Axis real-time self-calibration system and method based on dynamic visual feedback

Abstract

The invention provides an axial lead real-time self-calibration system and method based on dynamic visual feedback, and belongs to the technical field of camera equipment. Comprising a fixing seat, a plurality of telescopic feet are rotatably connected to the outer side of the bottom of the fixing seat, a supporting assembly is fixedly connected to the center of the bottom of the fixing seat, a top plate is fixedly connected to the top of the fixing seat, a rotating seat is rotatably connected to the inner side of the top plate, and a buffering assembly is fixedly connected to one side of the rotating seat; the control panel, the camera and the mounting frame are arranged, so that the system integrates a dynamic balance support structure, the camera and closed-loop setting of real-time feedback control, images are shot in real time through the camera, dynamic data are analyzed in cooperation with the control panel, then the multiple motors are driven, the shooting direction and angle of the camera are automatically adjusted, and the shooting efficiency is improved. High-precision automatic calibration of the axis is achieved, manual intervention is not needed, the manpower burden is greatly relieved, and high-efficiency and high-precision shooting is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of camera equipment, and in particular to a real-time self-calibration system and method for an axis line based on dynamic visual feedback. Background Art

[0002] A camera is a device that converts optical images into electronic signals and is widely used in various scenarios, including security monitoring, video conferencing, and photography.

[0003] When using a camera, it is often necessary to continuously and uninterruptedly track and shoot a moving target object. When tracking and shooting with existing cameras, the movement trajectory of the target object is generally determined manually, and the direction and angle of the camera are manually adjusted to complete the tracking and shooting. However, this places a heavy manpower burden on the machine, and manual adjustment is inefficient and the accuracy is not stable enough, making it impossible to achieve the effect of high-precision automatic axis alignment.

[0004] Therefore, the present invention provides a real-time self-calibration system and method for axis centerline based on dynamic visual feedback to meet the needs. Summary of the Invention

[0005] The purpose of the present invention is to provide a real-time self-calibration system and method for an axis centerline based on dynamic visual feedback, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a real-time self-calibration system for an axis line based on dynamic visual feedback, comprising a fixed seat, a plurality of telescopic legs rotatably connected to the outer side of the bottom of the fixed seat, a support assembly fixedly connected to the center of the bottom of the fixed seat, a top plate fixedly connected to the top of the fixed seat, a swivel seat rotatably connected to the inner side of the top plate, a buffer assembly fixedly connected to one side of the swivel seat, a mounting bracket fixedly connected to the other side of the buffer assembly, a mounting plate rotatably connected to the bottom end of the mounting bracket, a rotating plate rotatably connected to the inner side of the mounting plate, a camera is mounted on the top bolt of the rotating plate, a damping assembly is fixedly connected to the inner side of the buffer assembly, and a control panel is fixedly connected to the top of the swivel seat.

[0007] As a preferred embodiment, the support assembly includes a vertical pole fixedly connected to the bottom of the fixed seat, the bottom of the vertical pole is fixedly connected to a screw, the outer side of the screw is threadedly connected to an inner screw sleeve, the outer side of the inner screw sleeve is rotatably connected to a limiting sleeve, the outer side of the limiting sleeve is rotatably connected to several transmission rods adapted for the telescopic foot, and the bottom end of the telescopic foot is rotatably connected to a base plate.

[0008] As a preferred embodiment, the other end of the transmission rod is rotatably connected to the middle end of the telescopic foot. There are three telescopic feet, which are distributed in a ring. The outer side of the vertical pole is slidably connected to a sliding sleeve, and the outer side of the sliding sleeve is rotatably connected to an auxiliary rod adapted to the transmission rod.

[0009] As a preferred embodiment, the other end of the auxiliary rod is rotatably connected to the inside of the middle end of the corresponding transmission rod, and a thread groove is provided at the bottom end of the vertical rod, and the sliding sleeve is threadedly connected to the vertical rod through the thread groove.

[0010] As a preferred embodiment, the buffer assembly includes a vertical plate fixedly connected to the outside of the swivel seat, the upper and lower ends of the vertical plate are rotatably connected to a rotatable frame, the other ends of the two rotatable frames are rotatably connected to the same outer plate, the damping assembly includes a damping seat fixedly connected to the side of the vertical plate close to the outer plate, and the mounting frame is installed on the side of the outer plate away from the vertical plate.

[0011] As a preferred embodiment, a spring is fixedly connected between the vertical plate and the outer plate, the damping assembly is located on the inner side of the spring, the damping seat is slidingly connected to a damping rod at one end away from the vertical plate, the other end of the damping rod is rotatably connected to a connecting rod, and the other end of the connecting rod is rotatably connected to the outer plate.

[0012] As a preferred embodiment, one end of the damping rod located inside the damping seat is fixedly connected to a damping block, the outer side of the damping block is fixedly connected to a closed ring, and the closed ring is slidably connected to the inner side of the damping seat.

[0013] As a preferred embodiment, an inner cavity is formed on the inner side of the damping block, and a plurality of upper holes and lower holes are formed on both sides of the inner cavity. The damping seat is filled with hydraulic oil.

[0014] As a preferred embodiment, a No. 1 motor is fixedly connected to the bottom of the top plate, and its output end is fixedly connected to the turntable, a No. 2 motor is fixedly connected to the outside of the mounting frame, and its output end is fixedly connected to the mounting plate, a No. 3 motor is fixedly connected to the bottom of the mounting plate, and its output end is fixedly connected to the rotating plate, and the control board is electrically connected to the No. 1 motor, the No. 2 motor, the No. 3 motor and the camera.

[0015] The present invention also provides a method for using the axis centerline real-time self-calibration system based on dynamic visual feedback, comprising the following steps:

[0016] Step 1: Adjust the length of all telescopic legs. Rotate the inner screw sleeve to move it on the screw rod, which in turn drives the transmission rod to rotate through the limit sleeve. The transmission rod is connected to the middle end of the telescopic leg and pushes all telescopic legs outward to expand synchronously. When the transmission rod rotates, the auxiliary rod drives the sliding sleeve to slide on the outside of the vertical pole. After expansion, fix the sliding sleeve to the outside of the threaded groove with a bolt, and fix the telescopic leg with the inner screw sleeve. Place the camera system on the bottom plate.

[0017] Step 2: The camera captures the image of the target object in real time and transmits the image data to the control board. The control board processes and analyzes the image transmitted by the camera, identifies the axis position of the target object, and calculates the target object's motion trajectory. Based on the calculated data, the control board issues a command to drive the No. 1 motor to rotate the swivel, thereby driving the entire mounting frame and camera to rotate and adjust the entire system so that the camera's shooting direction is aligned with the axis of the target object, achieving real-time self-calibration of the axis. At the same time, the No. 2 and No. 3 motors are driven to adjust the direction and angle of the camera to dynamically track and shoot the target object in real time.

[0018] Step 3: During the adjustment process, the shaking of the system will cause the outer plate and the rotating frame to move. At this time, the spring in the buffer assembly can play a role in buffering and shock absorption. At the same time, the damping rod slides in the damping seat. The hydraulic oil in the damping seat continuously enters and exits the inner cavity from the upper and lower holes in the damping block, thereby continuously generating damping force, assisting the spring in buffering and reducing rebound, and preventing the camera from affecting the imaging quality due to vibration during the adjustment process.

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

[0020] This invention, by setting up a control panel, camera and mounting bracket, enables the system to integrate a dynamic balance bracket structure, camera and a closed-loop setting of real-time feedback control. The camera captures images in real time and cooperates with the control panel to analyze dynamic data, thereby driving multiple motors to automatically adjust the shooting direction and angle of the camera, achieving high-precision automatic calibration of the axis line without the need for human intervention, greatly reducing the manpower burden and ensuring high-efficiency and high-precision shooting.

[0021] This invention, by setting up a support assembly, allows all telescopic legs to be pushed to move synchronously through the limit sleeve and the transmission rod when the inner screw sleeve is displaced outside the screw rod, making it easy to unfold and retract, and all telescopic legs can be connected as a whole, ensuring the stability of the system. The cooperation between the sliding sleeve and the auxiliary rod improves the connection stability of the support assembly and further improves the stability of the system.

[0022] This invention, by setting up a buffer component, allows the spring to absorb the kinetic energy transmitted from the vertical plate when the system shakes, and through the rotation design of the turntable and the outer plate, it can slow down the buffering transmitted from the vertical plate to the outer plate, ensuring the stability of the camera, effectively solving the impact of vibration on imaging quality, and improving the stability of the system.

[0023] This invention sets a damping component so that when the spring is extended or retracted, the damping rod drives the damping block to slide in the damping seat, causing the hydraulic oil to pass through the inner cavity back and forth through the upper hole and the lower hole, thereby generating a damping force. This not only assists the spring in buffering shaking, but also reduces the rebound of the spring, further improving the stability of the camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the three-dimensional structure of the axis line real-time self-calibration system based on dynamic visual feedback;

[0025] Figure 2 Schematic diagram of the three-dimensional structure of the transmission rod;

[0026] Figure 3 It is a schematic diagram of the cutaway three-dimensional structure of the limiting sleeve;

[0027] Figure 4 for Figure 1 A is enlarged schematic diagram everywhere;

[0028] Figure 5 Schematic diagram of the three-dimensional structure of the buffer component;

[0029] Figure 6 It is a cross-sectional diagram of the coordination between the damping seat and the damping block;

[0030] Figure 7 This is a diagram of the telecommunications connections to the control board.

[0031] In the figure: 1. Fixed seat; 2. Telescopic foot; 3. Threaded groove; 4. Vertical pole; 5. Screw; 6. Inner thread sleeve; 7. Limit sleeve; 8. Transmission rod; 9. Sliding sleeve; 10. Auxiliary rod; 11. Top plate; 12. Rotating seat; 13. Vertical plate; 14. Rotating frame; 15. Outer plate; 16. Spring; 17. Damping seat; 18. Damping rod; 19. Connecting rod; 20. Damping block; 21. Inner cavity; 22. Upper hole; 23. Lower hole; 24. Sealing ring; 25. Mounting frame; 26. Mounting plate; 27. Rotating plate; 28. Camera; 29. ​​Bottom plate; 30. Control board; 31. Motor No. 1; 32. Motor No. 2; 33. Motor No. 3. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the embodiments.

[0033] The following examples are used to illustrate the present invention but are not intended to limit the scope of protection of the present invention. The conditions in the examples can be further adjusted according to specific conditions. Simple improvements to the method of the present invention based on the concept of the present invention fall within the scope of protection claimed in the present invention.

[0034] See also Figure 1-Figure 7 The present invention provides a real-time self-calibration system for the axis line based on dynamic visual feedback, including a fixed base 1, a plurality of telescopic legs 2 are rotatably connected to the outer side of the bottom of the fixed base 1, a support assembly is fixedly connected to the center of the bottom of the fixed base 1, the support assembly includes a vertical rod 4 fixedly connected to the bottom of the fixed base 1, a screw 5 is fixedly connected to the bottom of the vertical rod 4, an inner screw sleeve 6 is threadedly connected to the outer side of the screw 5, a limiting sleeve 7 is rotatably connected to the outer side of the inner screw sleeve 6, a plurality of transmission rods 8 adapted to the telescopic leg 2 are rotatably connected to the outer side of the limiting sleeve 7, the bottom end of the telescopic leg 2 is rotatably connected to the bottom plate 29, the other end of the transmission rod 8 is rotatably connected to the middle end of the telescopic leg 2, the number of the telescopic legs 2 is three, and they are distributed in an annular manner, the outer side of the vertical rod 4 is slidably connected to the sliding sleeve 9, the outer side of the sliding sleeve 9 is rotatably connected to an auxiliary rod 10 adapted to the transmission rod 8, the other end of the auxiliary rod 10 is rotatably connected to the inner side of the middle end of the corresponding transmission rod 8, a threaded groove 3 is provided at the bottom end of the vertical rod 4, and the sliding sleeve 9 is threadedly connected to the vertical rod 4 through the threaded groove 3.

[0035] When the inner screw sleeve 6 is displaced outside the screw rod 5, the synergistic effect of the limit sleeve 7 and the transmission rod 8 will push all the telescopic legs 2 to displace synchronously. This ingenious mechanical linkage design not only makes the deployment and storage operations of the telescopic legs 2 extremely convenient, but also can tightly connect all the telescopic legs 2 into a whole, thereby significantly enhancing the overall stability of the system. Through the connection between the auxiliary rod 10 and the transmission rod 8, the force can be effectively transmitted, so that the sliding sleeve 9 slides along with the inner screw sleeve 6 outside the vertical pole 4, and the sliding sleeve 9 can be fixed by the threaded groove 3, which not only enhances the mechanical strength of the support assembly, but also further improves the stability of the entire system, enabling it to maintain reliable performance in various complex working environments.

[0036] See also Figure 1-Figure 7, the top of the fixed base 1 is fixedly connected to a top plate 11, the inner side of the top plate 11 is rotatably connected to a swivel base 12, one side of the swivel base 12 is fixedly connected to a buffer assembly, the other side of the buffer assembly is fixedly connected to a mounting bracket 25, the bottom end of the mounting bracket 25 is rotatably connected to a mounting plate 26, the inner side of the mounting plate 26 is rotatably connected to a rotating plate 27, a camera 28 is installed on the top bolt of the rotating plate 27, and a control board 30 is fixedly connected to the top of the swivel base 12, the bottom of the top plate 11 is fixedly connected to a No. 1 motor 31, the output end of which is fixedly connected to the swivel base 12, the outer side of the mounting bracket 25 is fixedly connected to a No. 2 motor 32, the output end of which is fixedly connected to the mounting plate 26, the bottom of the mounting plate 26 is fixedly connected to a No. 3 motor 33, the output end of which is fixedly connected to the rotating plate 27, the control board 30 is electrically connected to the No. 1 motor 31, the No. 2 motor 32, the No. 3 motor 33 and the camera 28;

[0037] In the above scheme, it should be noted that the circuit board inside the control board 30 is provided with an information receiving module, an analysis and processing module, and a command transmission module, and the modules are electrically and signal-connected via the circuits on the circuit board. When the camera 28 transmits the image information captured in real time to the information receiving module inside the control board 30, the information receiving module summarizes and organizes the received image information and transmits the summarized image information to the analysis and processing module. At this time, the analysis and processing module judges the dynamic image data information captured in real time by the camera 28 and accurately understands the axis position and real-time motion trajectory of the photographed object. The command transmission module then controls the circuits of the first motor 31, the second motor 32, and the third motor 33, causing the first motor 31, the second motor 32, and the third motor 33 to enter the corresponding starting state. That is, the first motor 31, the second motor 32, and the third motor 33 can be used to adjust the shooting angle of the camera 28 in multiple directions, thereby simulating visual dynamic tracking of the photographed object.

[0038] During actual operation, the camera 28 will continuously capture images of the target object in real time, and these image data will be transmitted to the control board 30 in real time. The built-in processing module of the control board 30 will quickly and accurately analyze and process the images. Through in-depth analysis of dynamic data, the control board 30 can accurately identify the axis position and motion trajectory of the target object. Based on these key data, the control board 30 will quickly issue instructions to accurately drive the No. 1 motor 31, the No. 2 motor 32 and the No. 3 motor 33 to work together, respectively driving the swivel seat 12, the mounting plate 26 and the rotating plate 27 to rotate, and then adjust the direction of the camera 28 in real time to achieve dynamic tracking shooting. The entire process does not require any human intervention, which greatly reduces the manpower burden and avoids the errors and inefficiency that may be caused by manual operation.

[0039] See also Figure 1-Figure 7, the inner side of the buffer assembly is fixedly connected to the damping assembly, the buffer assembly includes a vertical plate 13 fixedly connected to the outside of the swivel seat 12, the upper and lower ends of the vertical plate 13 are rotatably connected to the swivel frame 14, the other ends of the two swivel frames 14 are rotatably connected to the same outer plate 15, the damping assembly includes a damping seat 17 fixedly connected to the vertical plate 13 close to the side of the outer plate 15, the mounting frame 25 is installed on the side of the outer plate 15 away from the vertical plate 13, a spring 16 is fixedly connected between the vertical plate 13 and the outer plate 15, the damping assembly is located inside the spring 16, and the damping seat 17 is far away One end of the vertical plate 13 is slidably connected to a damping rod 18, and the other end of the damping rod 18 is rotatably connected to a connecting rod 19. The other end of the connecting rod 19 is rotatably connected to the outer plate 15. One end of the damping rod 18 located inside the damping seat 17 is fixedly connected to a damping block 20, and a closed ring 24 is fixedly connected to the outside of the damping block 20. The closed ring 24 is slidably connected to the inside of the damping seat 17. An inner cavity 21 is opened on the inner side of the damping block 20, and a plurality of upper holes 22 and lower holes 23 are respectively opened on both sides of the inner cavity 21. The damping seat 17 is filled with hydraulic oil.

[0040] When the system is subjected to external shaking or vibration, the spring 16 in the buffer assembly can quickly absorb the kinetic energy transmitted by the vertical plate 13. This absorption effect effectively reduces the transmission of vibration energy. Combined with the relative rotation between the upper frame 14 and the outer plate 15, it can further disperse and slow down the impact force transmitted from the vertical plate 13 to the outer plate 15, thereby slowing down the shaking of the camera 28, thereby ensuring that the captured image is clear and stable, and not disturbed by external shaking, thereby significantly improving the practicality and reliability of the system.

[0041] When the spring 16 is deformed during expansion and contraction, the damping assembly will work synchronously. The damping rod 18 will drive the damping block 20 to slide in the damping seat 17, and the hydraulic oil filled in the damping seat 17 will pass back and forth through the inner cavity 21 through the upper hole 22 and the lower hole 23 on the damping block 20. The flow of this hydraulic oil will generate a certain damping force, which can assist the spring 16 to better buffer external shaking and impact, further reduce the transmission of vibration energy, and effectively reduce the rebound phenomenon of the spring 16 during the expansion and contraction process, further improving the stability of the camera 28 and significantly improving the performance and reliability of the system.

[0042] The method for using the axis centerline real-time self-calibration system based on dynamic visual feedback includes the following steps:

[0043] Step 1: Adjust the length of all telescopic legs 2 by rotating the inner screw sleeve 6 to move it on the screw rod 5, and then drive the transmission rod 8 to rotate through the limit sleeve 7. The transmission rod 8 is connected to the middle end of the telescopic leg 2 and synchronously pushes all telescopic legs 2 outward to unfold. When the transmission rod 8 rotates, the auxiliary rod 10 synchronously drives the sliding sleeve 9 to slide outside the vertical pole 4. After unfolding, the sliding sleeve 9 is fixed to the outside of the threaded groove 3 by bolts, and the telescopic leg 2 is fixed with the inner screw sleeve 6. The shooting system is placed and fixed through the bottom plate 29;

[0044] Step 2: The camera 28 captures an image of the target object in real time and transmits the image data to the control board 30. The control board 30 processes and analyzes the image transmitted by the camera 28, identifies the axis position of the target object, and calculates the target object's motion trajectory. Based on the calculated data, the control board 30 issues a command to drive the No. 1 motor 31 to rotate the swivel 12, thereby driving the entire mounting frame 25 and the camera 28 to rotate and adjust the entire mounting frame 25 so that the shooting direction of the camera 28 is aligned with the axis of the target object, realizing real-time self-calibration of the axis. At the same time, the No. 2 motor 32 and the No. 3 motor 33 are driven to adjust the direction and angle of the camera 28 to dynamically track and shoot the target object in real time.

[0045] Step 3: During the adjustment process, the shaking of the system will cause the outer plate 15 and the rotating frame 14 to move. At this time, the spring 16 in the buffer assembly can play a role in buffering and shock absorption. At the same time, the damping rod 18 slides in the damping seat 17, and the hydraulic oil in the damping seat 17 continuously enters and exits the inner cavity 21 from the upper hole 22 and the lower hole 23 in the damping block 20, thereby continuously generating damping force, assisting the spring 16 in buffering and reducing rebound, and preventing the camera 28 from affecting the imaging quality due to vibration during the adjustment process.

[0046] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and alterations may be made to these embodiments without departing from the principles of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A real-time self-calibration system for axis centerline based on dynamic visual feedback, comprising a fixed seat (1), characterized in that: The outer side of the bottom of the fixed seat (1) is rotatably connected to a plurality of telescopic legs (2), the center of the bottom of the fixed seat (1) is fixedly connected to a support assembly, the top of the fixed seat (1) is fixedly connected to a top plate (11), the inner side of the top plate (11) is rotatably connected to a swivel seat (12), one side of the swivel seat (12) is fixedly connected to a buffer assembly, the other side of the buffer assembly is fixedly connected to a mounting bracket (25), the bottom end of the mounting bracket (25) is rotatably connected to a mounting plate (26), the inner side of the mounting plate (26) is rotatably connected to a rotating plate (27), the top bolt of the rotating plate (27) is bolted with a camera (28), the inner side of the buffer assembly is fixedly connected to a damping assembly, and the top of the swivel seat (12) is fixedly connected to a control panel (30).

2. The real-time self-calibration system for axis centerline based on dynamic visual feedback according to claim 1, characterized in that: The support assembly comprises a vertical rod (4) fixedly connected to the bottom of the fixed seat (1); a screw rod (5) is fixedly connected to the bottom of the vertical rod (4); an inner screw sleeve (6) is threadedly connected to the outer side of the screw rod (5); a limit sleeve (7) is rotatably connected to the outer side of the inner screw sleeve (6); a plurality of transmission rods (8) adapted for the telescopic foot (2) are rotatably connected to the outer side of the limit sleeve (7); and the bottom end of the telescopic foot (2) is rotatably connected to a base plate (29).

3. The real-time self-calibration system for axis centerline based on dynamic visual feedback according to claim 2, characterized in that: The other end of the transmission rod (8) is rotatably connected to the middle end of the telescopic foot (2). The number of the telescopic feet (2) is three and they are distributed in a ring. The outer side of the vertical rod (4) is slidably connected to a sliding sleeve (9). The outer side of the sliding sleeve (9) is rotatably connected to an auxiliary rod (10) adapted to the transmission rod (8).

4. The real-time self-calibration system for axis centerline based on dynamic visual feedback according to claim 3 is characterized in that: The other end of the auxiliary rod (10) is rotatably connected to the interior of the middle end of the corresponding transmission rod (8); a thread groove (3) is provided at the bottom end of the vertical rod (4); and the sliding sleeve (9) is threadably connected to the vertical rod (4) via the thread groove (3).

5. The real-time self-calibration system for axis centerline based on dynamic visual feedback according to claim 1, characterized in that: The buffer assembly includes a vertical plate (13) fixedly connected to the outside of the rotating seat (12), the upper and lower ends of the vertical plate (13) are both rotatably connected to the rotating frame (14), and the other ends of the two rotating frames (14) are rotatably connected to the same outer plate (15). The damping assembly includes a damping seat (17) fixedly connected to the side of the vertical plate (13) close to the outer plate (15), and the mounting frame (25) is installed on the side of the outer plate (15) away from the vertical plate (13).

6. The real-time self-calibration system for axis centerline based on dynamic visual feedback according to claim 5, characterized in that: A spring (16) is fixedly connected between the vertical plate (13) and the outer plate (15), the damping assembly is located inside the spring (16), the damping seat (17) is slidably connected to a damping rod (18) at one end away from the vertical plate (13), the other end of the damping rod (18) is rotatably connected to a connecting rod (19), and the other end of the connecting rod (19) is rotatably connected to the outer plate (15).

7. The real-time self-calibration system for axis centerline based on dynamic visual feedback according to claim 6, characterized in that: One end of the damping rod (18) located inside the damping seat (17) is fixedly connected to a damping block (20), the outer side of the damping block (20) is fixedly connected to a closed ring (24), and the closed ring (24) is slidably connected to the inner side of the damping seat (17).

8. The real-time self-calibration system for axis centerline based on dynamic visual feedback according to claim 7, characterized in that: An inner cavity (21) is provided on the inner side of the damping block (20), and a plurality of upper holes (22) and lower holes (23) are respectively provided on both sides of the inner cavity (21). The damping seat (17) is filled with hydraulic oil.

9. The real-time self-calibration system for axis centerline based on dynamic visual feedback according to claim 1, characterized in that: The bottom of the top plate (11) is fixedly connected to a No. 1 motor (31), the output end of which is fixedly connected to the rotating seat (12); the outer side of the mounting frame (25) is fixedly connected to a No. 2 motor (32), the output end of which is fixedly connected to the mounting plate (26); the bottom of the mounting plate (26) is fixedly connected to a No. 3 motor (33), the output end of which is fixedly connected to the rotating plate (27); the control board (30) is electrically connected to the No. 1 motor (31), the No. 2 motor (32), the No. 3 motor (33) and the camera (28).

10. A method for using a real-time self-calibration system for axis centerline based on dynamic visual feedback includes the following steps: Step 1: Adjust the length of all telescopic legs (2) by rotating the inner screw sleeve (6) to move it on the screw rod (5), and then drive the transmission rod (8) to rotate through the limit sleeve (7). The transmission rod (8) is connected to the middle end of the telescopic legs (2) and synchronously pushes all telescopic legs (2) outward to unfold. When the transmission rod (8) rotates, the auxiliary rod (10) synchronously drives the sliding sleeve (9) to slide on the outside of the vertical rod (4). After the unfolding is completed, the sliding sleeve (9) is fixed to the outside of the thread groove (3) by a bolt, and the telescopic legs (2) are fixed with the inner screw sleeve (6). The shooting system is placed and fixed through the bottom plate (29); Step 2: The image of the target object is captured in real time by the camera (28), and the image data is transmitted to the control board (30). The control board (30) processes and analyzes the image transmitted by the camera (28), identifies the axis centerline position of the target object, and calculates the target object's motion trajectory. According to the calculated data, the control board (30) issues a command to drive the first motor (31) to drive the rotating seat (12) to rotate, thereby driving the entire mounting frame (25) and the camera (28) to perform overall rotation adjustment, so that the shooting direction of the camera (28) is aligned with the axis centerline of the target object, realizing real-time self-calibration of the axis centerline, and at the same time drives the second motor (32) and the third motor (33) to adjust the direction and angle of the camera (28) to dynamically track and shoot the target object in real time; Step 3: During the adjustment process, the shaking of the system will drive the outer plate (15) and the rotating frame (14) to move. At this time, the spring (16) in the buffer assembly can play a role in buffering and shock absorption. At the same time, the damping rod (18) slides in the damping seat (17), and the hydraulic oil in the damping seat (17) continuously enters and exits the inner cavity (21) from the upper hole (22) and the lower hole (23) in the damping block (20), thereby continuously generating a damping force to assist the spring (16) in buffering and reducing rebound, thereby preventing the camera (28) from affecting the imaging quality due to vibration during the adjustment process.

Images