Capturing equipment capable of recognizing character actions for animation video production and control system

Abstract

The invention discloses an animation video production capturing device capable of recognizing character actions and a control system, and relates to the technical field of video production, the animation video production capturing device comprises a man-machine interaction device, and the man-machine interaction device is provided with a device control module and a device control system. The equipment control system comprises a wireless communication module, a data denoising module, a data fusion module, a skeleton construction module, a video forming module, an animation forming module, a keyword capture module, a skeleton structure locking module, an action simulation module, a model difference analysis module and a guidance generation module. The action simulation module takes the reference data as parameters to control the close-up model to simulate corresponding actions, and the model difference analysis module analyzes the corresponding actions simulated by the close-up model and analyzes whether the actions can be made by a human body or not, so that the problem that the required actions cannot be made is conveniently analyzed and judged.

Description

Technical Field

[0001] The present invention relates to the technical field of video production, and specifically to a capturing device and control system for recognizable human actions in animated video production. Background Art

[0002] In the process of animation production, the capture of human actions is one of the key links. Traditional motion capture technologies usually rely on complex sensor systems and post-processing software, with high costs, complex operations, and high requirements for the use environment. There is still much room for improvement in the accuracy, real-time performance, and ease of use of existing motion capture devices.

[0003] When existing capture devices generate animated actions, they can only capture actions and generate action models, with single functions. Staff can only analyze the differences between the captured actions and the required actions based on experience, and cannot accurately determine why the action capture object cannot perform corresponding actions, affecting the action capture speed. Summary of the Invention

[0004] The purpose of the present invention is to provide a capturing device and control system for recognizable human actions in animated video production to solve the problems raised in the prior art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A control system for a capturing device for recognizable human actions in animated video production, including a human-computer interaction device, on which an equipment control module and an equipment control system are provided. The equipment control system includes a wireless communication module, a data denoising module, a data fusion module, a skeleton construction module, a video forming module, an animation forming module, a keyword capture module, a skeleton structure locking module, an action simulation module, a model difference analysis module, and a guidance generation module. The results generated by the work of the staff data fusion module, skeleton construction module, video forming module, and animation forming module are all displayed on the display screen of the human-computer interaction device.

[0006] Preferably, the data denoising module is used to process the noise in the data. The data fusion module fuses the data collected by multiple shooting structures at the same time through an internally constructed filtering and data fusion algorithm model to generate motion capture data.

[0007] Preferably, the skeleton construction module constructs a D model of the human skeleton based on the marker point data in the motion capture data, and the D model reflects the movement of the human body. The video forming module synchronizes the human body movement reflected by the D model to the animation model.

[0008] Preferably, the keyword capture module analyzes the text description input on the human-computer interaction device to obtain reference data, and the skeleton structure locking module locks the local skeleton structure in the D model.

[0009] Preferably, the action simulation module generates a script action model, and the model difference analysis module determines whether the action capture object can perform the actions shown in the script action model.

[0010] A capture device for recognizable human actions in animation video production, including four shooting structures electrically connected to a device control module. The shooting structure includes a pneumatic cylinder, an orientation control component arranged at the top of the pneumatic cylinder, and a camera connected to the orientation control component. An accommodation structure is arranged outside the four shooting structures. The accommodation structure includes a top cover, two accommodation outer shells I, and two accommodation outer shells II. Reminder structures are fixedly installed on both the two accommodation outer shells II and the two accommodation outer shells I.

[0011] Preferably, two clamping plates are fixedly installed on the outer sides of both the two accommodation outer shells I, and two clamping grooves are formed on the outer sides of both the two accommodation outer shells II.

[0012] Preferably, each reminder structure includes a fixed seat III, an intercepting wire fixedly installed inside the fixed seat III, a winding frame rotatably connected to one end of the intercepting wire, and a rotating vertical shaft fixedly installed inside the winding frame. Four intercepting wires with bright colors enclose the activity range of the action capture object to prevent outsiders from interfering with the action capture. A torsion spring box is arranged on one side of the rotating vertical shaft, and a torsion spring is installed inside the torsion spring box. One end of the torsion spring is fixedly connected to the rotating vertical shaft. Two of the rotating vertical shafts are respectively rotatably installed inside the two accommodation outer shells I, and the other two rotating vertical shafts are rotatably installed inside the two accommodation outer shells II. Two of the fixed seats III are respectively fixedly connected to the two accommodation outer shells I, and the fixed seat III penetrates through the adjacent accommodation outer shell II. The other two fixed seats III are respectively fixedly connected to the two accommodation outer shells II, and the fixed seat III penetrates through the adjacent accommodation outer shell I. Under the action of multiple clamping plates and multiple clamping grooves, the accommodation outer shell I and the accommodation outer shell II cannot move relatively up and down, and the clamping plate is in interference fit with the accommodation outer shell II. The top cover sleeved on the outer top of the square accommodation device composed of the two accommodation outer shells I and the two accommodation outer shells II is in interference fit with the accommodation outer shell I and the accommodation outer shell II, so as to accommodate and gather the two accommodation outer shells I and the two accommodation outer shells II together, ensuring the convenience of transporting the capture device for recognizable human actions in animation video production and improving the space utilization efficiency.

[0013] Preferably, mounting plates are fixedly connected to the bottoms of the four pneumatic cylinders. Two telescopic rods are fixedly installed on both sides of the top of the mounting plate, and two fixed seats I are fixedly installed at the tops of the two telescopic rods.

[0014] Preferably, the orientation control component includes a forward and reverse motor I rotatably connected between two fixed seats I, a transmission frame fixedly connected to the bottom of the forward and reverse motor I, a transmission shaft fixedly penetrating through the transmission frame, and a fixed seat II rotatably sleeved outside the transmission shaft. The air cylinder controls the up and down positions of the fixed seat II and the forward and reverse motor I, and the up and down positions of the camera fixedly installed at the output end of the forward and reverse motor I are controlled. Whenever the camera leaves the inside of the storage housing I or the storage housing II, the forward and reverse motor I is controlled to rotate forward or reverse, and the forward and reverse motor I drives the camera to rotate to control the orientation of the fixed seat III on the horizontal plane. The fixed seat II is fixedly installed at the piston end of the air cylinder. Fixed bending plates are fixedly installed at the bottoms of both fixed seats I. A forward and reverse motor II is fixedly installed at one end of one of the fixed bending plates, and a brake is fixedly installed at one end of the other fixed bending plate. The transmission shaft is fixedly installed at the output end of the forward and reverse motor II, and the brake is sleeved outside the transmission shaft. The camera is fixedly installed on the output end of the adjacent forward and reverse motor I. When the forward and reverse motor II rotates forward or reverse, the transmission shaft drives the transmission frame to rotate, and the transmission frame drives the forward and reverse motor I to rotate to control the pitch angle of the forward and reverse motor I and the camera. After the forward and reverse motor II finishes working, the brake works to lock the rotation of the transmission shaft.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In this application, the keyword capture module generates reference data based on the information in the key action description text. Subsequently, the skeleton structure locking module locks the local skeleton structure in the D model according to the reference data. The action simulation module generates a close-up model. The action simulation module uses the reference data as parameters to control the close-up model to simulate corresponding actions. And the model difference analysis module analyzes the corresponding actions simulated by the close-up model to analyze whether the action can be performed by the human body, which is convenient for analyzing and judging the problem where the required action cannot be performed.

[0016] 2. In this application, when the action capture object cannot perform the action shown by the script action model due to its own reasons, the guidance generation module generates a cause report, and the staff can make corresponding work arrangements according to the cause report; when the action capture object can perform the action shown by the script action model, the guidance generation module generates a guidance report to inform the action capture object of the difference between the previous action and the action shown by the script action model, which is convenient for the action capture object to fine-tune its own action. The staff can input a human body structure tracking instruction on the human-computer interaction device. The device control module generates a control instruction according to the action simulated by the close-up model in the device control system. The device control module controls the capture device for making an animated video with recognizable human actions to track and shoot the body structure of the action capture object when the action in the text is realized, ensuring that relevant actions are captured quickly and accurately.

[0017] 3. In this application, by controlling the cooperation of structures such as the air cylinder, the forward and reverse motor 1, and the forward and reverse motor 2 in the shooting structure, the orientation, elevation angle, and height of the camera on the water surface can be controlled to meet the needs of various shootings and ensure the efficiency of motion capture. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a schematic structural diagram of the top cover of the present invention; Figure 3 is a schematic structural diagram of the storage housing 1 of the present invention; Figure 4 is a schematic structural diagram of the shooting structure of the present invention; Figure 5 is a schematic structural diagram of the fixed bent plate of the present invention; Figure 6 is a partial schematic structural diagram of the storage housing 2 of the present invention; Figure 7 is a schematic structural diagram of the mounting plate of the present invention; Figure 8 is a schematic structural diagram of the rotating vertical shaft of the present invention; Figure 9 is a schematic diagram of the equipment control system of the present invention.

[0019] Reference numerals in the drawings: 1, human-computer interaction device; 2, equipment control module; 3, equipment control system; 31, wireless communication module; 32, data denoising module; 33, data fusion module; 34, skeleton construction module; 35, video forming module; 36, animation forming module; 37, keyword capture module; 38, skeleton structure locking module; 39, motion simulation module; 310, model difference analysis module; 311, guidance generation module; 4, storage structure; 41, storage housing 1; 42, clamping plate; 43, storage housing 2; 44, clamping groove; 45, top cover; 5, shooting structure; 51, camera; 52, mounting plate; 53, air cylinder; 54, forward and reverse motor 1; 55, fixing seat 1; 56, telescopic rod; 57, forward and reverse motor 2; 58, transmission shaft; 59, brake; 510, transmission frame; 512, fixing seat 2; 513, fixed bent plate; 6, reminder structure; 61, fixing seat 3; 62, rotating vertical shaft; 63, winding frame; 64, intercepting wire; 65, torsion spring box; 66, torsion spring. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] Embodiment: As Figure 9 shown, the control system of a capture device capable of recognizing human actions for animation video production includes a human-computer interaction device 1, on which a device control module 2 and a device control system 3 are provided. The device control system 3 includes a wireless communication module 31, a data denoising module 32, a data fusion module 33, a skeleton construction module 34, a video forming module 35, an animation forming module 36, a keyword capture module 37, a skeleton structure locking module 38, an action simulation module 39, a model difference analysis module 310, and a guidance generation module 311.

[0022] Specifically, the device control system 3 is pre-built inside the human-computer interaction device 1. The wireless communication module 31 in the device control system 3 is used for wireless data transmission; wherein the data denoising module 32 is used for processing noise in the data; wherein the data fusion module 33 fuses the data collected by multiple shooting structures 5 at the same time through an internally built filtering and data fusion algorithm model to generate action capture data; wherein the skeleton construction module 34 constructs a 3D model of the human skeleton according to the marker point data in the action capture data, and the 3D model reflects the movement of the human body; wherein the video forming module 35 synchronizes the human movement reflected by the 3D model to the animation model; wherein the animation forming module 36 renders and colors the animation model to generate an animation character movement video; During the generation process of the above animation character movement video, the results generated by the work of the data fusion module 33, the skeleton construction module 34, the video forming module 35, and the animation forming module 36 are all displayed on the display screen of the human-computer interaction device 1, and the staff can abort the video generation process at any time.

[0023] wherein the keyword capture module 37 analyzes the text description input on the human-computer interaction device 1 to obtain reference data; wherein the skeleton structure locking module 38 locks the local skeleton structure in the 3D model; wherein the action simulation module 39 controls the local skeleton structure to simulate corresponding actions according to the reference data to generate a script action model; The model difference analysis module 310 analyzes the script action model based on the previous action data of the motion capture object to determine whether the motion capture object can perform the actions shown in the script action model; The guidance generation module 311 generates a relevant report according to the judgment result of the model difference analysis module 310; The staff inputs the key action description text in the action design into the human-computer interaction device 1 through the operation interface of the human-computer interaction device 1. The keyword capture module 37 extracts key information from the key action description text. The keyword capture module 37 generates reference data according to the key information in the key action description text. Subsequently, the skeleton structure locking module 38 locks the local skeleton structure in the 3D model according to the reference data. The action simulation module 39 generates a close-up model. The action simulation module 39 uses the reference data as a parameter to control the close-up model to simulate corresponding actions, and the model difference analysis module 310 analyzes the corresponding actions simulated by the close-up model to analyze whether the actions can be performed by the human body, so as to analyze and judge the problems where the required actions cannot be performed.

[0024] When the analysis result of the model difference analysis module 310 is that the human body can perform the corresponding actions, the model difference analysis module 310 analyzes the script action model based on the previous action data of the motion capture object to determine whether the motion capture object can perform the actions shown in the script action model. When the motion capture object cannot perform the actions shown in the script action model due to its own reasons, the guidance generation module 311 generates a cause report, and the staff can make corresponding work arrangements according to the cause report; when the motion capture object can perform the actions shown in the script action model, the guidance generation module 311 generates a guidance report to inform the motion capture object of the differences between the previous actions and the actions shown in the script action model, which is convenient for the motion capture object to fine-tune its own actions.

[0025] When the analysis result of the model difference analysis module 310 is that the human body cannot perform the corresponding actions, the guidance generation module 311 generates an action modification report according to the human body structure characteristics violated by the script action model, which is convenient for the staff to modify the actions.

[0026] Moreover, the staff can input a human body structure tracking instruction on the human-computer interaction device 1. The device control module 2 generates a control instruction according to the actions simulated by the close-up model in the device control system 3. The device control module 2 controls the capture device for making an animation video that can recognize human actions to track and shoot the body structure of the motion capture object when the actions in the text are realized, so as to ensure that relevant actions are captured quickly and accurately.

[0027] Such as Figures 1-8 shown, the usage method of the capture device for making an animation video that can recognize human actions and consists of a storage structure 4 and a shooting structure 5 in this application is as follows: Since the four shooting structures 5 electrically connected to the device control module 2 are installed on the storage structure 4, the storage structure 4 is framed by two storage outer shells one 41 and two storage outer shells two 43. The two storage outer shells one 41 are respectively arranged at the left front and right rear of the bottom of the top cover 45, and the two storage outer shells two 43 are respectively arranged at the right front and left rear of the bottom of the top cover 45, so that the two storage outer shells one 41 are in contact with the two storage outer shells two 43. And two clamping plates 42 are fixedly installed on the outer sides of the two storage outer shells one 41. The clamping plates 42 are arranged on the contact surfaces of the storage outer shells one 41 and the storage outer shells two 43. Two clamping grooves 44 are respectively opened on the outer sides of the two storage outer shells two 43. The clamping grooves 44 are arranged on the contact surfaces of the storage outer shells two 43 and the storage outer shells one 41. When the two storage outer shells one 41 and the two storage outer shells two 43 are stored and sorted, the clamping plates 42 are inserted into the adjacent clamping grooves 44. Under the action of the multiple clamping plates 42 and the multiple clamping grooves 44, the storage outer shells one 41 and the storage outer shells two 43 cannot move relatively up and down, and the clamping plates 42 are in interference fit with the storage outer shells two 43. The top cover 45 sleeved on the outer top of the square storage device composed of the two storage outer shells one 41 and the two storage outer shells two 43 is in interference fit with the storage outer shells one 41 and the storage outer shells two 43, so as to gather the two storage outer shells one 41 and the two storage outer shells two 43 together, ensuring the convenience of carrying the capture device for recognizable human actions in animation video production and improving the space utilization efficiency.

[0028] Reminder structures 6 are fixedly installed on both the two storage outer shells two 43 and the two storage outer shells one 41. In each reminder structure 6, an intercepting wire 64 is fixedly installed inside a fixed seat three 61. A rotating vertical shaft 62 is fixedly installed inside a winding frame 63 rotatably connected to one end of the intercepting wire 64. A torsion spring box 65 is arranged on one side of the rotating vertical shaft 62 and a torsion spring 66 is installed inside the torsion spring box 65, and one end of the torsion spring 66 is fixedly connected to the rotating vertical shaft 62. Among them, two rotating vertical shafts 62 are respectively rotatably installed inside the two storage outer shells one 41, and the other two rotating vertical shafts 62 are rotatably installed inside the two storage outer shells two 43. Among them, two fixed seats three 61 are respectively fixedly connected to the two storage outer shells one 41, and the fixed seat three 61 penetrates through the adjacent storage outer shells two 43. The other two fixed seats three 61 are respectively fixedly connected to the two storage outer shells two 43. Therefore, when the two storage outer shells one 41 and the two storage outer shells two 43 are far away from each other and distributed at the four corners of a rectangular structure, the four intercepting wires 64 are unfolded, and the four intercepting wires 64 with bright colors enclose the activity range of the motion capture object, avoiding the influence of outsiders on the motion capture.

[0029] The fixed seat three 61 penetrates through the adjacent storage outer shell one 41. After the two storage outer shells one 41 and the two storage outer shells two 43 are combined together, the multiple torsion springs 66 rebound and contract to drive the rotating vertical shaft 62 to rotate, and the rotating vertical shaft 62 drives the winding frame 63 to rotate to wind up the intercepting wire 64.

[0030] Inside each storage housing one 41 and each storage housing two 43, a shooting structure 5 is provided. Each shooting structure 5 includes a mounting plate 52. The mounting plate 52 inside the storage housing one 41 is fixedly connected to the storage housing one 41, and the mounting plate 52 inside the storage housing two 43 is fixedly connected to the storage housing two 43. On both sides of the top of the mounting plate 52, telescopic rods 56 that can be telescoped are fixedly installed. At the top of both telescopic rods 56, a first fixing seat 55 is fixedly installed; A orientation control component is provided at the top of the air cylinder 53 fixedly installed on the top of the mounting plate 52. In the orientation control component, a forward and reverse motor one 54 is rotatably installed between the two first fixing seats 55. Therefore, the forward and reverse motor one 54 is supported by the first fixing seats 55 and the telescopic rods 56 and can move up and down while rotating. A transmission frame 510 is fixedly connected to the bottom of the forward and reverse motor one 54. A second fixing seat 512 is rotatably sleeved outside the transmission shaft 58 fixedly penetrating through the transmission frame 510, and the second fixing seat 512 is fixedly installed at the piston end of the air cylinder 53. The air cylinder 53 works to control the up and down positions of the second fixing seat 512 and the forward and reverse motor one 54, and the up and down position of the camera 51 fixedly installed at the output end of the forward and reverse motor one 54 is controlled. Whenever the camera 51 leaves the inside of the storage housing one 41 or the storage housing two 43, the forward and reverse motor one 54 is controlled to rotate forward or reverse, and the forward and reverse motor one 54 drives the camera 51 to rotate to control the orientation of the third fixing seat 61 on the horizontal plane; At the bottom of both first fixing seats 55, fixing bent plates 513 are fixedly installed. At one end of one of the fixing bent plates 513, a forward and reverse motor two 57 is fixedly installed, and the transmission shaft 58 is fixedly installed at the output end of the forward and reverse motor two 57. At one end of the other fixing bent plate 513, a brake 59 is fixedly installed, and the brake 59 is sleeved outside the transmission shaft 58; When the forward and reverse motor two 57 rotates forward or reverse, the transmission shaft 58 drives the transmission frame 510 to rotate, and the transmission frame 510 drives the forward and reverse motor one 54 to rotate to control the elevation angle of the forward and reverse motor one 54 and the camera 51; And after the forward and reverse motor two 57 finishes working, the brake 59 works to rotate the transmission shaft 58 to ensure the stable operation of the camera 51.

[0031] By controlling the cooperation of structures such as the air cylinder 53, the forward and reverse motor one 54, and the forward and reverse motor two 57 in the shooting structure 5 to work, the orientation, elevation angle, and height of the camera 51 on the water surface can be controlled to meet the needs of various shootings and ensure the high efficiency of action capture.

[0032] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, in any regard, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Accordingly, all changes that fall within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. A control system for a capture device capable of recognizing human motion for use in animation video production, comprising a human-computer interaction device (1), characterized in that: The human-computer interaction device (1) is provided with a device control module (2) and a device control system (3), wherein the device control system (3) comprises a wireless communication module (31), a data denoising module (32), a data fusion module (33), a skeleton construction module (34), a video forming module (35), an animation forming module (36), a keyword capturing module (37), a skeleton structure locking module (38), an action simulation module (39), a model difference analysis module (310) and a guidance generation module (311).

2. The control system of a capture device capable of recognizing human motion for animation video production according to claim 1, characterized in that: The data denoising module (32) is used to process noise in the data, and the data fusion module (33) fuses multiple data.

3. The control system of a capture device capable of recognizing human motion for animation video production according to claim 1, characterized in that: The skeleton construction module (34) constructs a 3D model of the human skeleton, and the video shaping module (35) synchronizes the human body movement reflected by the 3D model with the animation model.

4. The control system of a capture device capable of recognizing human motion for animation video production according to claim 1, characterized in that: The keyword capturing module (37) analyzes the text description input on the human-computer interaction device (1) to obtain reference data, and the skeleton structure locking module (38) locks the local skeleton structure in the 3D model.

5. The control system of a capture device capable of recognizing human motion for animation video production according to claim 1, characterized in that: The action simulation module (39) generates a script action model, and the model difference analysis module (310) determines whether the action capture object can perform the action displayed by the script action model.

6. A capture device capable of identifying human motion for use in animation video production, suitable for use in a control system of a capture device capable of identifying human motion for use in animation video production as claimed in any one of claims 1 to 5, comprising four shooting structures (5) electrically connected to a device control module (2), characterized in that: The shooting structure (5) comprises a pneumatic cylinder (53), a direction control assembly arranged on the top of the pneumatic cylinder (53), and a camera (51) connected to the direction control assembly. A storage structure (4) is arranged outside the four shooting structures (5). The storage structure (4) comprises a top cover (45), two storage shells one (41), and two storage shells two (43). The two storage shells two (43) and the two storage shells one (41) are both fixedly mounted with a reminder structure (6).

7. The capture device capable of recognizing human motion for producing an animated video according to claim 1, characterized in that: Two clamping plates (42) are fixedly mounted on the outer sides of the two storage shells (41), and two clamping grooves (44) are provided on the outer sides of the two storage shells (43).

8. The capture device capable of recognizing human motion for producing an animated video according to claim 1, characterized in that: Each of the reminder structures (6) comprises a fixed seat three (61), an interception line (64) fixedly installed inside the fixed seat three (61), a reeling frame (63) to which one end of the interception line (64) is rotatably connected, and a rotating vertical shaft (62) fixedly installed inside the reeling frame (63), a torsion spring box (65) is provided on one side of the rotating vertical shaft (62), a torsion spring (66) is installed inside the torsion spring box (65), one end of the torsion spring (66) is fixedly connected to the rotating vertical shaft (62), and two of the rotating vertical shafts (61) are connected to the rotating vertical shaft (62). 2) are rotatably mounted inside the two storage shells (41), and the other two rotating vertical shafts (62) are rotatably mounted inside the two storage shells (43), wherein two of the fixing seats (61) are respectively fixedly connected to the two storage shells (41), and the fixing seats (61) penetrate the adjacent storage shells (43), and the other two fixing seats (61) are respectively fixedly connected to the two storage shells (43), and the fixing seats (61) penetrate the adjacent storage shells (41).

9. The capture device capable of recognizing human motion for producing an animated video according to claim 1, characterized in that: The bottoms of the four pneumatic cylinders (53) are fixedly connected to a mounting plate (52), telescopic rods (56) are fixedly mounted on both sides of the top of the mounting plate (52), and a fixing seat (55) is fixedly mounted on the tops of the two telescopic rods (56).

10. The capture device capable of recognizing human motion for producing an animated video according to claim 1, characterized in that: The orientation control component comprises a forward and reverse motor (54) rotatably connected between two fixing seats (55), a transmission frame (510) fixedly connected to the bottom of the forward and reverse motor (54), a transmission shaft (58) fixedly passed through the transmission frame (510), and a fixing seat (512) rotatably sleeved on the outer side of the transmission shaft (58), wherein the fixing seat (512) is fixedly mounted on the piston end of the pneumatic cylinder (53), and a fixed bent plate (513) is fixedly mounted on the bottom of the two fixing seats (55), wherein one end of the fixed bent plate (513) is fixedly mounted with the forward and reverse motor (57), and the other end of the fixed bent plate (513) is fixedly mounted with a brake (59), the transmission shaft (58) is fixedly mounted on the output end of the forward and reverse motor (57), and the brake (59) is sleeved on the outer side of the transmission shaft (58), and the camera (51) is fixedly mounted on the output end of the adjacent forward and reverse motor (54).

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