Binocular acquisition system based on distance sensor and parallax adjustment method

Abstract

The invention discloses a binocular acquisition system based on a distance sensor and a parallax adjustment method, and belongs to the technical field of binocular acquisition equipment, the system comprises a control unit, a base, a CCD camera, a depth camera, a distance sensor, a lens adjustment device and a translation mechanism; the translation mechanism is arranged on the base, the two CCD cameras are respectively arranged on the corresponding rotating platforms, and the rotating platforms are connected with the translation mechanism; the two CCD cameras can be close to or far away from each other under the action of the translation mechanism; the lens adjusting device is arranged on the rotating platform and acts on a zoom ring and a focusing ring of the CCD camera; the depth camera and the distance sensor are located between the two CCD cameras; the control unit can receive data of the distance sensor and the depth camera and control the lens adjusting device, the rotating platform and the translation mechanism to act. According to the invention, binocular acquisition can be carried out in various dynamic and complex environments, and meanwhile, parallax adjustment can be rapidly carried out on the binocular acquisition system.

Description

Technical Field

[0001] The present invention belongs to the technical field of binocular acquisition equipment, and in particular relates to a binocular acquisition system based on a distance sensor and a parallax adjustment method. Background Art

[0002] In existing binocular shooting devices, they usually rely on fixed camera spacing and angles. Although this design is simple, it often leads to defocus or inaccurate parallax when shooting objects at different distances and angles. Especially in capturing dynamic scenes, the rapid changes of objects make it difficult for static parallax parameters to meet the requirements, resulting in reduced image quality. For example, when shooting close-up objects, the fixed camera spacing may not provide sufficient stereoscopic effect, but instead cause the image to be flat, which is a major defect for applications that require stereoscopic effect.

[0003] In addition, in terms of the accuracy and real-time performance of distance measurement, the existing binocular systems generally use simple distance measurement sensors that lack accuracy. The design of these sensors is mainly based on low cost and easy integration, resulting in poor performance in accuracy and adaptability. For example, common battery-driven sensors are often limited by environmental factors such as strong light, shadows, and reflective surfaces. These factors not only affect the working effect of the sensor, but may also cause delayed or inaccurate feedback from the system. When the light is strong, the sensor cannot distinguish the reflected signal of the target object from the interference of background light, which will cause measurement errors. At the same time, in the shadow area, the reflected signal of the object may be weakened, and the sensor may not be able to obtain enough information to make an accurate judgment.

[0004] From this it can be seen that traditional binocular camera devices have significant limitations in many aspects, which seriously affect their practicality and reliability in complex environments. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a binocular acquisition system based on a distance sensor and a parallax adjustment method, which can perform binocular acquisition in various dynamic and complex environments and can quickly adjust the parallax of the binocular acquisition system.

[0006] The present invention provides the following technical solutions:

[0007] In a first aspect, a binocular acquisition system based on a distance sensor is provided, comprising a control unit, a base, a CCD camera, a depth camera, a distance sensor, a lens adjustment device and a translation mechanism; the translation mechanism is installed on the base, and the two CCD cameras are respectively installed on corresponding rotating platforms, and the rotating platform is connected to the translation mechanism; the two CCD cameras are located at the left and right ends of the base, and can approach or move away from each other under the action of the translation mechanism; the lens adjustment device is arranged on the rotating platform, and the lens adjustment device acts on the zoom ring and the focus ring of the CCD camera; the depth camera and the distance sensor are located between the two CCD cameras; the control unit can receive data from the distance sensor and the depth camera, and control the actions of the lens adjustment device, the rotating platform and the translation mechanism.

[0008] Optionally, the translation mechanism includes a first servo motor, a bevel gear set, a ball screw and a workbench; the first servo motor is installed on the base; the first servo motor drives the bevel gear set; the bevel gear set drives the two ball screws to rotate; each ball screw is slidably connected to the workbench; the rotating platform is installed on the corresponding workbench.

[0009] Optionally, the bevel gear set includes a support frame, a driving bevel gear and a driven bevel gear meshing with the driving bevel gear; the support frame is installed between the two ball screws; the driving bevel gear and the two driven bevel gears are rotatably connected to the support frame and mesh with each other; the driving shaft of the first servo motor is connected to the driving bevel gear; the two driven bevel gears are installed one by one on each of the ball screws; the depth camera and the distance sensor are both installed on the top of the support frame.

[0010] Optionally, the bevel gear set further includes an intermediate bevel gear, which is rotatably connected to the support frame, the driving bevel gear and the intermediate bevel gear are opposite to each other front and back, and the intermediate bevel gear is meshed with the driven bevel gear.

[0011] Optionally, the translation mechanism further includes a slide rail; slide rails are provided on both the front and rear sides of each ball screw; and the workbench is slidably connected to the slide rails.

[0012] Optionally, the end of the ball screw away from the bevel gear set is installed on the base through a support seat; and the first servo motor is located on the rear side of the support frame.

[0013] Optionally, the lens adjustment device includes a zoom gear and a focus gear; the zoom gear is meshed with a zoom ring in the shape of a gear ring, and the focus gear is meshed with a focus ring in the shape of a gear ring; the zoom gear is installed on the zoom drive, and the focus gear is installed on the focus drive, and the zoom drive and the focus drive are both installed on a rotating platform.

[0014] Optionally, the distance sensor and the depth camera are arranged side by side; and the rotating platforms of the two CCD cameras rotate inwards or outwards at the same time.

[0015] In a second aspect, a parallax adjustment method based on a distance sensor is provided, based on the binocular acquisition system described in any one of the first aspects, the method comprising the following steps:

[0016] The distance sensor measures the distance between the object and the distance sensor in real time, and the depth camera captures a depth image of the object to obtain depth information of the object.

[0017] The control unit obtains the distance information, and determines whether it is within a set threshold range according to the distance information. If it is within the set threshold range, the distance between the two CCD cameras is adjusted according to the distance information and the proportional relationship, and the rotation angle of each CCD camera is obtained according to the distance between the two CCD cameras and the distance information; if it exceeds the set threshold range, the two CCD cameras are kept at the initial set distance, and the two CCD cameras are kept shooting in parallel; if it is below the set threshold range, the distance between the two CCD cameras is specified according to the set rules, and the rotation angle of each CCD camera is obtained according to the distance between the two CCD cameras and the distance information;

[0018] After the rotation angle and the distance between the two CCD cameras are adjusted, the control unit controls the lens adjustment device to zoom and focus according to the object size of the photographed object in the depth information, thereby achieving parallax adjustment of the two CCD cameras.

[0019] Optionally, if it is within the set threshold range, the distance between the two CCD cameras is adjusted according to the distance information and the proportional relationship, and the proportional relationship is that the ratio of the distance between the two CCD cameras to the distance between the photographed object and the distance sensor is 100:6; the proportional relationship is obtained by experimental fitting; the initial set distance between the two CCD cameras is 65mm.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] (1) The present invention utilizes the distance information and depth information obtained by the distance sensor and the depth camera to change the spacing between the two CCD cameras, thereby ensuring that the CCD cameras maintain an optimal parallax range in various dynamic and complex environments; in addition, the CCD cameras are fixed on a rotating platform, and the rotating platform drives the CCD cameras to rotate so that the two CCD cameras can rotate to a set angle at the same time, greatly expanding the field of view of the system and enhancing its adaptability under different spatial layouts and lighting conditions, and is suitable for multiple fields such as virtual reality and augmented reality.

[0022] (2) The translation mechanism of the present invention includes a first servo motor, a bevel gear set and a ball screw. The bevel gear set is used to realize the synchronous rotation of the two ball screws, thereby realizing the two CCD cameras approaching or moving away from each other. The structure is simple, the transmission effect is good, and it is convenient to accurately control the moving distance of the two CCD cameras.

[0023] (3) The parallax adjustment method of the present invention determines whether the distance is within a set threshold range through the data of the distance sensor, and timely adjusts the spacing of the CCD cameras and the rotation angle of the CCD cameras according to the detected distance to ensure the best stereoscopic effect; in addition, the two CCD cameras are focused or focused at the same time through the lens adjustment device, thereby avoiding blurring of the captured image and improving the image quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of a binocular acquisition system based on a distance sensor of the present invention;

[0025] Figure 2 It is an enlarged structural schematic diagram of the lens adjustment device of the present invention.

[0026] Markings in the figure are: 1 is a base, 2 is a CCD camera, 3 is a depth camera, 4 is a distance sensor, 5 is a lens adjustment device, 51 is a zoom gear, 52 is a focus gear, 6 is a translation mechanism, 61 is a first servo motor, 62 is a ball screw, 63 is a workbench, 64 is a support frame, 65 is a driven bevel gear, 66 is an intermediate bevel gear, 67 is a slide rail, 68 is a support seat, and 7 is a rotating platform. DETAILED DESCRIPTION

[0027] The present invention will now be described in further detail with reference to the accompanying drawings.

[0028] It should be noted that the terms such as "left", "right", "front", "back", etc. cited in the invention are only for the convenience of description and are not used to limit the scope of implementation of the present invention. Changes or adjustments in their relative relationships should be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the term "comprising" and any variation thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0030] Example 1

[0031] like Figure 1 and Figure 2 As shown, a binocular acquisition system based on a distance sensor includes a control unit, a base 1, a CCD camera 2, a depth camera 3, a distance sensor 4, a lens adjustment device 5 and a translation mechanism 6.

[0032] The structure of the CCD camera 2 can refer to the prior art; the structures of the depth camera 3 and the distance sensor 4 can refer to the prior art. The depth camera 3 and the distance sensor 4 are located between the two CCD cameras 2; the distance sensor 4 and the depth camera 3 are arranged side by side; the distance sensor 4 can detect the distance between the photographed object and the distance sensor 4, and the depth camera 3 can capture the depth image of the photographed object to obtain depth information. The depth image can evaluate the distance and size of the photographed object. The distance sensor 4 and the depth camera 3 cooperate with each other to provide a physical basis for parallax adjustment.

[0033] The two CCD cameras 2 are respectively mounted on their corresponding rotating platforms 7; the rotating platforms 7 rotate to drive the CCD cameras 2 to rotate, thereby adjusting the two CCD cameras 2 to rotate inward or outward at the same time; the structure of the rotating platform 7 can refer to the prior art, and the rotating platform 7 is driven by a 86HSM85H-E1 servo motor to adjust the angle between the two CCD cameras 2. The adjusted angle is based on the data fed back by the distance sensor 4 and the depth sensor, and is calculated by the arctan formula.

[0034] The rotating platform 7 corresponding to the CCD camera 2 is driven by a servo motor, and can perform precise rotation adjustment within an angle range of 0 to 2 degrees according to the information from the distance sensor 4 and the depth camera 3. The rotating platform can quickly and stably adjust the rotation angle of the camera through the high-precision control of the servo motor to adapt to the distance changes of the photographed object. In actual applications, when the distance sensor 4 and the depth camera 3 detect that the distance of the photographed object is lower than the set threshold, the control system will calculate the optimal shooting angle and fine-tune the angle of the CCD camera 2 through the rotating platform 7 to ensure that the photographed object is always within the optimal focus range. This process not only improves the flexibility of shooting, but also reduces focusing errors caused by changes in the position of the object, thereby ensuring the stability and consistency of image quality.

[0035] The rotating platform 7 is connected to the translation mechanism 6 and is located at the left and right ends of the base 1; the two CCD cameras 2 can simulate the vision of human eyes; the two CCD cameras 2 can move closer to or farther away from each other under the action of the translation mechanism 6; the translation mechanism 6 includes a first servo motor 61, a bevel gear set, a ball screw 62 and a workbench 63; the first servo motor 61 is installed on the base 1; the first servo motor 61 drives the bevel gear set, and the model of the first servo motor 61 can be specifically MSME202G1H servo motor; the bevel gear set drives the two ball screws 62 to rotate movement; each ball screw 62 is slidably connected to the workbench 63; the rotating platform 7 is installed on the corresponding workbench 63; that is, each CCD camera 2 corresponds to a ball screw 62, a workbench 63 and a rotating platform 7; the first servo motor 61 drives the bevel gear set, and the bevel gear set drives the two ball screws 62 to rotate at the same time, and the workbench 63 is connected to the nut of the ball screw 62, thereby driving the CCD camera 2 to translate; the two CCD cameras 2 move away from or approach each other at the same time, changing the distance between the two CCD cameras 2, so as to adapt to various shooting environments and needs.

[0036] More specifically, the end of the ball screw 62 away from the bevel gear set is installed on the base 1 through a support seat 68; the first servo motor 61 is located on the rear side of the support frame 64, that is, the first servo motor 61 is located on the rear side of the CCD camera 2 lens.

[0037] The setting of the translation mechanism 6 can not only flexibly respond to changes in the object during the shooting process, but also can instantly adjust the distance between the two CCD cameras 2 according to actual needs to ensure the best binocular shooting effect. In actual operation, when the distance sensor 4 and the depth camera 3 detect changes in the shooting object, the translation mechanism 6 will calculate the required moving distance based on the data of these sensors; the first servo motor will accurately drive the workbench so that the CCD camera can move quickly and smoothly within the set range, ensuring that the CCD camera can always maintain the best viewing angle and distance, significantly improving the stereoscopic sense and clarity of the shooting.

[0038] In this embodiment, the bevel gear set includes a support frame 64, a driving bevel gear and a driven bevel gear 65; the support frame 64 is installed between the two ball screws 62; the axes of the two ball screws 62 are in the same straight line; the driving bevel gear and the two driven bevel gears 65 are rotatably connected to the support frame 64, and the driving bevel gear and the driven bevel gear 65 are meshed with each other, and the driving shaft of the first servo motor 61 is connected to the driving bevel gear; the two driven bevel gears 65 are installed one by one on each ball screw 62; the depth camera 3 and the distance sensor 4 are both installed on the top of the support frame 64; the first servo motor 61 drives the driving bevel gear to rotate, and the rotation of the driving bevel gear drives the two driven bevel gears 65 to rotate.

[0039] In order to further ensure the stability of the bevel gear set, in some other embodiments, the bevel gear set also includes an intermediate bevel gear 66, which is rotatably connected to the support frame 64, and the driving bevel gear and the intermediate bevel gear 66 are opposite to each other front and back, and the two do not interfere with each other, and the intermediate bevel gear 66 is meshed with the driven bevel gear 65.

[0040] In other embodiments, the translation mechanism 6 further includes a slide rail 67; slide rails 67 are provided on both the front and rear sides of each ball screw 62; the workbench 63 is slidably connected to the slide rails 67; the setting of the slide rails 67 can ensure that the movement of the workbench 63 is more stable.

[0041] The lens adjustment device 5 is arranged on the rotating platform 7; the lens adjustment device 5 acts on the zoom ring and the focus ring of the CCD camera 2; the zoom ring and the focus ring of the CCD camera 2 are both toothed, and the structure of the zoom ring and the focus ring can refer to the prior art; the lens adjustment device 5 includes a zoom gear 51 and a focus gear 52; the zoom gear 51 is connected to the output shaft of the zoom drive, and the focus gear is connected to the output shaft of the focus drive. The focus drive and the zoom drive are installed on the rotating platform 7, and the zoom gear 51 meshes with the toothed ring shape of the zoom ring. The focus gear 52 meshes with the toothed ring shape of the focus ring; the zoom drive and the focus drive are both servo motors, and as an optional option, the model is 86HSM85H-E1; the lens adjustment devices 5 corresponding to the two CCD cameras 2 act simultaneously, that is, the two CCD cameras perform focusing operations or zoom operations at the same time; of course, in some other embodiments, the toothed ring meshing with the zoom gear 51 and the focus gear 52 can also be fixed on the outer periphery of the zoom ring and the focus ring by bonding or the like to achieve lens adjustment.

[0042] The control unit can receive data from the distance sensor 4 and the depth camera 3, and control the actions of the lens adjustment device 5, the rotating platform 7, and the translation mechanism 6; as an option, the control unit can control the actions of the lens adjustment device 5, the rotating platform 7, and the translation mechanism 6 in an automatic or semi-automatic manner, that is, the processing module of the control unit can automatically obtain the parallax adjustment parameters according to the distance data and the depth data, and the parallax adjustment parameters include the focal length, the distance between the two CCD cameras 2, and the rotation angle of each CCD camera 2. The method of obtaining the parallax adjustment parameters can refer to the existing technology, and the lens adjustment device 5, the rotating platform 7, and the translation mechanism 6 can be automatically controlled according to the obtained parallax adjustment parameters; of course, the parallax adjustment parameters can also be manually set through an external processing module or based on expert experience, and the control unit controls the lens adjustment device 5, the rotating platform 7, and the translation mechanism 6 according to the manually set parallax adjustment parameters; the structure of the control unit can refer to the existing technology.

[0043] Example 2

[0044] A parallax adjustment method based on a distance sensor comprises the following steps:

[0045] Step S1: the distance sensor 4 measures the distance between the photographed object and the distance sensor 4 in real time, and the depth camera 3 photographs a depth image of the photographed object to obtain depth information of the photographed object.

[0046] The depth camera 3 is different from the two-dimensional capture of a conventional camera. By converting image information into a black and white depth map, it is convenient to obtain the distance and size of the photographed object. The method based on the depth information or the size of the photographed object can refer to the existing technology.

[0047] When shooting complex scenes, depth information can be used to effectively distinguish objects at different depths, thereby improving the spatial perception of the subject.

[0048] Step S2: The control unit obtains the distance information, and determines whether it is within the set threshold range according to the distance information. If it is within the set threshold range, the distance between the two CCD cameras 2 is adjusted according to the distance information and the proportional relationship, and the rotation angle of each CCD camera 2 is obtained according to the distance between the two CCD cameras 2 and the distance information; if it exceeds the set threshold range, the two CCD cameras 2 are kept at the initial set distance, and the two CCD cameras 2 are kept shooting in parallel; if it is below the set threshold range, the distance between the two CCD cameras 2 is specified according to the set rules, and the rotation angle of each CCD camera 2 is obtained according to the distance between the two CCD cameras 2 and the distance information.

[0049] As an option, the threshold range may be set to 1-3 m.

[0050] When the actual distance information detected by the distance sensor 4 is greater than 3 m, the two CCD cameras 2 will maintain the initially set distance, which may be a fixed distance of 65 mm, and shoot in parallel, that is, the rotation angle is 0.

[0051] When the distance information detected by the distance sensor 4 is between 1-3m, the spacing between the two CCD cameras 2 is obtained according to the detected distance information and the proportional relationship determined by experimental fitting; the proportional relationship is that the ratio of the spacing between the two CCD cameras 2 to the distance between the photographed object and the distance sensor 4 is 100:6; in addition, when the distance information detected by the distance sensor 4 is between 1-3m, the rotation angle is obtained by calculating the arctan formula. Specifically, according to the detected distance information and the spacing between the two CCD cameras 2, the angle between the line connecting the CCD camera 2 and the photographed object and the line connecting the two CCD cameras 2 is obtained, which is the rotation angle of the CCD camera 2.

[0052] When the distance information detected by the distance sensor 4 is less than 1m, it is necessary to ensure that the current object can be photographed, that is, to avoid the distance being too close. If it is too close, the CCD camera 2 cannot effectively photograph the object. When effective photography is possible, the distance between the two CCD cameras 2 is set according to the set rules. For example, when the distance detected by the distance sensor 4 is 0.8m, the distance between the two CCDs is increased to 100mm. It is worth noting that the adjustment range of the distance between the two CCD cameras 2 is usually between 65-130mm.

[0053] Step S3: After the rotation angle and the distance between the two CCD cameras 2 are adjusted, the control unit controls the lens adjustment device to zoom and focus according to the object size of the photographed object in the depth information, so as to achieve parallax adjustment of the two CCD cameras 2.

[0054] The specific requirements and rules for zooming and focusing can be determined based on expert experience. As an option, when zooming, the subject should occupy 60%-80% of the shooting screen. The role of zooming is to change the size of the frame by adjusting the focal length. When we shoot a distant view, the focal length of the lens will be lengthened, so that the frame is focused on a certain position in the distance; when shooting a close view, the focal length will be shortened to enlarge the frame and better capture details and background. On the other hand, focusing is to accurately focus the subject after determining the approximate range of the frame to ensure that the image is clear and visible. In addition, the specific parameters of the two cameras are often consistent in focusing. The synchronous gear device will quickly drive the gear system to make corresponding adjustments through the servo motor to ensure that the optical axis of the camera remains consistent, thereby maintaining high-quality image stability and clarity in dynamic shooting. At the same time, the system's built-in feedback mechanism can monitor the changes in focal length and focus to ensure that the two cameras always work in sync in any shooting situation.

[0055] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0056] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A binocular acquisition system based on a distance sensor, characterized in that: The invention comprises a control unit, a base (1), a CCD camera (2), a depth camera (3), a distance sensor (4), a lens adjustment device (5) and a translation mechanism (6); the translation mechanism (6) is mounted on the base (1), and the two CCD cameras (2) are respectively mounted on corresponding rotating platforms (7), and the rotating platforms (7) are connected to the translation mechanism (6); the two CCD cameras (2) are located at the left and right ends of the base (1), and can move closer to or farther from each other under the action of the translation mechanism (6); the lens adjustment device (5) is arranged on the rotating platform (7), and the lens adjustment device (5) acts on the zoom ring and the focus ring of the CCD camera (2); the depth camera (3) and the distance sensor (4) are located between the two CCD cameras (2); the control unit can receive data from the distance sensor (4) and the depth camera (3), and control the actions of the lens adjustment device (5), the rotating platform (7) and the translation mechanism (6).

2. The binocular acquisition system based on distance sensor according to claim 1 is characterized in that: The translation mechanism (6) comprises a first servo motor (61), a bevel gear set, a ball screw (62) and a workbench (63); the first servo motor (61) is mounted on the base (1); the first servo motor (61) drives the bevel gear set; The bevel gear set drives the two ball screws (62) to rotate; each of the ball screws (62) is slidably connected to a workbench (63); and the rotating platform (7) is mounted on the corresponding workbench (63).

3. The binocular acquisition system based on distance sensor according to claim 2 is characterized in that: The bevel gear set comprises a support frame (64), a driving bevel gear and a driven bevel gear (65) meshing with the driving bevel gear; the support frame (64) is installed between the two ball screws (62); the driving bevel gear and the two driven bevel gears (65) are both rotatably connected to the support frame (64); the driving shaft of the first servo motor (61) is connected to the driving bevel gear; the two driven bevel gears (65) are installed one by one on each of the ball screws (62); the depth camera (3) and the distance sensor (4) are both installed on the top of the support frame (64).

4. The binocular acquisition system based on distance sensor according to claim 3 is characterized in that: The bevel gear set also includes an intermediate bevel gear (66), which is rotatably connected to the support frame (64), the driving bevel gear and the intermediate bevel gear (66) are opposite to each other in front and back, and the intermediate bevel gear (66) and the driven bevel gear (65) are meshed with each other.

5. The binocular acquisition system based on distance sensor according to claim 2 is characterized in that: The translation mechanism (6) further comprises a slide rail (67); the front and rear sides of each ball screw (62) are provided with a slide rail (67); and the workbench (63) is slidably connected to the slide rail (67).

6. The binocular acquisition system based on distance sensor according to claim 2 is characterized in that: The end of the ball screw (62) away from the bevel gear set is mounted on the base (1) via a support seat (68); the first servo motor (61) is located at the rear side of the support frame (64).

7. The binocular acquisition system based on distance sensor according to claim 1, characterized in that: The lens adjustment device (5) comprises a zoom gear (51) and a focus gear (52); the zoom gear (51) meshes with a zoom ring in the shape of a toothed ring, and the focus gear (52) meshes with a focus ring in the shape of a toothed ring; the zoom gear (51) is mounted on a zoom drive, and the focus gear (52) is mounted on a focus drive; and both the zoom drive and the focus drive are mounted on a rotating platform (7).

8. The binocular acquisition system based on distance sensor according to claim 1, characterized in that: The distance sensor (4) and the depth camera (3) are arranged side by side; the rotating platforms (7) of the two CCD cameras (2) rotate inwards or outwards at the same time.

9. A parallax adjustment method based on a distance sensor, characterized in that: Based on the binocular acquisition system described in any one of claims 1 to 8, the method comprises the following steps: The distance sensor (4) measures the distance between the photographed object and the distance sensor (4) in real time, and the depth camera (3) photographs a depth image of the photographed object to obtain depth information of the photographed object; The control unit obtains the distance information and determines whether it is within a set threshold range based on the distance information; if it is within the set threshold range, the distance between the two CCD cameras (2) is adjusted based on the distance information and the proportional relationship, and the rotation angle of each CCD camera (2) is obtained based on the distance between the two CCD cameras (2) and the distance information; if it exceeds the set threshold range, the two CCD cameras (2) are kept at an initial set distance, and the two CCD cameras (2) are kept shooting in parallel; if it is below the set threshold range, the distance between the two CCD cameras (2) is specified according to a set rule, and the rotation angle of each CCD camera (2) is obtained based on the distance between the two CCD cameras (2) and the distance information; After the rotation angle and the distance between the two CCD cameras (2) are adjusted, the control unit controls the lens adjustment device to perform zooming and focusing according to the object size of the photographed object in the depth information, thereby achieving parallax adjustment of the two CCD cameras (2).

10. The parallax adjustment method based on distance sensor according to claim 9, characterized in that: If the distance is within the set threshold range, the distance between the two CCD cameras (2) is adjusted according to the distance information and the proportional relationship, wherein the ratio of the distance between the two CCD cameras (2) to the distance between the photographed object and the distance sensor (4) is 100:6; The proportional relationship was obtained by experimental fitting; The initial setting distance between the two CCD cameras (2) is 65 mm.

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