A device for generating dynamic multi-eye virtual cameras

Abstract

The present invention relates to a device for generating a dynamic multi-eye virtual camera. Based on the traditional worm gear, a first shoulder and a second shoulder are equidistantly arranged on the inside and outside of a lens barrel. On the one hand, the external bearing, the worm gear, and the internal prism can be limited and supported. More importantly, combined with the method of fixing the outer edge of the multi-faceted prism with a rubber ring, more stable rotation and more precise angle control can be achieved, thereby achieving equally accurate viewing angle sampling within a smaller angle range. In addition, there is no obstruction on the side of the multi-faceted prism close to the camera, and the imaging area at the edge is large. Therefore, the device is suitable for sampling virtual cameras used in trinocular or even quadrocopular cameras and collecting multi-view image sequences. Compared with the existing technology, the present invention can meet the demand for efficient three-dimensional reconstruction in complex environments.

Description

Technical Field

[0001] The present invention relates to the field of single-camera multi-view simulation, and in particular to a device for generating dynamic multi-view virtual cameras. Background Art

[0002] Multi-view geometry 3D reconstruction technology holds extensive research value in the field of computer vision and plays a crucial role in autonomous navigation, geographic mapping, and remote sensing. Its core approach is to derive the geometric projection relationships of objects in 3D space from multiple images acquired from different perspectives. Multi-view geometry describes the geometric model that describes the projection relationships between multiple images of the same scene, acquired from different viewpoints, and the object. This method is primarily used for single-camera, multi-view 3D reconstruction. Currently, existing multi-view vision systems generally suffer from high hardware costs and complex installation. In particular, the high-precision requirements of the systems are limited by the hardware quantity and synchronization. Therefore, further research and improvements are necessary to address the existing multi-view vision device architecture. In contrast, a device that generates dynamic multi-view virtual cameras offers a simpler structure and higher integration. By acquiring multi-view target images through the introduction of additional optical components, it offers a more economical, flexible, and effective solution for calculating an object's position in 3D space.

[0003] For example, Chinese patent CN112330794A discloses a single-camera image acquisition system and a three-dimensional reconstruction method based on a rotating bisection prism, which specifically discloses: a single-camera image acquisition system and a three-dimensional reconstruction method based on a rotating bisection prism, the system includes a camera device and a rotating bisection prism device, the camera device includes a camera and a camera bracket supporting the camera; the rotating bisection prism device includes a bisection prism, a prism support structure, a rotation mechanism and an outer shell supporting the rotating bisection prism device; the three-dimensional reconstruction method includes the following steps: system construction and parameter calibration, multi-view image sequence acquisition, stereo matching and cross-optimization, three-dimensional reconstruction and point cloud filtering. In the above-mentioned prior art, a rotating mechanism drives the prism to rotate, thereby achieving different viewing angles. Although the above-mentioned prior art mentions that the rotating mechanism adopts a torque motor direct drive method or a gear drive, synchronous belt drive, worm gear drive, etc., the detailed method is a torque motor direct drive method. The torque motor mainly includes a rotor, brushes, and a stator. Specifically, the bisection prism assembly is fixed to the torque motor rotor via a threaded connection, and the torque motor stator is fixed to the end face of the outer shell via a threaded connection. However, this method has limited guarantee for the specific angle control accuracy. In reality, in addition to binocular cameras, there are also multi-lens cameras such as trinocular and quadrocopter cameras. In these multi-lens cameras, taking the trinocular as an example, every 120 degrees is a cycle, that is, the viewing angle range of 0-120 degrees is a cycle, which is 60 degrees less than the 180-degree cycle in the above-mentioned prior art. Therefore, when applied to trinocular cameras and larger, the above-mentioned prior art has obvious shortcomings and cannot obtain sufficiently accurate and fine-grained viewing angle images. Summary of the Invention

[0004] The purpose of the present invention is to provide a device for generating a dynamic multi-eye virtual camera, which can meet the needs of efficient three-dimensional reconstruction in complex environments.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A device for generating a dynamic multi-eye virtual camera, comprising a rotating prism module and a camera module, wherein the rotating prism module comprises a multi-faceted prism, the camera module comprises a camera, and the axis of the multi-faceted prism is aligned with the visual axis of the camera;

[0007] The rotating prism module also includes a lens barrel, a turbine, a worm, a drive motor, a housing, two second bearings, two bearing seats and two first bearings. The output end of the drive motor is coaxially connected to the worm through a coupling. The worm is engaged with the turbine, and both ends are fixed in the two bearing seats through two second bearings respectively.

[0008] The outer side of the lens barrel is provided with a first shoulder, and the inner side is provided with a second shoulder. The projections of the first shoulder and the second shoulder on the axis of the lens barrel coincide, and the shapes of any two radial cross-sections of the first shoulder are the same. The length of the portion of the lens barrel on the first side of the first shoulder is less than the length on the second side of the first shoulder, and the shapes of any two radial cross-sections of the second shoulder are the same. The turbine sleeve is arranged on the outer side of the lens barrel, and one end is arranged close to the second side of the first shoulder. The two ends of the lens barrel are respectively connected to the outer shell through two first bearings, and one end of the first first bearing is arranged close to the first side of the first shoulder. A sleeve is provided between the second first bearing and the turbine. The multifaceted prism is arranged inside the lens barrel, and one end is supported on the first side of the second shoulder. The outer edge is limited to the inner wall of the lens barrel by interference fit of a rubber ring, wherein the first side of the second shoulder and the first side of the first shoulder are the same side.

[0009] The multi-faceted prism is at least a three-faceted prism, and all faces are distributed at equal angles.

[0010] The inner ring of the first first bearing is sleeved on the outer side of the lens barrel and is non-slidingly connected to the lens barrel. The outer ring is supported on the inner wall of the housing and is non-slidingly connected to the housing. One end of the first first bearing is arranged close to the first side of the first shaft shoulder.

[0011] The inner ring of the second first bearing is sleeved on the outside of the lens barrel and is non-slidingly connected to the lens barrel, the outer ring is supported on the inner wall of the shell and is non-slidingly connected to the shell, and one end of the second first bearing is set close to the sleeve.

[0012] The bearing seat is fixed on the second shaft shoulder and the sleeve, and the projection area of ​​the bearing seat on the axis of the lens barrel is located within the projection line segment area of ​​the second shaft shoulder, the turbine and the sleeve on the axis of the lens barrel.

[0013] The inner ring of the first bearing is interference fit with the lens barrel, the turbine is interference fit with the lens barrel, the outer ring of the first bearing is interference fit with the inner wall of the housing, and the turbine has no contact with the inner wall of the housing.

[0014] The rotating prism module also includes two first end covers, which are respectively located at both ends of the lens barrel and connected to the housing. The projection area of ​​the first end cover in the radial plane of the lens barrel does not overlap with the projection area of ​​the multifaceted prism in the radial plane of the lens barrel, wherein the radial plane of the lens barrel is perpendicular to the axis of the lens barrel.

[0015] The rotating prism module also includes a Z-shaped connecting block and two L-shaped connecting blocks. The driving motor is connected to the Z-shaped connecting block by screws, the Z-shaped connecting block is connected to the side of the shell by screws, the bearing seat is connected to the L-shaped connecting block by screws, and the L-shaped connecting block is connected to the front end of the shell by screws. The through holes on the L-shaped connecting block and the Z-shaped connecting block are concentric with the inner ring of the bearing seat, and are sleeved on both ends of the worm 112 and fixed to the shell.

[0016] The camera module includes a camera bracket, and the camera is fixed to the camera bracket.

[0017] The camera bracket is a fixed bracket.

[0018] The camera is a monocular camera.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. Based on the traditional worm gear, the first and second shoulders are equidistantly arranged inside and outside the lens barrel. On the one hand, they can provide limited support for the external bearing, worm gear and internal prism. More importantly, combined with the method of fixing the outer edge of the multi-faceted prism with a rubber ring, more stable rotation and more precise angle control can be achieved, thereby achieving equally accurate viewing angle sampling within a smaller angle range. In addition, there is no obstruction on the side of the multi-faceted prism close to the camera, and the imaging area at the edge is large, which is suitable for sampling virtual cameras used in trinocular or even quadrocopist cameras, collecting multi-view image sequences, and meeting the needs of efficient 3D reconstruction in complex environments.

[0021] 2. The first shoulder and the second shoulder are equidistantly arranged on the inside and outside of the lens barrel, combined with the rubber ring auxiliary limiting method, and the bearing seat is fixed on the second shoulder and the sleeve, so that the structure is more compact and the volume can be reduced.

[0022] 3. The transmission of the worm gear mechanism is smoother than that of the synchronous belt. It also reduces the vibration and noise during the transmission process and improves the stability and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of a device for generating a dynamic multi-eye virtual camera according to the present invention;

[0024] Figure 2 is a cross-sectional view of the rotating portion of the rotating prism module;

[0025] Figure 3 A front view of the rotating portion of the rotating prism module;

[0026] Figure 4 A bottom view of the rotating portion of the rotating prism module;

[0027] Figure 5 The three views of the shell;

[0028] Figure 6 This is an exploded schematic diagram of the overall structure;

[0029] Figure 7 Generate a multi-angle multi-eye virtual camera schematic for prism rotation;

[0030] Figure 8 It is an axonometric drawing of a faceted prism;

[0031] Figure 9 It is the application flow chart;

[0032] Among them: 1. rotating prism module, 2. camera device, 21. camera, 22. bracket, 101. lens barrel, 102. end cover, 103. sleeve, 104. housing, 105. turbine, 106. first bearing, 107. rubber ring, 108. multi-faceted prism, 109. Z-shaped connecting block, 110. bearing seat, 111. L-shaped connecting block, 112. worm, 113. coupling, 114. drive motor, 115. key, 101-1, first shoulder, 101-2, second shoulder. DETAILED DESCRIPTION

[0033] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition or explanation in subsequent drawings.

[0035] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "proximal", "distal" and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Physical quantities in formulas, unless separately marked, should be understood as basic quantities of the International System of Units, or derived quantities derived from basic quantities through mathematical operations such as multiplication, division, differentiation or integration.

[0036] Furthermore, terms such as "horizontal," "vertical," and "overhanging" do not necessarily imply that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0037] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0038] The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0039] A device for generating dynamic multi-eye virtual cameras, such as Figure 1 As shown, it includes a rotating prism module 1 and a camera module 2, as shown in FIG. Figures 2 to 6 As shown, the rotating prism module 1 includes a multifaceted prism 108, the camera module 2 includes a camera 21, and the axis of the multifaceted prism 108 and the visual axis of the camera 21 are in a straight line;

[0040] The rotating prism module 1 further includes a lens barrel 101, a turbine 105, a worm 112, a drive motor 114, a housing 104, two second bearings, two bearing seats 110, and two first bearings 106. The output end of the drive motor 114 is coaxially connected to the worm 112 via a coupling 113. The worm 112 is meshed with the turbine 105, and its two ends are fixed to the two bearing seats 110 via two second bearings.

[0041] The lens barrel 101 is provided with a first shoulder 101-1 on the outside and a second shoulder 101-2 on the inside. The projections of the first shoulder 101-1 and the second shoulder 101-2 on the axis of the lens barrel 101 coincide with each other, and the shapes of any two radial cross-sections of the first shoulder 101-1 are the same. The length of the portion of the lens barrel 101 on the first side of the first shoulder 101-1 is less than the length on the second side of the first shoulder 101-1. The shapes of any two radial cross-sections of the second shoulder 101-2 are the same. The turbine 105 is sleeved on the outside of the lens barrel 101, with one end closely attached to the first shoulder 101-1. The second side of the lens barrel 1 is arranged, and both ends of the lens barrel 1 are connected to the housing 104 through two first bearings 106 respectively, and one end of the first first bearing 106 is arranged close to the first side of the first shoulder 101-1, and a sleeve 103 is provided between the second first bearing 106 and the turbine 105. The multifaceted prism 108 is arranged inside the lens barrel 1, and one end is supported on the first side of the second shoulder 101-2, and the outer edge is limited to the inner wall of the lens barrel 101 by an interference fit of a rubber ring 107, wherein the first side of the second shoulder 101-2 and the first side of the first shoulder 101-1 are the same side.

[0042] Based on the traditional worm gear, the first and second shoulders 101-1, 101-2, equidistantly positioned on the inside and outside of the lens barrel 101, not only provide positional support for the external bearing, worm gear 105, and internal prism, but more importantly, combined with the method of fixing the outer edge of the multi-faceted prism 108 via a rubber ring 107, more stable rotation and more precise angle control can be achieved, thereby achieving equally accurate perspective sampling within a smaller angle range. Furthermore, the side of the multi-faceted prism 108 closest to the camera is unobstructed, and the imaging area at the edge is large, making it suitable for sampling virtual cameras used in trinocular and even quadrocopist cameras, and collecting multi-view image sequences. This meets the needs of efficient 3D reconstruction in complex environments.

[0043] Generally, in most embodiments, the multi-faceted prism 108 is at least a three-faceted prism, and all faces are distributed at equal angles. Specifically, in this embodiment, a three-faceted prism is used, such as Figure 7 and Figure 8 As shown, one base of the three-sided prism is flat, and the other base is divided into three equal parts.

[0044] Specifically in this embodiment, the inner ring of the first first bearing 106 is sleeved on the outside of the lens barrel 101 and is non-slidingly connected to the lens barrel 1, the outer ring is supported on the inner wall of the shell 104 and is non-slidingly connected to the shell 104, and one end of the first first bearing 106 is set close to the first side of the first shoulder 101-1. Correspondingly, the inner ring of the second first bearing 106 is sleeved on the outside of the lens barrel 101 and is non-slidingly connected to the lens barrel 1, the outer ring is supported on the inner wall of the shell 104 and is non-slidingly connected to the shell 104, and one end of the second first bearing 106 is set close to the sleeve 103.

[0045] Furthermore, in this embodiment, the bearing seat 110 is fixed to the second shoulder 101-2 and the sleeve 103, and the projection area of ​​the bearing seat 110 on the axis of the lens barrel 101 is located within the projection line segment area of ​​the second shoulder 101-2, the turbine 105, and the sleeve 103 on the axis of the lens barrel 101. Based on this, since the first shoulder 101-1 and the second shoulder 101-2 are equidistantly disposed on the inner and outer sides of the lens barrel 101, combined with the auxiliary position limiting method of the rubber ring 107 and the fixing of the bearing seat 110 to the second shoulder 101-2 and the sleeve 103, the structure is more compact and the volume can be reduced.

[0046] In this embodiment, the inner ring of the first bearing 106 is interference fit with the lens barrel 101, the turbine 105 is interference fit with the lens barrel 101, the outer ring of the first bearing 106 is interference fit with the inner wall of the housing 104, and the turbine 105 has no contact with the inner wall of the housing 104.

[0047] In addition, the rotating prism module 1 also includes two first end covers 102, which are respectively located at both ends of the lens barrel 101 and connected to the housing 104. The projection area of ​​the first end cover 102 in the radial plane of the lens barrel 101 does not overlap with the projection area of ​​the multifaceted prism 108 in the radial plane of the lens barrel 101, wherein the radial plane of the lens barrel 101 is perpendicular to the axis of the lens barrel 101.

[0048] In addition, in this embodiment, the rotating prism module 1 also includes a Z-shaped connecting block 109 and two L-shaped connecting blocks 111. The driving motor 114 is connected to the Z-shaped connecting block 109 by screws, the Z-shaped connecting block 109 is connected to the side of the outer shell 104 by screws, the bearing seat 110 is connected to the L-shaped connecting block 111 by screws, and the L-shaped connecting block 111 is connected to the front end of the outer shell 104 by screws. The through holes on the L-shaped connecting block 111 and the Z-shaped connecting block 109 are concentric with the inner ring of the bearing seat 110, and are sleeved on both ends of the worm 112 and fixed on the outer shell 104.

[0049] As is consistent with most prior art, the camera module 2 includes a camera bracket 22, to which a camera 21 is fixed. The camera 21 is a monocular camera. In addition, in this embodiment, the camera bracket 22 is a fixed bracket, which can improve stability and durability.

[0050] The installation process of the rotating prism module 1 in this application is as follows:

[0051] 1) Select and position the polygonal prism 108. Insert the rubber ring 107 onto the second shoulder 101-2 inside the lens barrel 101. Then, insert the polygonal prism 108 into the rubber ring 107. Initially secure the polygonal prism 108 with the rubber ring 107 to ensure that the center of the polygonal prism 108 is coaxial with the axis of the lens barrel 101. The rubber ring 107 serves to reduce vibration and protect the polygonal prism 108.

[0052] 2) After the polygonal prism 108 and rubber ring 107 are installed, install the turbine 105 into the right end of the lens barrel 101, contacting the first shoulder 101-1 of the lens barrel 101 and positioning it with the sleeve 103. Next, install two first bearings 106, with the inner ring of one first bearing 106 contacting the left end of the first shoulder 101-1 of the lens barrel 101 and the outer ring contacting the inner shoulder of the housing 104. The other first bearing 106 is installed on the right end of the turbine 105 and separated by the sleeve 103, ensuring that the inner ring of the first bearing 106 has an interference fit with the lens barrel 101.

[0053] 3) Install bearing seat 110 and secure it to L-shaped connecting block 111 with screws. Connect L-shaped connecting block 111 to the front end of housing 104. Ensure proper engagement between worm 112 of the worm gear mechanism and turbine 105 by adjusting the position of Z-shaped connecting block 109. Secure Z-shaped connecting block 109 to the side of housing 104 with screws.

[0054] 4) After the lens barrel 101 is installed, install the coupling 113 onto the output shaft of the drive motor 114 and connect the coupling 113 to the worm 112 via the key 115. Ensure that the drive motor 114 and the worm 112 are coaxial and can accurately drive the worm 112 when the motor rotates.

[0055] 5) Adjust the position of the worm gear 105 to ensure that it is fully engaged with the worm gear 112. When the worm gear 105 rotates, it drives the lens barrel 101 to rotate through the interference fit. At this time, the faceted prism 108 is fixed to the lens barrel 101 by the rubber ring 107 and rotates synchronously.

[0056] 6) Install end caps 102 on both sides of the rotating device 1, ensuring that the contact points between the bearing 106 and the housing 104 are securely fixed, and tighten the end caps 102 to the housing 104 with screws. Finally, the overall assembly of the prism device and the worm gear transmission structure is completed, ensuring that the optical axis of the camera device 2 is fully aligned with the optical axis of the polygonal prism 108, ensuring stable operation of the device.

[0057] An application example of this application is as follows:

[0058] like Figure 9 As shown, digital modeling of complex building structures is carried out. The following is the specific application process.

[0059] 1) System construction and parameter calibration

[0060] The camera device 2 is fixed behind the rotating prism module 1 , and the optical axis of the camera 21 is ensured to be aligned with the rotation center of the polygonal prism 108 .

[0061] The target surface of the camera 21 is adjusted to be parallel to the back surface of the polygonal prism 108 , and the optical axis of the camera 21 is made perpendicular to the top ridgeline of the back surface of the polygonal prism 108 .

[0062] Determine the working coordinate system O-XYZ of the single-camera imaging system:

[0063] The origin O is located at the optical center of the camera, the Z axis is consistent with the direction of the camera's optical axis, and the X axis and Y axis are orthogonal to the Z axis.

[0064] The X-axis corresponds to the row scanning direction of the camera image sensor, and the Y-axis corresponds to the column scanning direction.

[0065] The visual calibration method is used to measure the internal parameters of the camera (focal length, optical center position, distortion coefficient) and the axial distance between the camera 21 and the polygonal prism 108 to establish an accurate mathematical model.

[0066] 2) Multi-view image acquisition

[0067] The prism is driven to rotate to a specified angle through a rotating mechanism. The specific angle value is determined according to the required viewing angle. At each angle, the three sides of the prism achieve multi-view imaging.

[0068] At each prism angle, a camera is used to capture multi-view images deflected by the prism to generate a target multi-view image sequence.

[0069] 3) Stereo matching and cross optimization

[0070] According to the rotation angle of the prism, the dynamic virtual multi-view system model is derived, including the rotation matrix and translation vector of each view angle.

[0071] Based on the geometric relationship of image pairs, the epipolar constraint equation of multi-view images is established to limit the search range of matching points.

[0072] Use the window matching algorithm to identify the corresponding image points with the same name in multi-view images and record the matching results

[0073] Cross-check the matching points between multi-view images to eliminate error points and ensure matching accuracy

[0074] 4) 3D reconstruction and point cloud filtering

[0075] Using the triangulation method, the initial 3D point cloud of the target is calculated based on the matched image points with the same name.

[0076] Multi-view redundant information is used to supplement the missing data in the initial point cloud and generate a high-density point cloud.

[0077] According to the spatial distribution of point cloud data, the threshold method or clustering method is applied to filter out noise points.

[0078] Experiments show that the multi-angle high-resolution images obtained by this device can effectively improve the accuracy and efficiency of three-dimensional reconstruction of the trinocular camera compared to Chinese patent CN112330794A.

[0079] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

Claims

1. A device for generating a dynamic multi-eye virtual camera, comprising a rotating prism module (1) and a camera module (2), wherein the rotating prism module (1) comprises a multi-faceted prism (108), the camera module (2) comprises a camera (21), and the axis of the multi-faceted prism (108) and the visual axis of the camera (21) are in a straight line; It is characterized by: The rotating prism module (1) further comprises a lens barrel (101), a turbine (105), a worm (112), a driving motor (114), a housing (104), two second bearings, two bearing seats (110) and two first bearings (106); an output end of the driving motor (114) is coaxially connected to the worm (112) via a coupling (113); the worm (112) is meshed with the turbine (105), and both ends are fixed in the two bearing seats (110) via two second bearings respectively; The lens barrel (101) is provided with a first shoulder (101-1) on the outside and a second shoulder (101-2) on the inside; the projections of the first shoulder (101-1) and the second shoulder (101-2) on the axis of the lens barrel (101) coincide; any two radial cross-sections of the first shoulder (101-1) have the same shape; the length of a portion of the lens barrel (101) on the first side of the first shoulder (101-1) is shorter than the length on the second side of the first shoulder (101-1); any two radial cross-sections of the second shoulder (101-2) have the same shape; the turbine (105) is sleeved on the outside of the lens barrel (101), with one end closely contacting the first shoulder (101-1). The lens barrel (1) is provided on the second side of the lens barrel (1), the two ends of the lens barrel (1) are connected to the housing (104) via two first bearings (106), and one end of the first first bearing (106) is arranged in close contact with the first side of the first shoulder (101-1), a sleeve (103) is provided between the second first bearing (106) and the turbine (105), the multifaceted prism (108) is provided inside the lens barrel (1), and one end is supported on the first side of the second shoulder (101-2), and the outer edge is limited to the inner wall of the lens barrel (101) by means of interference fit of a rubber ring (107), wherein the first side of the second shoulder (101-2) and the first side of the first shoulder (101-1) are the same side.

2. The device for generating a dynamic multi-eye virtual camera according to claim 1, wherein: The multi-faceted prism (108) is at least a three-faceted prism, and all faces are distributed at equal angles.

3. The device for generating a dynamic multi-eye virtual camera according to claim 1, wherein: The inner ring of the first first bearing (106) is sleeved on the outer side of the lens barrel (101) and is non-slidingly connected to the lens barrel (1); the outer ring is supported on the inner wall of the housing (104) and is non-slidingly connected to the housing (104); one end of the first first bearing (106) is arranged in close contact with the first side of the first shaft shoulder (101-1); The inner ring of the second first bearing (106) is sleeved on the outside of the lens barrel (101) and is non-slidingly connected to the lens barrel (1); the outer ring is supported on the inner wall of the housing (104) and is non-slidingly connected to the housing (104); one end of the second first bearing (106) is arranged closely against the sleeve (103).

4. The device for generating a dynamic multi-eye virtual camera according to claim 1, wherein: The bearing seat (110) is fixed on the second shaft shoulder (101-2) and the sleeve (103), and the projection area of ​​the bearing seat (110) on the axis of the lens barrel (101) is located within the projection line segment area of ​​the second shaft shoulder (101-2), the turbine (105) and the sleeve (103) on the axis of the lens barrel (101).

5. The device for generating a dynamic multi-eye virtual camera according to claim 1, wherein: The inner ring of the first bearing (106) and the lens barrel (101) are in interference fit, the turbine (105) and the lens barrel (101) are in interference fit, the outer ring of the first bearing (106) and the inner wall of the housing (104) are in interference fit, and the turbine (105) and the inner wall of the housing (104) are not in contact.

6. The device for generating a dynamic multi-eye virtual camera according to claim 1, characterized in that: The rotating prism module (1) further comprises two first end covers (102), the two first end covers (102) being respectively located at two ends of the lens barrel (101) and connected to the housing (104), the projection area of ​​the first end covers (102) in the radial plane of the lens barrel (101) not overlapping with the projection area of ​​the multifaceted prism (108) in the radial plane of the lens barrel (101), wherein the radial plane of the lens barrel (101) is perpendicular to the axis of the lens barrel (101).

7. The device for generating a dynamic multi-eye virtual camera according to claim 1, characterized in that: The rotating prism module (1) further comprises a Z-shaped connecting block (109) and two L-shaped connecting blocks (111); the driving motor (114) is connected to the Z-shaped connecting block (109) via screws; the Z-shaped connecting block (109) is connected to the side of the housing (104) via screws; the bearing seat (110) is connected to the L-shaped connecting block (111) via screws; the L-shaped connecting block (111) is connected to the front end of the housing (104) via screws; the through holes on the L-shaped connecting block (111) and the Z-shaped connecting block (109) are concentric with the inner ring of the bearing seat (110), are sleeved on both ends of the worm 112, and are fixed to the housing (104).

8. The device for generating a dynamic multi-eye virtual camera according to claim 1, characterized in that: The camera module (2) comprises a camera bracket (22), and the camera (21) is fixed to the camera bracket (22).

9. The device for generating a dynamic multi-eye virtual camera according to claim 8, characterized in that: The camera bracket (22) is a fixed bracket.

10. The device for generating a dynamic multi-eye virtual camera according to claim 1, characterized in that: The camera (21) is a monocular camera.

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