Aerial photography automatic imaging system based on unmanned aerial vehicle

Abstract

The invention discloses an aerial photography automatic imaging system based on an unmanned aerial vehicle, and relates to the technical field of aerial photography measurement imaging, the automatic imaging system comprises an unmanned aerial vehicle body, and an aerial photography lens and a wide-angle lens which are matched with the unmanned aerial vehicle body, and the unmanned aerial vehicle body is internally provided with a transceiver module, a processing module, an imaging module and a fusion module; the transceiving module is used for receiving picture data acquired by the aerial photographing lens and the wide-angle lens; and the imaging module is used for analyzing the video preprocessed by the processing module. According to the aerial photography automatic imaging system based on the unmanned aerial vehicle, the unmanned aerial vehicle body carries an aerial photography lens and a wide-angle lens in the protection mechanism, and a buffer mechanism covers and protects the lens through overturning of a protection side frame when the unmanned aerial vehicle falls and touches the ground, so that the aerial photography system is prevented from being damaged, and acquired imaging data is prevented from being lost; and meanwhile, the processing module and the fusion module fuse shooting data, so that the consistency of videos is improved, and imaging of complex aerial photography measurement is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial photography measurement and imaging, and in particular to an automatic aerial photography imaging system based on a drone. Background Art

[0002] Drone aerial imaging refers to the process of using an unmanned aircraft as an aerial platform, equipped with remote-controlled sensing equipment, to obtain information about the environment to be photographed in the air and on the ground, and then processing the image information through a computer to ultimately produce high-precision image videos. Due to its unique advantages such as maneuverability, high ground resolution, and high safety, drone photogrammetry technology is particularly suitable for quickly obtaining high-precision, large-scale digital maps of small and complex areas.

[0003] The invention with publication number CN116929307A discloses an unmanned aerial photography automatic imaging system based on AI image-free control. Under the joint action of the flight control unit, power supply unit, aerial camera, IMU attitude measurement unit, wireless communication unit, GNSS+RTK positioning unit, etc., it can realize automatic aerial photography of the UAV without image control during flight. UAV photography does not require a large amount of field control, can meet the needs of high-precision automatic aerial photography, and greatly reduces the cost and manpower consumption of aerial photography.

[0004] The invention with announcement number CN117288168B discloses a low-power drone urban building aerial photography system. It calculates the building height and building density to obtain the attention of areas at different heights, combined with the clarity of the corresponding images of different buildings in the current overall area; an aerial photography data analysis module is used to screen buildings with high attention and low clarity; an aerial photography trajectory acquisition module is used to obtain a triangulated network based on all areas to be photographed and to re-determine the trajectory of the drone for aerial photography.

[0005] However, the above-mentioned aerial imaging system for drones still has the following problems during actual use: aerial measurement and imaging operations are performed through the remote sensing drone carried by the drone, but this type of aerial imaging system basically only uses a single lens. During the imaging process, some complex environments and special-shaped scenes are not captured completely, resulting in poor quality of the measurement imaging of these parts. At the same time, there is a lack of protection for drones and aerial photography systems in complex environments. The aerial photography system is damaged due to crashes and falls, and the collected imaging data is lost, affecting the efficiency and quality of measurement imaging.

[0006] Therefore, we propose an automatic aerial imaging system based on drones to solve the above problems. Summary of the Invention

[0007] The purpose of the present invention is to provide an automatic aerial imaging system based on a drone, in order to solve the problem that the existing aerial measurement and imaging operations are carried out by remote sensing aerial cameras carried by drones. However, this type of aerial imaging system basically only uses a single lens, and during the imaging process, some complex environments and special-shaped scenes are not captured completely, resulting in poor quality of the measurement imaging of these parts. At the same time, there is a lack of protection for drones and aerial systems in complex environments. The aerial system is damaged due to crashes and falls, and the collected imaging data is lost, affecting the efficiency and quality of measurement imaging.

[0008] To achieve the above objectives, the present invention provides the following technical solutions: an automatic aerial imaging system based on a drone, the automatic imaging system comprising a drone body and an aerial lens and a wide-angle lens mounted in conjunction with the drone body, and the drone body is internally provided with a transceiver module, a processing module, an imaging module, and a fusion module; The transceiver module is used to receive the image data collected by the aerial lens and the wide-angle lens, and transmit the original image video to the processing module and the cloud platform respectively; The imaging module is used to parse the video pre-processed by the processing module, and the parsed video is sent to the fusion module for fusion reconstruction, and the fusion module transmits the fused imaged video to the cloud platform for storage.

[0009] Preferably, the processing module processes the captured picture video, and the processing module pre-processes the two videos sent by the aerial lens and the wide-angle lens by means of noise reduction, picture stabilization, and color correction. The cloud platform stores the original videos captured by the aerial lens and the wide-angle lens for later calibration and film storage. The imaging module is used to perform three-dimensional analysis on the two videos pre-processed by the processing module, and to separate the features, key points, and identical frames in the two videos. The imaging module is used to send the analyzed videos to the fusion module for fusion imaging.

[0010] Preferably, the fusion module performs feature extraction, key point matching, video frame stitching and video content reconstruction on the two videos, and is used to fuse the video shot by the wide-angle lens with the video shot by the aerial lens, thereby improving the consistency of the video and realizing imaging of complex aerial measurements.

[0011] Preferably, rotor brackets are fixedly provided at both left and right ends of the drone body, and rotor blades are fixedly installed on the front and rear sides of the outer ends of the rotor brackets, and buffer mechanisms are fixedly provided at the bottoms of the symmetrically arranged rotor brackets, and the buffer mechanisms include buffer brackets for reducing the impact force of falling.

[0012] Preferably, the buffer mechanism includes a positioning bracket, and the outer end of the positioning bracket is fixedly mounted on the bottom surface of the rotor bracket, and the inner end of the positioning bracket is fixedly connected to the bottom surface of the drone body, and the top end of the buffer bracket included in the buffer mechanism slides through the interior of the positioning bracket, and the buffer bracket and the positioning bracket are connected to each other through a telescopic damper.

[0013] Preferably, the buffer mechanism includes a resistance slide, and the resistance slide elastically slides inside the positioning bracket, and the outer end of the resistance slide slides through the interior of the positioning bracket, and a main inclined slider is fixedly provided at the outer end of the resistance slide, and a secondary inclined slider is fixedly provided at the top end of the buffer bracket inside the positioning bracket, and the main inclined slider and the secondary inclined slider are fitted together to achieve resistance sliding.

[0014] Preferably, a protective mechanism is detachably installed on the bottom surface of the drone body, and the protective mechanism includes a protective box, and the protective box is detachably installed at the center position of the bottom surface of the drone body, and the left and right sides of the bottom surface of the protective box are hingedly connected to protective side frames through torsion springs. At the same time, the aerial lens and wide-angle lens on the bottom surface of the drone body are fixedly installed on the front and rear sides of the interior of the protective box.

[0015] Preferably, the protective mechanism includes a sliding resistance frame, and the inner end of the sliding resistance frame elastically penetrates the interior of the protective box, and the outer end of the sliding resistance frame slides inside the positioning bracket to resist the inner end of the slide, and the rear end of the sliding resistance frame is fixedly provided with a synchronous bracket.

[0016] Preferably, the protective mechanism includes a driving shaft, and the driving shaft is rotatably arranged at the rear outside the protective box through a bearing, and the outer end of the driving shaft is spirally connected to the rear end of the synchronous bracket through an opened spiral guide groove, and the rotation of the driving shaft is used to drive the synchronous brackets on both sides to move synchronously.

[0017] Preferably, the protective side frame included in the protective mechanism is ensured to rotate outward in the initial state through a torsion spring structure, thereby ensuring that the collection operations of the aerial lens and the wide-angle lens are not blocked, and the sliding resistance frame included in the protective mechanism slides inward to resist the inward rotation of the protective side frame, thereby realizing protection for the aerial lens and the wide-angle lens in the event of a fall.

[0018] Compared with the existing technology, the beneficial effects of the present invention are as follows: the drone-based automatic aerial imaging system uses the drone body to carry the aerial lens and wide-angle lens inside the protective mechanism. The buffer mechanism protects the lens by flipping the protective side frame when the drone crashes and touches the ground, thereby preventing damage to the aerial photography system and preventing the loss of collected imaging data. At the same time, the processing module and the fusion module fuse the shooting data to improve the consistency of the video and realize the imaging of complex aerial measurement. The specific contents are as follows: 1. The aerial and wide-angle lenses transmit the measurement images captured to the transceiver module. The storage module sends the original video to the cloud platform and processing module respectively. The processing module performs pre-noise reduction, image stabilization, and color correction on the aerial and wide-angle lens videos. The two videos are then sent to the imaging module for three-dimensional analysis, separating the features, key points, and identical frames in the videos. The fusion module then extracts features, matches key points, splices video frames, and reconstructs the video content of the two videos, improving video consistency and achieving imaging for complex aerial measurements.

[0019] 2. The protective box of the protection mechanism installs the aerial lens and wide-angle lens on the bottom of the drone body. The protective box cooperates with the protective side frames on the left and right sides of the bottom connected by torsion springs to protect the aerial lens and wide-angle lens. The protective side frames are tilted in the normal shooting state and will not affect the normal operation of the aerial lens and wide-angle lens. The aerial lens shoots through remote control sensing so that it can be adjusted and controlled according to the required shooting environment, while the wide-angle lens adopts a fixed method to shoot, which can collect environmental measurement data over a large range.

[0020] 3. The falling drone body contacts the bottom surface through the buffer bracket at the bottom and the telescopic damper to achieve the effect of buffering and reducing the impact. The buffer bracket moves toward the top of the positioning bracket under the impact, and drives the secondary inclined slider to squeeze the main inclined slider, so that the main inclined slider drives the inner end of the resistance slide to slide toward the inside of the positioning bracket, and then drives the protection mechanism to protect the aerial lens and wide-angle lens.

[0021] 4. The sliding contact frame connected to the inner end sleeve is driven by the sliding contact frame to slide inward, and then the sliding contact frame contacts the protective side frames that fit each other through the inner end, so that the protective side frames on the left and right sides are flipped inward, and then after merging, they form an integral protective cover with the protective box to cover the aerial lens and the wide-angle lens to protect the aerial photography system from damage and prevent the loss of collected imaging data.

[0022] Furthermore, the tilted fall of the drone touches the ground through the buffer bracket on one side, and drives the resistance slider and the sliding resistance bracket inside the positioning bracket to slide inward synchronously, so that the synchronous bracket drives the driving shaft connected by the threaded groove to rotate, and the driving shaft drives the synchronous bracket on the other side to slide inward through the threaded groove, thereby achieving the synchronous inward sliding of the left and right protective side frames, so as to improve the protection effect for aerial photography lenses and wide-angle lenses. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a system block diagram of the automatic aerial imaging system of the present invention; Figure 2 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 3This is a schematic diagram of the installation structure of the aerial photography lens and the wide-angle lens of the present invention; Figure 4 This is a schematic diagram of the structure after the protective side frames of the present invention are combined; Figure 5 This is a schematic diagram of the installation structure of the positioning bracket and the buffer bracket of the present invention; Figure 6 This is a structural schematic diagram of the initial position of the buffer bracket of the present invention; Figure 7 For the present invention Figure 6 A in the middle is an enlarged structural diagram; Figure 8 This is a schematic diagram of the installation structure of the protective box of the present invention; Figure 9 For the present invention Figure 8 The enlarged structural diagram at B in the middle; Figure 10 This is a schematic diagram of the installation structure of the sliding contact frame of the present invention; Figure 11 For the present invention Figure 10 Enlarged structural diagram at point C in the middle.

[0024] In the figure: 1. UAV body; 2. Aerial camera lens; 3. Wide-angle lens; 4. Rotor bracket; 5. Rotor blades; 6. Buffer bracket; 7. Positioning bracket; 8. Telescopic damper; 9. Contact slide; 10. Main inclined plane slider; 11. Secondary inclined plane slider; 12. Protective box; 13. Protective side frame; 14. Sliding contact frame; 15. Synchronous bracket; 16. Drive shaft. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0026] See also Figures 1-11 , the present invention provides the following technical solutions: Example 1: In order to solve the problems existing in the use of the existing automatic imaging system of drone aerial photography, this embodiment adopts the following technical solution: an automatic imaging system for aerial photography based on a drone, the automatic imaging system includes a drone body 1 and an aerial lens 2 and a wide-angle lens 3 installed in conjunction with the drone body 1, and the drone body 1 is internally provided with a transceiver module, a processing module, an imaging module and a fusion module; the transceiver module is used to receive the image data collected by the aerial lens 2 and the wide-angle lens 3, and transmit the original image video to the processing module and the cloud platform respectively; the imaging module is used to parse the video preprocessed by the processing module, and the parsed video is sent to the fusion module for fusion reconstruction, and the fusion module transmits the fused imaging video to the cloud platform for storage.

[0027] The processing module processes the collected picture videos, and the processing module pre-processes the two videos sent by the aerial lens 2 and the wide-angle lens 3 by means of noise reduction, image stabilization and color correction. The cloud platform stores the original videos collected by the aerial lens 2 and the wide-angle lens 3 for later calibration and film storage. The imaging module is used to perform three-dimensional analysis on the two videos pre-processed by the processing module, and separate the features, key points and identical frames in the two videos. The fusion module receives the analyzed video sent by the imaging module; the fusion module performs feature extraction, key point matching, video frame splicing and video content reconstruction on the two videos, and is used to fuse the video taken by the wide-angle lens 3 with the video taken by the aerial lens 2, so as to improve the consistency of the video and realize the imaging of complex aerial measurement.

[0028] Example 2: In order to solve the problems existing in the use of the automatic imaging system of the existing drone aerial photography, this embodiment adopts the following technical solution: rotor brackets 4 are fixedly provided on both ends of the left and right ends of the drone body 1, and rotor blades 5 are fixedly installed on the front and rear sides of the outer end of the rotor bracket 4, and the bottom of the symmetrically arranged rotor bracket 4 is fixedly provided with a buffer mechanism, and the buffer mechanism includes a buffer bracket 6 for reducing the impact force of falling; the buffer mechanism includes a positioning bracket 7, and the outer end of the positioning bracket 7 is fixedly installed on the bottom surface of the rotor bracket 4, and the inner end of the positioning bracket 7 is fixedly connected to the bottom surface of the drone body 1, and the top end of the buffer bracket 6 included in the buffer mechanism slides through the interior of the positioning bracket 7, and the buffer bracket 6 and the positioning bracket 7 are interconnected by a telescopic damper 8.

[0029] The buffer mechanism includes a resistance slide 9, and the resistance slide 9 slides elastically inside the positioning bracket 7, and the outer end of the resistance slide 9 slides through the interior of the positioning bracket 7, and a main inclined slider 10 is fixedly provided at the outer end of the resistance slide 9, and a secondary inclined slider 11 is fixedly provided at the top end of the buffer bracket 6 inside the positioning bracket 7, and the main inclined slider 10 and the secondary inclined slider 11 are fitted together to achieve resistance sliding.

[0030] The drone body 1 is equipped with a protective mechanism on the bottom surface. The protective box 12 included in the protective mechanism is installed for the built-in aerial lens 2 and wide-angle lens 3. During the aerial measurement and imaging process, the aerial lens 2 is filmed through remote sensing so as to adjust and control the environment required for filming, while the wide-angle lens 3 is filmed in a fixed manner, which can collect environmental measurement data over a large range.

[0031] like Figure 4-Figure 7 As shown, during the falling collision process, the drone body 1 contacts the ground through the buffer brackets 6 arranged on the left and right sides below, and the telescopic damper 8 at its top is slidably connected to the positioning bracket 7, so that the telescopic damper 8 is squeezed by the impact and slides upward to the positioning bracket 7 synchronously, and drives the secondary inclined slider 11 fixedly connected to the inner end of the buffer bracket 6 to squeeze the main inclined slider 10, and then the main inclined slider 10 drives the conflict slide 9 fixedly connected to the inner end to slide toward the inside of the positioning bracket 7, thereby reducing the impact on the aerial lens 2 and the wide-angle lens 3 on the bottom of the drone body 1 during the touching down process, and driving the protective mechanism to protect the aerial lens 2 and the wide-angle lens 3, so as to avoid damage to the aerial photography system and prevent the loss of collected imaging data.

[0032] Example 3: In order to solve the problems existing in the use of the automatic imaging system of the existing drone aerial photography, this embodiment adopts the following technical solution: the bottom surface of the drone body 1 is detachably installed with a protective mechanism, and the protective mechanism includes a protective box 12, and the protective box 12 is detachably installed at the center position of the bottom surface of the drone body 1, and the left and right sides of the bottom surface of the protective box 12 are hingedly connected with protective side frames 13 through torsion springs, and at the same time, the aerial lens 2 and the wide-angle lens 3 on the bottom surface of the drone body 1 are fixedly installed on the front and rear sides of the interior of the protective box 12; the protective mechanism includes a sliding contact frame 14, and the inner end of the sliding contact frame 14 elastically passes through the interior of the protective box 12, and the outer end of the sliding contact frame 14 slides inside the positioning bracket 7 to contact the inner end of the slide 9, and the rear end of the sliding contact frame 14 is fixedly provided with a synchronization bracket 15.

[0033] The protection mechanism includes a driving shaft 16, and the driving shaft 16 is rotatably arranged at the outer rear of the protection box 12 through a bearing, and the outer end of the driving shaft 16 is spirally connected to the rear end of the synchronization bracket 15 through an opened spiral guide groove, and the rotation of the driving shaft 16 is used to drive the synchronization brackets 15 on both sides to move synchronously; the protection mechanism includes a protection side frame 13 that is ensured to rotate outward in the initial state through a torsion spring structure, thereby ensuring that the collection operation of the aerial lens 2 and the wide-angle lens 3 is not blocked, and the protection mechanism includes a sliding resistance frame 14 that slides inward to resist the inward rotation of the protection side frame 13, thereby realizing protection for the aerial lens 2 and the wide-angle lens 3 in the event of a fall.

[0034] like Figures 8-11 As shown, the sliding contact frame 14 included in the protective mechanism is installed on the inner end of the contact slide 9 in a sliding manner, so that the contact slide 9 drives the sliding contact frame 14 at the inner end to slide inward synchronously, and then the sliding contact frame 14 contacts the protective side frames 13 that fit each other through the inner end, so that the protective side frames 13 on the left and right sides are flipped inward, and then after merging, they form an integral protective cover with the protective box 12 to cover and protect the aerial lens 2 and the wide-angle lens 3.

[0035] Furthermore, when the drone body 1 falls obliquely, the buffer bracket 6 on one side is forced to rise and drives the corresponding sliding resistance frame 14 to slide inward synchronously. The sliding resistance frame 14 drives the synchronous bracket 15 fixedly connected at the rear end to slide inward, and then the driving shaft 16 connected to the synchronous bracket 15 through the threaded groove is driven to rotate, so that the driving shaft 16 drives the synchronous bracket 15 threadedly connected on the other side to slide inward through the threaded groove, thereby achieving the synchronous inward sliding of the protective side frames 13 on the left and right sides, so as to improve the protection effect of the aerial lens 2 and the wide-angle lens 3.

[0036] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic aerial imaging system based on a drone, characterized in that: The automatic imaging system comprises a drone body (1) and an aerial camera lens (2) and a wide-angle lens (3) which are installed in conjunction with the drone body (1), and a transceiver module, a processing module, an imaging module and a fusion module are provided inside the drone body (1); The transceiver module is used to receive the image data collected by the aerial camera lens (2) and the wide-angle lens (3), and transmit the original image video to the processing module and the cloud platform respectively; The imaging module is used to parse the video pre-processed by the processing module, and the parsed video is sent to the fusion module for fusion reconstruction, and the fusion module transmits the fused imaged video to the cloud platform for storage.

2. The automatic aerial imaging system based on a drone according to claim 1, characterized in that: The processing module processes the captured video images, and the processing module pre-processes the two videos sent by the aerial lens (2) and the wide-angle lens (3) by means of noise reduction, image stabilization, and color correction. The cloud platform stores the original videos captured by the aerial lens (2) and the wide-angle lens (3) for later calibration and film storage. The imaging module is used to perform three-dimensional analysis on the two videos pre-processed by the processing module, and to separate the features, key points, and identical frames in the two videos. The imaging module is used to send the analyzed videos to the fusion module for fusion imaging.

3. The automatic aerial imaging system based on a drone according to claim 2, characterized in that: The fusion module performs feature extraction, key point matching, video frame splicing and video content reconstruction on the two videos, and is used to fuse the video shot by the wide-angle lens (3) with the video shot by the aerial lens (2), thereby improving the consistency of the videos and realizing imaging of complex aerial measurements.

4. The automatic aerial imaging system based on a drone according to claim 1, characterized in that: Rotor brackets (4) are fixedly provided at both left and right ends of the UAV body (1), and rotor blades (5) are fixedly installed at both front and rear ends of the outer ends of the rotor brackets (4), and buffer mechanisms are fixedly provided at the bottoms of the symmetrically arranged rotor brackets (4), and the buffer mechanisms include buffer brackets (6) for reducing the impact force of falling.

5. The automatic aerial imaging system based on a drone according to claim 4, characterized in that: The buffer mechanism includes a positioning bracket (7), and the outer end of the positioning bracket (7) is fixedly mounted on the bottom surface of the rotor bracket (4), and the inner end of the positioning bracket (7) is fixedly connected to the bottom surface of the drone body (1), and the top end of the buffer bracket (6) included in the buffer mechanism slides through the interior of the positioning bracket (7), and the buffer bracket (6) and the positioning bracket (7) are connected to each other through a telescopic damper (8).

6. The automatic aerial imaging system based on a drone according to claim 5, characterized in that: The buffer mechanism includes a resistance slide (9), and the resistance slide (9) elastically slides inside the positioning bracket (7), and the outer end of the resistance slide (9) slides through the interior of the positioning bracket (7), and a main inclined plane slider (10) is fixedly provided on the outer end of the resistance slide (9), and a secondary inclined plane slider (11) is fixedly provided on the top end of the buffer bracket (6) inside the positioning bracket (7), and the main inclined plane slider (10) and the secondary inclined plane slider (11) are fitted together to achieve resistance sliding.

7. The automatic aerial imaging system based on a drone according to claim 1, characterized in that: The bottom surface of the drone body (1) is detachably mounted with a protective mechanism, and the protective mechanism includes a protective box (12), and the protective box (12) is detachably mounted at the center of the bottom surface of the drone body (1), and the left and right sides of the bottom surface of the protective box (12) are hingedly connected to protective side frames (13) through torsion springs, and the aerial camera lens (2) and the wide-angle lens (3) on the bottom surface of the drone body (1) are fixedly mounted on the front and rear sides of the interior of the protective box (12).

8. The automatic aerial imaging system based on a drone according to claim 7, characterized in that: The protection mechanism includes a sliding contact frame (14), and the inner end of the sliding contact frame (14) elastically penetrates the interior of the protection box (12), and the outer end of the sliding contact frame (14) slides and sleeves the inner end of the positioning bracket (7) to contact the inner end of the sliding frame (9), and the rear end of the sliding contact frame (14) is fixedly provided with a synchronous bracket (15).

9. The automatic aerial imaging system based on a drone according to claim 8, characterized in that: The protection mechanism includes a driving shaft (16), and the driving shaft (16) is rotatably arranged at the rear of the exterior of the protection box (12) through a bearing, and the outer end of the driving shaft (16) is spirally connected to the rear end of the synchronous bracket (15) through an opened spiral guide groove, and the rotation of the driving shaft (16) is used to drive the synchronous brackets (15) on both sides to move synchronously.

10. The automatic aerial imaging system based on a drone according to claim 7, characterized in that: The protective side frame (13) included in the protective mechanism is ensured to rotate outward in an initial state by a torsion spring structure, thereby ensuring that the acquisition operation of the aerial lens (2) and the wide-angle lens (3) is not blocked, and the sliding resistance frame (14) included in the protective mechanism slides inward to resist the inward rotation of the protective side frame (13), thereby realizing protection for the aerial lens (2) and the wide-angle lens (3) when falling.

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