scene captured by a parallel camera array is small, and because the optical axes are parallel, the zero-parallax plane is located at infinity, resulting in only negative parallax in the displayed scene. If the captured content is directly used for 3D display, the entire scene will be off-screen. Converging camera arrays have all 1000 cameras with the same optical center distance (baseline) and their optical axes intersecting at a single point, increasing the common area of ​​the captured scene. Also, because the optical axes intersect at a single point, the intersection point is its zero-parallax point. However, because the imaging planes of the 1000 cameras in a convergent array are not parallel, trapezoidal distortion occurs, resulting in vertical parallax between the content of each 1000 camera, making it unsuitable for direct use in 3D display. Off-axis camera arrays overcome the shortcomings of parallel and convergent arrays, but due to the special structure of their 1000 cameras, they are often only applicable to virtual scene acquisition.

[0054] A one-dimensional matrix form of camera array arrangement is as follows: Figure 1 As shown, the camera array contains twelve cameras 1000. The shooting axes Z' of all cameras 1000 in the camera array are on the same horizontal plane. At the same time, the mounting center axis Y' of all cameras 1000 is perpendicular to the shooting axis Z' and is also on the same horizontal plane. All cameras 1000 and the third direction Z point towards the front of the display plane with a slight angular difference. After the position parameters of each camera 1000 are calibrated, the relative position with the adjacent camera 1000 will be determined and will not move.

[0055] Through the Figure 1 All the cameras shown have undergone minor angular adjustments, resulting in the following configuration: Figure 2 As shown in the converging camera array, during image acquisition, the corresponding baselines between the left and right images are no longer parallel. Consequently, the disparity vector is no longer parallel to the horizontal scan line of the image, and neither component of the disparity vector is zero. The acquired image can simultaneously exhibit positive disparity, zero disparity, and negative disparity, but a certain amount of trapezoidal distortion will occur. Similarly, after the position parameters of each camera 1000 in the converging camera array are calibrated, their relative positions with adjacent cameras 1000 are fixed and will not move. It is precisely because the position parameters in the camera array are fixed that the image acquisition range of the camera array is relatively small, which cannot meet the needs of large-scale 3D image acquisition.

[0056] To address the aforementioned problems, embodiments of this application provide a camera array multi-degree-of-freedom adjustment device, such as... Figures 3 to 8As shown, the camera array multi-degree-of-freedom adjustment device includes a camera array support 100, a first degree-of-freedom adjustment component 200, a second degree-of-freedom adjustment component 300, a third degree-of-freedom adjustment component 400, and a fourth degree-of-freedom adjustment component 500. The camera array support 100 includes multiple camera mounting positions 110; a first degree-of-freedom adjustment component 200 is rotatably connected to the camera array support 100 about a first direction X or a second direction Y, or is movably connected in the first direction X or the second direction Y; a second degree-of-freedom adjustment component 300 is rotatably connected to the first degree-of-freedom adjustment component 200 about a first direction X or a second direction Y, or is movably connected in the first direction X or the second direction Y; a third degree-of-freedom adjustment component 400 is rotatably connected to the second degree-of-freedom adjustment component 300 about a first direction X or a second direction Y, or is movably connected in the first direction X or the second direction Y; a fourth degree-of-freedom adjustment component 500 is rotatably connected to the third degree-of-freedom adjustment component 400 about a first direction X or a second direction Y, or is movably connected in the first direction X or the second direction Y; wherein the first direction X and the second direction Y are different, and the rotation direction of the rotatable connection or the movement direction of the movable connection between the camera array support 100, the first degree-of-freedom adjustment component 200, the second degree-of-freedom adjustment component 300, the third degree-of-freedom adjustment component 400, and the fourth degree-of-freedom adjustment component 500 are all different.

[0057] The camera array multi-degree-of-freedom adjustment device of this embodiment enables the camera array support 100 to rotate around the first direction X, rotate around the second direction Y, move along the first direction X, and move along the second direction Y through the first degree-of-freedom adjustment component 200, the second degree-of-freedom adjustment component 300, the third degree-of-freedom adjustment component 400, and the fourth degree-of-freedom adjustment component 500, respectively. Through the rotation and movement of the camera array support 100, four degrees of freedom are added to the camera array support 100, increasing the range of motion of the camera array support 100. This allows the camera 1000 mounted on the camera array support 100 to have a larger shooting angle and shooting range, thereby improving the image acquisition range of the camera array three-dimensional image acquisition system, increasing the available light field viewpoints, and ultimately achieving the goal of improving the stereoscopic acquisition effect.

[0058] In this embodiment, the multi-degree-of-freedom adjustment device for the camera array solves the problem of a small image acquisition angle range caused by the fixed parameters of the camera 1000 through mechanical adjustment. By setting the first degree-of-freedom adjustment component 200, the second degree-of-freedom adjustment component 300, the third degree-of-freedom adjustment component 400, and the fourth degree-of-freedom adjustment component 500, the image acquisition range is adjusted in several degrees of freedom, ultimately achieving the goal of improving the stereoscopic acquisition effect. Furthermore, the multi-degree-of-freedom adjustment device for the camera array in this embodiment also has the advantages of saving more viewpoint acquisition space, reducing the bandwidth required for video streams, and making the motion parallax of the naked-eye 3D display device smoother.

[0059] In this field, light field information acquisition technology is crucial for obtaining raw 3D data. This technology utilizes a camera array to acquire a limited number of light field images and outputs a dense viewpoint image through steps such as matching cost calculation, disparity synthesis, cost aggregation, and disparity optimization. If the object being acquired is located at a fixed boundary, and the acquisition angle is relatively narrow, it may result in only one camera capturing an image of the object, meaning only one image is captured, making stereo matching impossible.

[0060] In the multi-degree-of-freedom adjustment device of the camera array in this embodiment, the camera array mounted on the camera 1000 in the camera array bracket 100 can increase the image acquisition angle and acquisition range through mechanical adjustment. In combination with the post-processing algorithm, a larger and wider acquisition angle can be achieved, thereby improving the stereoscopic display effect of the converted display scene.

[0061] In the embodiments of this application, such as Figure 3 and Figure 4 As shown, the camera array bracket 100 is a porous strip structure. Each hole in this structure serves as a camera mounting position 110 for placing and fixing the cameras 1000 that make up the camera array. The cameras 1000 are used for image acquisition. Optionally, as... Figure 3 and Figure 4 As shown, the camera array bracket 100 has twelve camera mounting positions 110, and each camera mounting position 110 has an RGB camera 1000.

[0062] In the embodiments of this application, such as Figure 3 and Figure 4As shown, due to the different connection methods and rotation / movement directions of the camera array support 100, the first degree of freedom adjustment component 200, the second degree of freedom adjustment component 300, the third degree of freedom adjustment component 400, and the fourth degree of freedom adjustment component 500, they can be connected sequentially. This allows for adjustments between the camera array support 100 and the first degree of freedom adjustment component 200, between the first degree of freedom adjustment component 200 and the second degree of freedom adjustment component 300, and between the second degree of freedom adjustment component 500 and the first degree of freedom adjustment component 500. The camera array support 100 has one degree of freedom of movement between itself and the third degree of freedom adjustment component 400, and between itself and the fourth degree of freedom adjustment component 500. This allows the camera array support 100 to rotate around the first direction X, rotate around the second direction Y, move in the first direction X, and move in the second direction Y, thus giving the camera array support 100 four degrees of freedom. This significantly increases the image acquisition range of the camera 1000 on the camera array support 100, thereby saving more viewpoint acquisition space and reducing the bandwidth required for the video stream. This makes the motion parallax of the acquired images applied to glasses-free 3D display devices smoother. Furthermore, combined with eye-tracking technology, a video stream with fewer viewpoints can be achieved without compromising visual quality.

[0063] It should be noted that in the camera array multi-degree-of-freedom adjustment device of this application, the first degree-of-freedom adjustment component 200, the second degree-of-freedom adjustment component 300, the third degree-of-freedom adjustment component 400, and the fourth degree-of-freedom adjustment component 500 can respectively realize four degree-of-freedom adjustment modes of the camera array support 100: rotation around the first direction X, rotation around the second direction Y, movement along the first direction X, and movement along the second direction Y. The first degree-of-freedom adjustment component 200, the second degree-of-freedom adjustment component 300, the third degree-of-freedom adjustment component 400, and the fourth degree-of-freedom adjustment component 500 do not need to correspond one-to-one with the four degree-of-freedom adjustment modes of rotation around the first direction X, rotation around the second direction Y, movement along the first direction X, and movement along the second direction Y.

[0064] In one embodiment, the camera array multi-degree-of-freedom adjustment device can achieve rotation of the camera array support 100 around a first direction X via a first degree-of-freedom adjustment component 200, rotation of the camera array support 100 around a second direction Y via a second degree-of-freedom adjustment component 300, movement of the camera array support 100 along the first direction X via a third degree-of-freedom adjustment component 400, and movement of the camera array support 100 along the second direction Y via a fourth degree-of-freedom adjustment component 500. In other embodiments, the camera array multi-degree-of-freedom adjustment device can achieve movement of the camera array support 100 along the first direction X via a first degree-of-freedom adjustment component 200, rotation of the camera array support 100 around the first direction X via a second degree-of-freedom adjustment component 300, movement of the camera array support 100 along the second direction Y via a third degree-of-freedom adjustment component 400, and rotation of the camera array support 100 around the second direction Y via a fourth degree-of-freedom adjustment component 500. Other combinations are also possible in other embodiments, which will not be listed here.

[0065] The camera array multi-degree-of-freedom adjustment device of this application can be applied to different usage scenarios, such as in 3D wearable devices and 3D map acquisition devices. In the following embodiments of this application, the camera array multi-degree-of-freedom adjustment device is illustrated by taking the example of the camera array multi-degree-of-freedom adjustment device being installed in a camera array three-dimensional image acquisition system.

[0066] As an alternative implementation method, such as Figure 2 and Figure 3 As shown, multiple camera mounting positions 110 are arranged in a convergent array on the camera array bracket 100.

[0067] In this embodiment, as Figure 2 and Figure 3 As shown, camera mounting positions 110 are arranged sequentially along the first direction X on the camera array bracket 100, and are located on the horizontal plane of the first direction X. The shooting axes Z' of all cameras 1000 in the camera array are on the same horizontal plane, and the mounting center axis Y' of all cameras 1000 is perpendicular to the shooting axis Z'. The mounting center axis Y' of the cameras 1000 (the straight line of the first direction X) is also on the same horizontal plane. All cameras 1000 and the third direction Z point towards the front of the image to be acquired with a slight angular difference, thus forming a convergent array of cameras. Therefore, during image acquisition, the corresponding baselines between the left and right images are no longer parallel, and the parallax vector is not parallel to the horizontal scan line of the image. Both components of the parallax vector are not zero, and the acquired image can simultaneously possess positive parallax, zero parallax, and negative parallax, resulting in a better stereoscopic display effect.

[0068] In this embodiment, the position parameters of each camera 1000 are calibrated after being set in the corresponding camera mounting position 110. After calibration, the relative position of each camera 1000 with its neighboring cameras is determined and no longer moves. Simultaneously, in this embodiment, the camera array support 100 has four degrees of freedom through the first degree-of-freedom adjustment component 200, the second degree-of-freedom adjustment component 300, the third degree-of-freedom adjustment component 400, and the fourth degree-of-freedom adjustment component 500. This means the camera array support 100 can move or rotate in four degrees of freedom. Therefore, the camera array in the camera array support 100 can move or rotate synchronously, and the relative positions of adjacent cameras 1000 in the camera array remain unchanged. This increases the acquisition range while maintaining the excellent characteristics of the original convergent camera array.

[0069] As an alternative implementation method, such as Figure 6 and Figure 7 As shown, the first direction X is perpendicular to the second direction Y.

[0070] In this application, as Figure 6 and Figure 7 As shown, the camera array multi-degree-of-freedom adjustment device of this application includes a first degree-of-freedom adjustment component 200, a second degree-of-freedom adjustment component 300, a third degree-of-freedom adjustment component 400, and a fourth degree-of-freedom adjustment component 500, which rotate and move with reference to a first direction X and a second direction Y that are perpendicular to each other, so as to realize the adjustment of angle and displacement in the first direction X and the second direction Y.

[0071] As an optional implementation, the first degree of freedom adjustment component 200 includes a first rotating bracket 210, a first rotating shaft 220, and a first rotating drive 230, wherein the first rotating shaft 220 is disposed on the first rotating bracket 210 and is connected to the camera array bracket 100; the first rotating drive 230 is used to drive the first rotating shaft 220 to rotate around the first direction X.

[0072] In this embodiment, as Figure 7 As shown, the first rotating shaft 220 is configured to be mounted on the first rotating bracket 210. Simultaneously, the first rotating drive member 230 is mounted on the first rotating bracket 210 and connected to the first rotating shaft. The first rotating drive member 230 drives the first rotating shaft to rotate around the first direction X. The first rotating shaft is also fixedly connected to the camera array bracket 100, so the camera array bracket 100 and the first rotating shaft rotate synchronously around the first direction X. The camera 1000 on the camera array bracket 100 rotates synchronously around the first direction X, meaning the camera 1000 can adjust its pitch angle.

[0073] In application, taking the human body as the acquisition target as an example, the height of different acquisition targets and the height of acquisition targets in different moving and static postures vary greatly. For acquisition targets of different heights, traditional fixed camera arrays have a relatively small acquisition range for acquisition targets of different heights, which cannot meet the comprehensive acquisition needs of acquisition targets.

[0074] The camera array multi-degree-of-freedom adjustment device of this application embodiment adds a first degree of freedom adjustment to the camera array, enabling the camera array to rotate around the first direction X to adjust the pitch angle. Thus, when applied to different acquisition heights, the pitch angle can be adjusted for acquisition objects at different heights, thereby acquiring acquisition objects at different height ranges and increasing the image acquisition range.

[0075] In this embodiment, optionally, the axis of the first rotating shaft is coaxial with the mounting center line of the camera 1000 mounted on the camera array bracket 100, so that the camera 1000 on the camera array bracket 100 rotates coaxially with the first rotating shaft.

[0076] In this embodiment, optionally, the first rotating bracket 210 includes a first rotating bracket 210 main board and a first rotating bracket 210 sub-board disposed opposite to each other. The camera array bracket 100 is located between the first rotating bracket 210 main board and the first rotating bracket 210 sub-board, and the first end of the camera array bracket 100 is connected to the first rotating shaft 220 disposed on the first rotating bracket 210 main board. The first end of the camera array bracket 100 is rotatably connected to the first rotating bracket 210 sub-board. With the support of the first rotating bracket 210 main board and the first rotating bracket 210 sub-board, it can be ensured that the camera array bracket 100 rotates smoothly around the first direction X.

[0077] In this embodiment, optionally, to maintain relative stability between the main board and the secondary board of the first rotating bracket 210, the main board and the secondary board of the first rotating bracket 210 are fixedly connected together by a connecting plate. The connecting plate of the first rotating bracket 210 can be located below the camera array bracket 100, thereby suspending the camera array bracket 100 above the connecting plate of the first rotating bracket 210 through the main board and the secondary board of the rotating bracket.

[0078] In this embodiment, by setting the first rotating shaft 220, the first rotating drive 230, the camera array bracket 100 on the first rotating bracket 210 and the structure of the first rotating bracket 210 itself, the first free end adjustment component and the camera array bracket 100 can form a relatively independent modular structure, which facilitates the overall rotation or movement, and also makes it convenient to perform module maintenance and replacement.

[0079] As an optional implementation, the second degree-of-freedom adjustment assembly 300 includes a second movable support 310, a second movable rack 320, a second movable gear 330, and a second movable drive member 340. The second movable rack 320 is connected to the first rotating support 210 and extends along either the first direction X or the second direction Y. The second movable gear 330 is disposed on the second movable support 310 and meshes with the second movable rack 320. The second movable drive member 340 drives the second movable gear 330 to rotate about a third direction Z, which is perpendicular to both the first direction X and the second direction Y.

[0080] In this embodiment, as Figure 4 and Figure 8 As shown, the second moving rack 320 is connected to the first rotating bracket 210, and the second moving rack 320 extends along the first direction X. In this embodiment, since the extension direction of the camera array is the first direction X, the extension direction of the second moving rack 320 is the same as the extension direction of the camera array. The second moving gear 330 is disposed on the second moving bracket 310. The second moving gear 330 can rotate around a third direction Z, which is perpendicular to both the first direction X and the second direction Y, under the drive of the second moving drive member 340. Since the second moving gear 330 meshes with the second moving rack 320, when the second moving gear 330 rotates around the third direction Z, the second moving rack 320 can move in the first direction X under the drive of the second moving gear 330, thereby realizing the synchronous movement of the first degree of freedom adjustment component 200 and the camera array bracket 100, which are directly or indirectly connected to the second moving rack 320, in the first direction X. The camera array support 100 moves in the first direction X, thereby slightly adjusting the acquisition range of the camera array in the first direction X to meet the image acquisition requirements of the acquisition target moving slightly in the first direction X.

[0081] In one embodiment, such as Figure 4 As shown, optionally, the second moving rack 320 can be disposed on the side of the first rotating bracket 210 connecting plate away from the camera array bracket 100, so that the camera array can move along the first direction X within the length range of the first rotating bracket 210 connecting plate.

[0082] In another embodiment, such as Figure 8As shown, the second moving rack 320 may include a second upper moving rack 321 and a second lower moving rack 322, which are arranged opposite to each other. The second upper moving rack 321 is located on the side of the connecting plate of the first rotating bracket 210 away from the camera array bracket 100. The second moving gear 330 is located between the second upper moving rack 321 and the second lower moving rack 322 and meshes with the second upper moving rack 321 and the second lower moving rack 322 respectively. By rotating the second moving gear 330, the second upper moving rack 321 and the second lower moving rack 322 can move synchronously along the first direction X, thereby causing the first degree of freedom adjustment component 200 and the camera array bracket 100 to move in the first direction X.

[0083] As an optional implementation, the second movable bracket 310 is provided with a second movable slide rail 350 extending in the same direction as the second movable rack 320, and the second movable rack 320 is provided with a second movable support slider 360, which can slide in the second movable slide rail 350.

[0084] In this embodiment, since the second moving rack 320 extends along the first direction X and is movable relative to the second moving gear 330, to prevent the second rack from becoming unstable due to loss of balance at both ends after moving relative to the second moving gear 330, an optional second moving slide rail 350 extending along the first direction X is provided on the second moving bracket 310. Correspondingly, a second moving support slider 360 is provided on the side of the second moving rack 320 adjacent to the second moving bracket 310, and the second moving support slider 360 can slide in the second moving slide rail 350. During the movement of the second moving rack 320 in the first direction X, the second moving support slider 360 slides in the second moving slide rail 350 and can support the second moving rack 320, so that the second moving rack 320 and the first degree of freedom adjustment component 200 connected to the second moving rack 320 remain balanced.

[0085] In this embodiment, optionally, in order to ensure that the second moving rack 320, the first degree of freedom adjustment component 200 and the camera array support 100 remain balanced and stable when moving in the first direction X, the first end of the second moving rack 320 is provided with two second moving support sliders 360. At the same time, the second end of the second moving rack 320 opposite to the first end is provided with two second moving support sliders 360. The second moving support sliders 360 at the first end of the second moving rack 320 and the second moving support sliders 360 at the second end of the second moving rack 320 form two sets of parallel moving slider groups. Correspondingly, the second moving support 310 is provided with two second moving slide rails 350, and the two sets of moving slide rails can slide in the two moving slide rails respectively.

[0086] In the above embodiments, the second moving gear 330, the second moving drive component 340, the second moving slide rail 350, and the second moving support slider 360 are all directly or indirectly supported by the second moving bracket 310, thereby making the second degree of freedom adjustment component 300 form a relatively independent modular structure, which facilitates the overall rotation or movement, and also makes it convenient to perform module maintenance and replacement.

[0087] As an optional implementation, the third degree of freedom adjustment assembly 400 includes a third rotation bracket 410, a third rotation shaft 420, and a third rotation drive. The third rotation shaft 420 is mounted on the third rotation bracket 410, and the first rotation shaft 220 is connected to the second movable bracket 310. The third rotation drive is used to drive the third rotation shaft 420 to rotate around the second direction Y.

[0088] In this embodiment, as Figure 4 and Figure 7 As shown, the third rotation shaft 420 is mounted on the third rotation bracket 410. Driven by the third rotation drive (not shown), the third rotation shaft 420 can rotate relative to the third rotation bracket 410 around the second direction Y. Simultaneously, since the third rotation shaft 420 is connected to the second moving bracket 310, the second moving bracket 310 can rotate around the second direction Y under the drive of the third rotation shaft 420. This allows the second degree-of-freedom adjustment component 300, the first degree-of-freedom adjustment component 200, and the camera array bracket 100, all directly or indirectly mounted on the second moving bracket 310, to rotate synchronously around the second direction Y. The camera array bracket 100's rotation around the second direction Y means that the camera 1000 can adjust its swing angle relative to the second direction Y, thereby adapting to the increased requirements for the acquisition range in the second direction Y when the target moves significantly laterally.

[0089] As an optional implementation, the third rotating bracket 410 is provided with a third rotating slide rail 440 that is coaxial with the rotation direction of the third rotating shaft 420, and the second moving bracket 310 is provided with a third rotating support slider 450, which can slide in the third rotating slide rail 440.

[0090] In this embodiment, a third rotating slide rail 440, coaxial with the rotation direction of the third rotating shaft 420, is provided on the third rotating bracket 410. Specifically, the third rotating slide rail 440 is an arc groove or circular groove centered at the connection point between the third rotating shaft 420 and the third rotating bracket 410. Simultaneously, a third rotating support slider 450 is provided on the second movable bracket 310 adjacent to the third rotating bracket 410, allowing the third rotating support slider 450 to rotate and slide synchronously around the second direction Y within the third rotating slide rail 440. When the second movable bracket 310 rotates around the second direction Y under the drive of the third rotating shaft 420, the third rotating support slider 450 slides synchronously around the second direction Y within the third rotating slide rail 440, thus supporting the second movable bracket 310 and preventing it from losing balance or becoming unstable during rotation.

[0091] In this embodiment, optionally, to better maintain balance during rotation of the second movable support 310, two third rotational support sliders 450 are provided at the first end of the second movable support 310, and two third rotational support sliders 450 are provided at the second end of the second movable support 310 opposite to the first end. The third rotational support sliders 450 at the first end of the second movable support 310 and the third rotational support sliders 450 at the second end of the second movable support 310 are centrally symmetrical about the third rotation axis 420. When the second movable support 310 rotates about the third rotation axis 420, the third rotational support sliders 450 at both ends of the second movable support 310 slide synchronously in the third rotational slide rail 440 and support both ends of the second movable support 310, which can ensure that the second movable support 310 remains stable and balanced during rotation.

[0092] In this embodiment, the third rotating shaft 420, the third rotating slide rail 440, and the third rotating support slider 450 are all directly or indirectly connected to the third rotating bracket 410, thereby making the third degree of freedom adjustment component 400 a relatively independent modular structure, which facilitates the overall rotation or movement, and also makes it convenient to perform module maintenance and replacement.

[0093] As an optional implementation, the fourth degree of freedom adjustment assembly 500 includes a fourth moving bracket 510, a fourth moving rack 520, a fourth moving gear 530, and a fourth moving drive member 540. The fourth moving rack 520 is connected to the fourth moving bracket 510 and extends along a second direction Y; the fourth moving gear 530 is disposed on a third rotating bracket 410 and meshes with the fourth moving rack 520; the fourth moving drive member 540 is used to drive the fourth moving gear 530 to rotate around a first direction X, or to drive the fourth moving gear 530 to rotate around a third direction Z.

[0094] In this embodiment, as Figure 4 and Figure 7 As shown, the fourth moving rack 520 is mounted on the fourth moving bracket 510 and extends along the second direction Y. Simultaneously, the fourth moving gear 530 is mounted on the third rotating bracket 410 and meshes with the fourth moving rack 520. When the fourth moving gear 530 rotates under the drive of the fourth moving drive member 540, the fourth moving gear 530 moves relative to the fourth moving rack 520 in the second direction Y, thereby synchronously driving the third rotating bracket 410 to move in the second direction Y. This enables the third degree-of-freedom adjustment component 400, the second degree-of-freedom adjustment component 300, the first degree-of-freedom adjustment component 200, and the camera array bracket 100, which are directly or indirectly connected to the third rotating bracket 410, to move synchronously in the second direction Y. The camera array bracket 100 moves in the second direction Y to accommodate the need for the camera array bracket 100 to be hidden or revealed in the camera array 3D image acquisition system through movement in the second direction. It can also adjust the image acquisition area of ​​the camera array to accommodate small-range height fluctuations of the acquisition target.

[0095] In this embodiment, optionally, such as Figure 4 and Figure 5 As shown, the fourth movable support 510 includes a fourth movable support main board 511 and a fourth movable support sub-board disposed opposite to each other. The fourth movable support main board 511 and the fourth movable support sub-board extend along the second direction Y. A fourth movable rack 520 is respectively provided on the fourth movable support main board 511 and the fourth movable support sub-board. At the same time, the third degree of freedom adjustment component 400 is located between the fourth movable support main board 511 and the fourth movable support sub-board, and a fourth movable gear 530 is respectively provided at both ends of the third rotating support 410. The two ends of the third rotating support 410 mesh with the fourth movable rack 520 provided on the fourth movable support main board 511 and the fourth movable support sub-board through the fourth movable gear 530, so that the two ends of the third rotating support 410 can move relative to the fourth movable support main board 511 in the second direction Y under the action of the fourth movable gear 530.

[0096] In this embodiment, optionally, such as Figure 4 and Figure 5 As shown, to ensure relative stability between the main board 511 and the secondary board 510 of the fourth moving bracket, the main board 511 and the secondary board 510 of the fourth moving bracket are fixedly connected together by the connecting plate 512 of the fourth moving bracket. Simultaneously, the third degree-of-freedom adjustment component 400, the second degree-of-freedom adjustment component 300, the first degree-of-freedom adjustment component 200, and the camera array bracket 100 are positioned above the connecting plate 512 of the fourth moving bracket.

[0097] In the above embodiments of this application, the first rotation drive 230, the second movement drive 340, the third rotation drive, and the fourth movement drive 540 can be motors. Electric drive eliminates the intermediate energy conversion stage, with the motor directly generating force and torque. This results in good determinism in the motion process, high efficiency, and a compact design without complex piping systems. It is also responsive, easy to use, and low-cost. In this application, an electric drive method is formed by driving related structures with a motor. This electric drive method has advantages such as fast response speed, high sensitivity, precise control, simple structure, high reliability, low noise, cleanliness, and easy maintenance, and can be widely used in the field of industrial control. Applied to the camera array multi-degree-of-freedom adjustment device of this application, the degree-of-freedom adjustment of the camera array multi-degree-of-freedom adjustment device can be more efficient and precise.

[0098] In the above embodiments of this application, the camera array used for image acquisition and the camera array multi-degree-of-freedom adjustment device, which serves as a motion control platform, are combined to achieve image acquisition control. This reduces the number of cameras 1000 in the camera array, eliminates redundant control boards, reduces data volume, and increases the display frame rate after synthesizing ten points. Simultaneously, by using the camera array multi-degree-of-freedom adjustment device to adjust the camera array on the camera array support 100, the relatively fixed interval requirements between the cameras 1000 in the camera array can be maintained, as well as the relatively fixed angle requirements between the cameras 1000 in the camera array. This allows the entire camera array to rotate and move, overcoming the limitation of small image acquisition range in convergent camera arrays.

[0099] Based on the same inventive concept, this application also provides a camera array three-dimensional image acquisition system, which includes the above-mentioned camera array multi-degree-of-freedom adjustment device and a camera 1000 disposed in the camera mounting position 110.

[0100] Since the camera array three-dimensional image acquisition system provided by the present invention includes the camera array multi-degree-of-freedom adjustment device of the above-mentioned technical solution, the camera array three-dimensional image acquisition system provided by the present invention has all the beneficial effects of the above-mentioned folding display device, which will not be elaborated here.

[0101] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0102] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0103] It should be noted that all directional indications in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0104] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0105] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0106] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0107] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0108] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A multi-degree-of-freedom adjustment device for a camera array, characterized in that, The camera array multi-degree-of-freedom adjustment device includes: Camera array bracket, the camera array bracket including multiple camera mounting positions; and, The first degree of freedom adjustment component is rotatably connected to the camera array support about a first direction or a second direction, or is movably connected in the first direction or the second direction. The second degree of freedom adjustment component is rotatably connected to the first degree of freedom adjustment component about the first direction or the second direction, or is movably connected in the first direction or the second direction. A third degree-of-freedom adjustment component, wherein the third degree-of-freedom adjustment component is rotatably connected to the second degree-of-freedom adjustment component about the first direction or the second direction, or is movably connected in the first direction or the second direction; and... A fourth degree of freedom adjustment component, wherein the fourth degree of freedom adjustment component is rotatably connected to the third degree of freedom adjustment component about the first direction or the second direction, or is movably connected in the first direction or the second direction; Wherein, the first direction is different from the second direction, and the rotation direction of the rotational connection or the movement direction of the movable connection between the camera array bracket, the first degree of freedom adjustment component, the second degree of freedom adjustment component, the third degree of freedom adjustment component, and the fourth degree of freedom adjustment component is different; The multiple camera mounting positions are arranged in a convergent array on the camera array bracket; The first degree of freedom adjustment component includes: First rotating support; A first rotating shaft is mounted on the first rotating bracket, and the first rotating shaft is connected to the camera array bracket; and... A first rotation drive component is used to drive the first rotation shaft to rotate around the first direction; The axis of the first rotating shaft is coaxial with the mounting center line of the camera mounted on the camera array bracket, and the first direction is parallel to the horizontal plane.

2. The camera array multi-degree-of-freedom adjustment device as described in claim 1, characterized in that, The first direction is perpendicular to the second direction.

3. The camera array multi-degree-of-freedom adjustment device as described in claim 1, characterized in that, The second degree of freedom adjustment component includes: Second movable support; The second movable rack is connected to the first rotating bracket, and the second movable rack extends along the first direction or the second direction; The second movable gear is disposed on the second movable bracket, and the second movable gear meshes with the second movable rack. The second moving drive is used to drive the second moving gear to rotate about a third direction that is perpendicular to both the first direction and the second direction.

4. The camera array multi-degree-of-freedom adjustment device as described in claim 3, characterized in that, The second movable bracket is provided with a second movable slide rail extending in the same direction as the second movable rack. The second movable rack is provided with a second movable support slider, which can slide in the second movable slide rail.

5. The camera array multi-degree-of-freedom adjustment device as described in claim 3 or 4, characterized in that, The third degree of freedom adjustment component includes: Third rotating bracket; A third rotating shaft is disposed on the third rotating bracket, and the first rotating shaft is connected to the second movable bracket; and The third rotation drive is used to drive the third rotation shaft to rotate around the second direction.

6. The camera array multi-degree-of-freedom adjustment device as described in claim 5, characterized in that, The third rotating bracket is provided with a third rotating slide rail that is coaxial with the rotation direction of the third rotating shaft, and the second moving bracket is provided with a third rotating support slider, which can slide in the third rotating slide rail.

7. The camera array multi-degree-of-freedom adjustment device as described in claim 5, characterized in that, The fourth degree of freedom adjustment component includes: Fourth movable support; A fourth movable rack is connected to the fourth movable bracket, and the fourth movable rack extends along the second direction; A fourth movable gear is disposed on the third rotating bracket, and the fourth movable gear meshes with the fourth movable rack; A fourth moving drive is used to drive the fourth moving gear to rotate around the first direction, or to drive the fourth moving gear to rotate around the third direction.

8. A camera array three-dimensional image acquisition system, characterized in that, The camera array three-dimensional image acquisition system includes a camera array multi-degree-of-freedom adjustment device as described in any one of claims 1 to 7 and a camera disposed in the camera mounting position.

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