Capsule-type image capturing robot and control method thereof

Abstract

The application discloses a capsule type image acquisition robot and a control method thereof. The robot comprises an image acquisition main body, two sides of the image acquisition main body are connected with inner surfaces of two hemispherical shells via two telescopic mechanisms respectively, an image acquisition module is arranged on the image acquisition main body, a control board is arranged in the image acquisition main body, the control board is connected with the image acquisition module and the two telescopic mechanisms respectively, and the two hemispherical shells are arranged outside the image acquisition main body and spliced into a capsule shape in a contracted state of the telescopic mechanisms. The application can adapt to an image and video data acquisition task in a damaged building after a disaster.

Description

Technical Field

[0001] This invention belongs to the field of environmental detection technology, and in particular relates to a capsule-type image acquisition robot and its control method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Due to the complex terrain, severe weather, damaged roads, and frequent secondary disasters at the disaster relief site, large equipment could not reach the site, the environment was difficult to detect, and the lives of rescue personnel were seriously threatened.

[0004] In disaster prevention and relief, with the development of technologies such as robotics and machine learning, new detection equipment is constantly emerging, effectively expanding the operator's detection range. However, for post-disaster buildings, the internal environment is complex, and existing detection robots are too large and have poor mobility to adapt to detection tasks in narrow spaces. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention provides a capsule-type image acquisition robot and its control method, which can be adapted to image and video data acquisition tasks inside buildings damaged in disasters.

[0006] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0007] A capsule-shaped image acquisition robot includes an image acquisition body. Each side of the image acquisition body is connected to the inner surface of a hemispherical shell via a telescopic mechanism. An image acquisition module is mounted on the image acquisition body, and a control board is located inside the image acquisition body. The control board is connected to the image acquisition module and the two telescopic mechanisms. When the telescopic mechanisms are in a retracted state, the two hemispherical shells are fitted over the image acquisition body, forming a capsule shape.

[0008] In some embodiments, the telescopic mechanism includes a mounting platform, a threaded column, and a rotating body. The mounting platform is connected to the image acquisition body, and the rotating body is connected to the inner surface of the hemispherical shell via a bearing. The threaded column is perpendicular to the mounting platform and located at the center of the mounting platform. The rotating body has a circular through hole, and the inner surface of the through hole has a thread that mates with the thread on the threaded column.

[0009] In some embodiments, the threaded post is provided with a limiting point to limit the maximum distance between the rotating body and the mounting platform.

[0010] In some embodiments, the end of the threaded column is provided with a pendulum, and a pendulum motor is provided at the connection between the end of the threaded column and the pendulum. The pendulum motor is provided with a rotation angle sensor and is connected to the control board.

[0011] In some embodiments, the mounting platform is further provided with a plurality of support columns along the circumferential direction, and the tops of the plurality of support columns are connected by a ring.

[0012] In some embodiments, the outer surface of the sidewall of the mounting platform is provided with strip-shaped grooves along the movement direction of the two hemispherical shells, and the inner surfaces of the two hemispherical shells are provided with keyways that cooperate with each other.

[0013] In some embodiments, the image acquisition unit is equipped with a three-axis gyroscope, which is connected to the control board.

[0014] A second aspect of the invention provides that the control board is connected to a back-end control device, and the method is executed by the back-end control device, comprising: controlling the robot to perform linear, turning, or rotating motion by controlling the rotational acceleration of two pendulums; wherein, for linear motion, the relationship between the rotational acceleration of the pendulums and the robot's motion speed is pre-calibrated; and for turning / rotating motion, the relationship between the difference in rotational acceleration between the two pendulums and the overall rotation angle of the robot is pre-calibrated.

[0015] A third aspect of the present invention provides an image acquisition control method based on the motion control method. After the capsule-type image acquisition robot is deployed to the working environment, it acquires the three-axis acceleration data fed back by the three-axis gyroscope in real time. When the three-axis acceleration is zero, it sends a signal to the telescopic motor to control the robot to open and feeds back the current environmental image information to the back-end control device in real time.

[0016] The robot receives user input commands for linear motion, turning, or rotation of the pendulum motor and controls its movement accordingly.

[0017] In some embodiments, the calibrated shooting angle of the image acquisition module and the calibrated rotation angle of the pendulum motor are obtained; after linear motion control, when the acceleration of all three axes is zero again, the shooting angle of the current image acquisition module is determined according to the rotation angle of the motor, and the pendulum is controlled to adjust its rotation angle based on the difference between the shooting angle and the calibrated shooting angle, so that the image acquisition module reaches the calibrated shooting angle.

[0018] The above one or more technical solutions have the following beneficial effects:

[0019] The robot is designed in the shape of a capsule, with an integrated image acquisition device inside, enabling it to adapt to exploration tasks in complex and narrow spaces.

[0020] By setting up two pendulums, on the one hand, based on the principle of a roly-poly toy, the robot can be stabilized in one place; on the other hand, by controlling the rotation of the two pendulums differently, it can achieve a variety of movements such as straight lines, turns, and rotations, which is highly flexible.

[0021] By pre-calibrating the camera's shooting angle and the initial angle of the pendulum motor, and monitoring the rotation angle of the pendulum motor in real time, the shooting angle after each robot movement can be calculated. When the shooting angle is not ideal, it can be adjusted, thus ensuring effective shooting. Attached Figure Description

[0022] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0023] Figure 1 This is a schematic diagram of the overall unfolded form of the capsule-shaped image acquisition robot embodiment in this invention.

[0024] Figure 2 This is a schematic diagram of the closed form of the capsule-shaped image acquisition robot embodiment in this invention.

[0025] Figure 3 This is a cross-sectional view of the unfolded form of the capsule-shaped image acquisition robot embodiment in this invention.

[0026] Figure 4 This is a schematic diagram of the image acquisition module of the capsule-shaped image acquisition robot in an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the mechanical transmission device of the capsule-shaped image acquisition robot in an embodiment of the present invention;

[0028] Figure 6 This is a front view of the capsule-shaped outer shell of the capsule-shaped image acquisition robot in an embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of the capsule-shaped image acquisition robot base in an embodiment of the present invention;

[0030] [Attached image labels]

[0031] 1. Image acquisition main body; 1-1. Strip groove; 1-2. Light source matrix; 1-3. Camera; 1-4. Laser rangefinder sensor; 2. Telescopic mechanism; 2-1. Mounting platform; 2-2. Threaded column; 2-3. Pendulum motor; 2-4. Pendulum; 2-5. Support column; 2-6. Base; 2-7. Top surface; 2-8. Torque motor; 2-9. Helical gear; 3. Hemispherical shell; 3-1. Strip keyway. Detailed Implementation

[0032] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0033] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0034] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0035] Capsule robots

[0036] Miniaturized robots can effectively collect image and video data from inside damaged buildings after a disaster, facilitating the assessment of the damage. These robots can be equipped with infrared imaging and biometric devices, providing valuable assistance in planning rescue operations, enabling faster rescue of trapped individuals and minimizing losses. Robots offer advantages such as simple structure, high impact resistance, strong adaptability to different environments, high mobility, low cost, and the ability to collect image and video data from the target environment without blind spots. This makes them ideal for collecting image and video data from inside damaged buildings, facilitating the planning of rescue operations.

[0037] One or more embodiments of the present invention provide a capsule-type image acquisition robot, comprising two hemispherical shells 3, an image acquisition body 1, and two telescopic mechanisms 2. The image acquisition body 1 is equipped with an image acquisition module. Each side of the image acquisition body 1 is connected to the inner surface of a hemispherical shell 3 via a telescopic mechanism 2. When the telescopic mechanism 2 is in the retracted state, the two hemispherical shells 3 are fitted over the image acquisition body 1, forming a capsule shape. When the telescopic mechanism 2 is in the extended state, the two hemispherical shells 3 separate, exposing the sidewalls of the image acquisition body 1. It can be seen that the retracted and extended states of the two telescopic mechanisms 2 correspond to the robot's closed and unfolded states, respectively.

[0038] To achieve stability after the two hemispherical shells are spliced ​​together, in some embodiments, the outer surface of the side wall of the image acquisition body 1 is provided with a strip groove 1-1 along the movement direction of the two hemispherical shells, and the inner surfaces of the two hemispherical shells are provided with a strip keyway 3-1. The two hemispherical shells 3 are fixed by the strip groove 1-1 and the strip keyway 3-1, and realize the movement of unfolding and closing under the push of the telescopic mechanism.

[0039] In some embodiments, the image acquisition body 1 is provided with a power supply module and a control board connected to the power supply module, and the control board is connected to the image acquisition module.

[0040] In some embodiments, the image acquisition unit 1 is equipped with a GPS positioning module, a three-axis gyroscope, etc. The GPS gyroscope is used to collect the robot's real-time latitude and longitude position information and send it to the back-end control device, while the three-axis gyroscope is used to collect the robot's angular velocity, facilitating remote control of the robot by operators to capture more complete and clearer image and video data.

[0041] In some embodiments, the image acquisition entity is equipped with an image acquisition module, including one or more of a camera 1-3, a laser rangefinder 1-4, and an infrared thermal imaging device. To facilitate clearer imaging, the image acquisition module further includes a light source matrix 1-2, which comprises multiple light sources evenly arranged around the camera 1-3 and / or the laser rangefinder 1-4. More specifically, the light source matrix 1-2 can emit visible light and infrared light, and has three modes: high brightness, low brightness, and flash, which can be controlled according to actual usage needs. The camera 1-3 can receive light in both visible and infrared bands, meaning it can simultaneously capture visible light and infrared images. When capturing visible light images, the light source matrix 1-2 emits visible light to supplement the lighting of the camera 1-3; when capturing infrared light images, the light source matrix 1-2 emits infrared light to supplement the lighting of the camera 1-3, ensuring that clear images and video data can be captured. The laser rangefinder 1-4 can measure the distance between the measured object and the camera 1-3; knowing this information facilitates subsequent image processing for 3D modeling of the surrounding environment. The infrared thermal imaging device inside the image acquisition integration module detects objects by emitting infrared light from light source matrix 1-2. Upon locating trapped personnel, it sends an alarm to the backend control equipment and displays an infrared image, facilitating faster rescue operations.

[0042] like Figure 5As shown, the telescopic mechanism 2 includes a mounting platform 2-1, a threaded column 2-2, a pendulum motor 2-3, a pendulum 2-4, a support column 2-5, and a rotating body. The mounting platform 2-1 is connected to the inner surface of the hemispherical shell 3 via the telescopic body. Specifically, the mounting platform 2-1 is fixedly connected to the side wall of the image acquisition module by screws.

[0043] In some embodiments, the telescopic body includes a threaded post 2-2 disposed at the center of the mounting platform 2-1 and perpendicular to the mounting platform 2-1, and a rotating body with a circular through hole. The inner surface of the circular through hole has a thread that mates with the threaded post 2-2. The rotating body is connected to a rotary motor, and telescopic control is achieved based on the screw and nut control principle. In some embodiments, the rotating body includes a base 2-6, a connecting rod, and a top surface 2-7. The base is connected to the top surface through multiple connecting rods. The base has a through hole at its center, and its inner surface has a thread that mates with the threaded post 2-2. The top surface is connected to the inner surface of the hemispherical shell 3.

[0044] As an alternative implementation, the threaded column 2-2 is a cylindrical helical rack, comprising a cylinder and an annular rack circumferentially arranged along the outer surface of the cylinder, with all teeth on the annular rack inclined. Correspondingly, the rotating body includes a base 2-6, connecting rods, and a top surface 2-7. The base is connected to the top surface via multiple connecting rods, and the top surface is connected to the inner surface of the hemispherical shell 3. The base has a central through hole with a diameter larger than the cylindrical helical rack. An extension is provided on one side of the central through hole, and a helical gear 2-9 is housed within the extension. The helical gear 2-9 meshes with the cylindrical helical rack and is connected to a torque motor. Telescopic control is achieved based on the worm gear control principle. The helical gear 2-9 features low susceptibility to pitch error, high transmission accuracy, and high strength. Figure 7 As shown, the torque motor 2-8 and helical gear 2-9 in the base 2-6 are vertically mounted in the plane of the base 2-6, and the cylindrical helical rack meshes with the helical gear 2-9 inside the base 2-6.

[0045] In some embodiments, the inner surface of the hemispherical housing 3 is connected to the outer ring of the bearing, and the inner ring of the bearing is connected to the top surface via a connecting shaft.

[0046] Limit points are installed on the threaded column 2-2 to ensure that the telescopic body can no longer move outward when it reaches the limit point, thereby controlling the movement stroke of the telescopic body and the hemispherical shell 3 and preventing the hemispherical shell 3 from falling off.

[0047] The end of the threaded post 2-2 is equipped with a pendulum 2-4. A pendulum motor 2-3 is located on the side of the pendulum 2-4 connected to the threaded post 2-2. The rotation of the pendulum 2-4 can be controlled by rotating the pendulum motor 2-3. Rotating the pendulum 2-4 to a certain angle causes the entire robot to move forward due to eccentric torque. This control method achieves the robot's motion effect. To achieve precise torque control of the pendulum 2-4, a rotation angle sensor is also provided on the pendulum motor 2-3.

[0048] In addition, to improve the overall stability of the device, the mounting platform 2-1 is provided with multiple support columns 2-5 along the circumference, for example, four. The tops of the multiple support columns 2-5 are connected by a ring, which can provide support for the telescopic body and prevent the weight of the telescopic body and the force generated by rotation from all accumulating on the threaded column 2-2.

[0049] like Figure 3 As shown, the linear motion, turning motion, unfolding and closing motion effects of this invention are achieved by the telescopic mechanism 2 and the hemispherical shell 3. The hemispherical shell 3 is supported by lightweight materials, which effectively protects the robot's image acquisition module and reduces the overall weight of the robot. A rubber pad can be added to the outside of the hemispherical shell 3 to effectively prevent the hemispherical shell 3 from being scratched by sharp objects during the robot's movement. At the same time, it increases the friction between the robot and the ground, enabling it to maintain stable movement on slopes.

[0050] The aforementioned telescopic motor, pendulum motors 2-3, GPS module, three-axis gyroscope, and rotation angle sensor are all connected to the control board. The control board is connected to the back-end control equipment wirelessly.

[0051] When the robot is in the closed state, the hemispherical shell 3 is fixed in the strip groove 1-1 through the hemispherical shell keyway 3-1, the telescopic body is tightened to the minimum value, the base 2-6 is located on the mounting platform 2-1, and the hemispherical shell 3 is also retracted as the telescopic body tightens.

[0052] When the robot is stationary in its closed state, the rotation of the motors in the control base 2-6 can push the two hemispherical shells 3 open, allowing the robot to switch to its unfolded form. Figure 1 As shown.

[0053] By controlling the rotational speed of the two pendulums 2-4 in this state, the robot can perform movements such as walking in a straight line and turning in a narrow space.

[0054] Motion control methods

[0055] It is understandable that the motion control method for the robot is the same in both the closed and open states.

[0056] Linear motion control: Control the two pendulum motors 2-3 to rotate at the same speed and in the same direction. At this time, the pendulum motor 2-3 drives the pendulum 2-4 to lift up, the internal balance of the robot is broken, and the robot moves in a straight line in the direction in which the pendulum 2-4 is lifted.

[0057] Turning motion control: Control the two pendulum motors 2-3 to rotate at different speeds but in the same direction. For example, if only the left pendulum motor 2-3 is controlled to rotate, it will lift the pendulum 2-4, causing the robot to turn right in place. If the right pendulum motor 2-3 rotates faster than the left pendulum motor 2-3, the robot will turn left, and the trajectory will be two concentric circles with different radii.

[0058] Rotational motion control: Control the two pendulum motors 2-3 to rotate at different speeds and in opposite directions. For example, if only one pendulum motor 2-3 is controlled to rotate, the robot will turn in place.

[0059] To ensure the stability of the robot's movement, the maximum acceleration of the motor rotation is pre-calibrated to prevent excessive instantaneous angular velocity from causing the robot to lose balance. Within this maximum acceleration range, the robot's speed is positively correlated with the rotational speed of the pendulum motor 2-3. The higher the rotational speed of the pendulum motor 2-3, the greater the gravitational potential energy and eccentric torque generated by the pendulum 2-4, and the faster the robot's movement speed. By controlling the rotational speed of the pendulum motor 2-3, the robot's movement direction and speed can be precisely controlled, enabling flexible movement of the robot within the working environment and ensuring that the image acquisition module can collect more comprehensive image and video data from the working environment.

[0060] Image acquisition control method

[0061] Based on the above motion control method, some embodiments also provide an image acquisition control method based on the capsule robot. The robot's initial state is pre-calibrated, where the image acquisition module's shooting direction is at a set angle (e.g., 90°) to the pendulum 2-4. The rotation angle of the motor at this point is recorded as the initial rotation angle, and the shooting angle is recorded as the calibration shooting angle. Based on the principle of a "roly-poly toy," due to the gravitational potential energy of the pendulum 2-4, the robot will automatically adjust itself to a state where the image acquisition module is perpendicular to the ground and the pendulum 2-4 hangs naturally, without external force. Therefore, after controlling the robot's movement, the current shooting angle can be determined based on the motor's initial rotation angle to determine whether further control of the pendulum 2-4's rotation is needed to adjust the shooting angle of the image acquisition module.

[0062] To precisely control the robot's motion, for linear motion, the relationship between the rotational acceleration of the pendulum and the robot's speed is pre-calibrated; for turning / rotating motion, the relationship between the difference in rotational acceleration between the two pendulums and the overall rotation angle of the robot is pre-calibrated.

[0063] After the capsule-shaped image acquisition robot is deployed to the working environment, the following control methods are executed:

[0064] (1) Real-time acquisition of three-axis acceleration data fed back by the three-axis gyroscope. When the three-axis acceleration is zero, a signal is sent to the telescopic motor to control the robot to open and start feeding back the current environmental image information to the back-end control device in real time.

[0065] (2) Obtain the image data collected in real time by the image acquisition module, receive the linear motion, turning or rotation control command of the pendulum motor input by the user, and control the movement of the robot; if it is linear motion, the camera of the image acquisition module may be blocked after the motion. Therefore, after linear motion control, when the acceleration of all three axes is zero again, the current shooting angle of the image acquisition module is determined according to the rotation angle of the motor. Based on the difference between the shooting angle and the calibrated shooting angle, the pendulum is controlled to adjust the rotation angle so that the image acquisition module reaches the calibrated shooting angle.

[0066] Users can determine whether to control the robot to continue moving based on the observed images.

[0067] (3) When the pendulum motor receives a linear motion, turning or rotation control command again, before executing the action, it is determined whether the current angles of the two pendulums are consistent based on the rotation angles of the two motors. If they are inconsistent, the pendulum is reset to the initial state first, and then motion control is executed. It can be understood that the current angle of the pendulum is the remainder of the angle difference between the current rotation angle and the initial rotation angle of the motor divided by 360°.

[0068] The image shows the robot working in a complex, dark environment. Figure 7As shown, the scene depicts the interior of a building with numerous structural damages on its walls, including cracks, peeling, and broken pieces. The robot is placed in the target environment, and the host computer remotely controls it to rotate the pendulum motor 2-3, moving to the designated work position based on environmental information from the preview video. Upon reaching the work position, the robot activates the visible light or infrared light source in the light source matrix 1-2, working in conjunction with the image acquisition module to collect environmental data from inside the building. The pitch angle of the image acquisition module can be controlled by synchronously rotating the pendulum motor 2-3 in the same direction, and the horizontal angle can be controlled by synchronously rotating it in opposite directions, enabling the robot to collect high-definition data about the target environment inside the building without blind spots. After completing data collection at one location, the host computer can send commands to remotely control the robot to move to the next work area by rotating the pendulum motor 2-3. The collected image and video data can be transmitted to the host computer via the communication module in the image acquisition module, or stored locally for later retrieval by the robot. After all data in the target environment has been collected, the host computer sends commands to control the robot to move to the retrieval location for collection. The environmental information data collected by the robot's image acquisition module includes building damage such as peeling and cracks. This data can be transmitted to the host computer through the communication module in the image acquisition module. The host computer can then analyze and process the acquired images, such as damage identification, damage size calculation, panoramic stitching of buildings, and 3D modeling of buildings.

[0069] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A capsule-type image acquisition robot, characterized in that, The device includes an image acquisition body, with each side of the image acquisition body connected to the inner surface of a hemispherical shell via a telescopic mechanism; the image acquisition body is equipped with an image acquisition module, and a control board is located inside the image acquisition body; the control board is connected to the image acquisition module and the two telescopic mechanisms respectively. The telescopic mechanism includes a mounting platform, a threaded column, and a rotating body. The mounting platform is connected to the image acquisition body, and the rotating body is connected to the inner surface of the hemispherical shell via a bearing. The threaded column is perpendicular to the mounting platform and located at the center of the mounting platform. The rotating body has a circular through hole, and the inner surface of the through hole has a thread that mates with the thread on the threaded column. The threaded column has a limiting point to limit the maximum distance between the rotating body and the mounting platform. The rotating body is connected to a rotary motor. The threaded column end is provided with a pendulum, and the connection between the threaded column end and the pendulum is provided with a pendulum motor. The pendulum motor is provided with a rotation angle sensor and is connected to the control board. The control board is used to control the robot to perform linear, turning or rotating movements by controlling the rotational acceleration of the two pendulums, so as to realize the robot's flexible movement in the working environment and ensure that the image acquisition module can perform more comprehensive image and video data acquisition in the working environment. When the telescopic mechanism is in the retracted state, the two hemispherical shells are fitted onto the outside of the image acquisition body and spliced ​​together to form a capsule shape; when the telescopic mechanism is in the extended state, the two hemispherical shells separate, and the sidewalls of the image acquisition body are exposed. The outer surface of the side wall of the image acquisition body is provided with strip-shaped grooves along the movement direction of the two hemispherical shells, and the inner surfaces of the two hemispherical shells are provided with keyways that cooperate with each other.

2. The capsule-type image acquisition robot as described in claim 1, characterized in that, The installation platform is also provided with multiple support columns along its circumference, and the tops of the multiple support columns are connected by a ring.

3. The capsule-type image acquisition robot as described in claim 1, characterized in that, The image acquisition unit is equipped with a three-axis gyroscope, which is connected to the control board.

4. A motion control method for a robot as described in any one of claims 1-3, characterized in that, The control board is connected to the back-end control device, and the method is executed by the back-end control device, including: controlling the robot to perform linear, turning, or rotating motion by controlling the rotational acceleration of the two pendulums; wherein, for linear motion, the relationship between the rotational acceleration of the pendulums and the robot's motion speed is pre-calibrated; for turning / rotating motion, the relationship between the difference in rotational acceleration between the two pendulums and the overall rotation angle of the robot is pre-calibrated.

5. An image acquisition control method based on the motion control method as described in claim 4, characterized in that, After the capsule-type image acquisition robot is deployed to the working environment, it acquires the three-axis acceleration data fed back by the three-axis gyroscope in real time. When the three-axis acceleration is zero, it sends a signal to the rotary motor to control the robot to open and feeds back the current environmental image information to the back-end control device in real time. The robot receives user input commands for linear motion, turning, or rotation of the pendulum motor and controls its movement accordingly.

6. An image acquisition control method based on the motion control method as described in claim 4, characterized in that, The system acquires the calibrated shooting angle of the image acquisition module and the calibrated rotation angle of the pendulum motor. After linear motion control, when the acceleration of all three axes is zero again, the system determines the current shooting angle of the image acquisition module based on the rotation angle of the pendulum motor. Based on the difference between the shooting angle and the calibrated shooting angle, the system controls the pendulum to adjust its rotation angle so that the image acquisition module reaches the calibrated shooting angle.

Images