Binocular fisheye camera system with multiple bionic modes and control method

Abstract

The invention relates to the technical field of binocular cameras, and discloses a multi-bionic-mode binocular fisheye camera system and a control method, the multi-bionic-mode binocular fisheye camera system comprises a first fisheye camera, a second fisheye camera, a first motion assembly, a second motion assembly and a driving assembly; the first fisheye camera is connected with the first movement assembly, the second fisheye camera is connected with the second movement assembly, and the first movement assembly and the second movement assembly are connected to the driving assembly. According to the invention, the two fisheye cameras are adopted, the two movement assemblies are controlled through the driving assembly, and the two movement assemblies drive the corresponding fisheye cameras to carry out orientation adjustment, so that the visual fields obtained by the two fisheye cameras can be subjected to bionic modal visual field adjustment of head-up, side-looking and tilt-looking; therefore, the purpose of effectively switching multiple bionic modes under different environments and task requirements can be achieved, and the adaptability of the binocular vision system in a multi-task environment is improved.

Description

Technical Field

[0001] The present application relates to the field of binocular camera technology, and in particular to a multi-bionic modality binocular fisheye camera system and a control method. Background Art

[0002] Currently, binocular vision systems are widely used in fields such as computer vision, autonomous driving, robotic navigation, and 3D reconstruction. Conventional binocular cameras primarily use standard viewing angles, mounted at a fixed spacing and angle to simulate the parallax characteristics of the human eye. However, these traditional binocular vision systems have limitations in field of view, flexibility, and adaptability to diverse application scenarios.

[0003] Traditional binocular vision systems feature a completely fixed camera layout, making it difficult to flexibly adjust the binocular camera layout to accommodate diverse application scenarios and biomimetic needs. Current binocular camera gimbal designs typically only implement basic pitch and rotation functions and are unable to effectively simulate multiple biomimetic modalities, limiting their application in multi-task environments. Furthermore, existing research has limited designs for adjustable mechanisms for biomimetic binocular architectures, with most employing fixed mounts or simple motorized gimbals, making it difficult to achieve multiple biomimetic binocular modes within limited drive conditions.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] The main purpose of this application is to provide a binocular fisheye camera system with multiple bionic modalities and a control method, aiming to solve the problem in the prior art that traditional binocular vision systems use a fixed camera layout and cannot effectively simulate multiple bionic modalities, resulting in poor adaptability in multi-task environments.

[0006] A first aspect of an embodiment of the present application provides a multi-bionic modality binocular fisheye camera system, the multi-bionic modality binocular fisheye camera system comprising a first fisheye camera, a second fisheye camera, a first motion component, a second motion component, and a drive component; The first fisheye camera is connected to the first motion component, the second fisheye camera is connected to the second motion component, and the first motion component and the second motion component are respectively connected to the driving component; The driving component is used to control the first motion component so that the first motion component drives the first fisheye camera to move. The driving component is also used to control the movement of the second motion component so that the second motion component drives the second fisheye camera to move, so that the camera posture of the multi-bionic modality binocular fisheye camera system is in a head-on posture, a side-looking posture or a tilted posture.

[0007] Optionally, in one embodiment of the present application, the driving assembly includes a platform base, a folding structure, a driving structure and a driving connector; The platform base is hinged to the folding structure, the folding structure is connected to the driving structure, the driving structure is hinged to the driving connecting member, and the driving structure and the platform base are connected through parallel connecting rods; the folding structure and the driving connecting member are respectively connected to the first motion component, and the folding structure and the driving connecting member are respectively connected to the second motion component.

[0008] Optionally, in one embodiment of the present application, the driving structure includes a driving servo and a servo base, the two ends of the parallel connecting rod are respectively connected to the servo base and the platform base, the driving servo is arranged on the servo base, and the driving servo is connected to the driving connecting member, and the driving servo is used to control the rotation state of the driving connecting member; A slide groove is provided on the side of the servo base facing away from the driving servo, and a slide rod is provided on the folding structure. The slide rod is slidably and / or rotatably connected in the slide groove.

[0009] Optionally, in one embodiment of the present application, the number of the parallel links is at least four, the two ends of at least two of the parallel links are respectively hinged to one side of the servo base and one side of the platform base, and the two ends of at least another two of the parallel links are respectively hinged to the other side of the servo base and the other side of the platform base.

[0010] Optionally, in one embodiment of the present application, the first motion component and the second motion component are symmetrically arranged with respect to the folding structure; When the driving servo controls the driving connection member to rotate, the driving connection member drives the first motion component and the second motion component to move synchronously.

[0011] Optionally, in one embodiment of the present application, the first motion assembly includes a first camera base, a first connecting rod and a first connecting member; the first fisheye camera is arranged on the first camera base, one side of the first camera base is rotatably connected to the folding structure, the other side of the first camera base is hinged to one end of the first connecting rod, and both ends of the first connecting member are respectively hinged to the other end of the first connecting rod and one side of the driving connecting member; and / or The second motion component includes a second camera base, a second connecting rod and a second connecting member; the second fisheye camera is arranged on the second camera base, one end of the second camera base is rotatably connected to the folding structure, the other end of the second camera base is hinged to one end of the second connecting rod, and the two ends of the second connecting member are respectively hinged to the other end of the second connecting rod and the other side of the driving connecting member.

[0012] Optionally, in one embodiment of the present application, the folding structure is provided with a first fixed axis and a second fixed axis; The first camera base is rotatably connected to the first fixed axis, and one end of the first connecting rod is hinged to the top end of the other side of the first camera base; the first connecting member has an L-shaped cross-section, the bottom of the first connecting member is hinged to the other end of the first connecting rod, and the side of the first connecting member is hinged to one side of the driving connecting member; The second camera base is rotatably connected to the second fixed axis, and one end of the second connecting rod is hinged to the top end of the other side of the second camera base; the cross-section of the second connecting member is L-shaped, the bottom of the second connecting member is hinged to the other end of the second connecting rod, and the side of the second connecting member is hinged to the other side of the driving connecting member.

[0013] Optionally, in one embodiment of the present application, weight-reducing holes are provided on the structures of the platform base, the folding structure, the drive connector, the servo base, the parallel connecting rods, the first connecting rod and the second connecting rod.

[0014] A second aspect of the embodiments of the present application further provides a method for controlling a binocular fisheye camera system with multiple bionic modalities according to any one of the above-mentioned solutions, wherein the method for controlling a binocular fisheye camera system with multiple bionic modalities comprises: When the camera posture of the multi-bionic modality binocular fisheye camera system needs to be switched to a head-on posture, the first fisheye camera and the second fisheye camera are arranged relatively parallel to each other, the driving structure controls the driving connection member to rotate toward the first fisheye camera to a head-on rotation state, the driving connection member drives the first motion component and the second motion component to move to an initial state, the first motion component drives the first fisheye camera to move to a head-on state, and the second motion component drives the second fisheye camera to move to a head-on state, so that the multi-bionic modality binocular fisheye camera system is in a head-on posture; When the camera posture of the multi-bionic modality binocular fisheye camera system needs to be switched to a side-view posture, the first fisheye camera and the second fisheye camera in the side-view posture are arranged toward both sides, the driving structure controls the driving connection member to rotate toward the first fisheye camera or away from the first fisheye camera to a side-view rotation state, the driving connection member drives the first motion component and the second motion component to move to a first state, the first motion component drives the first fisheye camera to move to the side-view state, and the second motion component drives the second fisheye camera to move to the side-view state, so that the multi-bionic modality binocular fisheye camera system is in a side-view posture; When the camera posture of the multi-bionic modality binocular fisheye camera system needs to be switched to a tilted posture, the first fisheye camera and the second fisheye camera in the tilted posture are set on both sides facing upward, and the driving structure controls the driving connection to rotate away from the first fisheye camera to a tilted rotation state, and the driving connection drives the first motion component and the second motion component to move to the second state, the first motion component drives the first fisheye camera to move to the tilted state and the second motion component drives the second fisheye camera to move to the tilted state, so that the multi-bionic modality binocular fisheye camera system is in a tilted posture.

[0015] Optionally, in one embodiment of the present application, the driving structure controls the driving connection member to rotate toward the first fisheye camera to a level-viewing rotation state, the driving connection member drives the first motion assembly and the second motion assembly to move to an initial state, the first motion assembly drives the first fisheye camera to move to a level-viewing state, and the second motion assembly drives the second fisheye camera to move to a level-viewing state, so that the multi-bionic modality binocular fisheye camera system is in a level-viewing posture, specifically: The driving servo receives a head-up attitude switching signal, and controls the driving connection member to rotate toward the first fisheye camera to a head-up rotation state according to the head-up attitude switching signal. The driving connection member drives the first camera base to rotate inward to an initial state via the first connector and the first connecting rod, and drives the second camera base to rotate inward to an initial state via the second connector and the second connecting rod, so that the first fisheye camera and the second fisheye camera synchronously rotate inward to a head-up state, thereby completing the head-up attitude switching of the multi-bionic modality binocular fisheye camera system. The driving structure controls the driving connection member to rotate toward the first fisheye camera or away from the first fisheye camera to a side-viewing rotation state, the driving connection member drives the first motion assembly and the second motion assembly to move to a first state, the first motion assembly drives the first fisheye camera to move to a side-viewing state, and the second motion assembly drives the second fisheye camera to move to a side-viewing state, so that the multi-bionic modality binocular fisheye camera system is in a side-viewing posture, specifically: The driving servo receives a side view attitude switching signal, and the driving servo controls the driving connection member to rotate toward the first fisheye camera or away from the first fisheye camera to a side view rotation state according to the side view attitude switching signal. The driving connection member drives the first camera base to rotate outward to the first state via the first connecting member and the first connecting rod, and drives the second camera base to rotate outward to the first state via the second connecting member and the second connecting rod, so that the first fisheye camera and the second fisheye camera rotate outward synchronously to the side view state, thereby completing the switching of the side view attitude of the multi-bionic modality binocular fisheye camera system; The driving structure controls the driving connection member to rotate in a direction away from the first fisheye camera to a tilted rotation state, the driving connection member drives the first motion assembly and the second motion assembly to move to a second state, the first motion assembly drives the first fisheye camera to move to the tilted state, and the second motion assembly drives the second fisheye camera to move to the tilted state, so that the multi-bionic modality binocular fisheye camera system is in a tilted posture, specifically: The driving servo receives a tilting posture switching signal, and the driving servo controls the driving connection member to rotate in a direction away from the first fisheye camera to a tilting rotation state according to the tilting posture switching signal. The driving connection member drives the first camera base to rotate outward to a second state through the first connector and the first connecting rod, and drives the second camera base to rotate outward to the second state through the second connector and the second connecting rod. The driving connection member drives the platform base to move, and the platform base drives the first camera base and the second camera base to rotate upward to the tilting state, so that the first fisheye camera and the second fisheye camera rotate synchronously outward and upward, completing the switching of the tilting posture of the multi-bionic modality binocular fisheye camera system.

[0016] Beneficial effects: The present application provides a binocular fisheye camera system with multiple bionic modes and a control method. The present application adopts two fisheye cameras (the characteristics of the fisheye camera itself make its field of view wide), and controls two motion components through a driving component. The two motion components drive the corresponding fisheye cameras to adjust their orientations, so that the fields of view obtained by the two fisheye cameras can be adjusted to the bionic modal fields of view of straight-ahead vision (imitating primates, such as monkeys), side-viewing vision (imitating herbivores, such as horses), and upward-looking vision (imitating rabbits), thereby achieving the purpose of effectively switching between multiple bionic modes under different environments and task requirements, thereby improving the adaptability of the binocular vision system in multi-task environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A stereoscopic image of a head-on view in a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 2 A stereoscopic image from another perspective of a head-on posture in a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 3A stereogram showing a side-view posture of a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 4 A stereoscopic image of a tilted-eye posture in a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 5 A schematic diagram of the mechanism of a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 6 This is a topological diagram of the structure of a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 7 A front view in a head-on posture of a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 8 A side view of a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application in a level-looking posture; Figure 9 A front view in a side-view posture of a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 10 A side view of a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application in a side-view posture; Figure 11 A top view in a side-view posture of a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 12 A three-dimensional diagram of the platform base in a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 13 A three-dimensional diagram of the folding structure of a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 14 A stereoscopic diagram of a driving connector in a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 15 A three-dimensional diagram of a servo base in a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 16 A three-dimensional diagram of parallel connecting rods in a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 17 A three-dimensional diagram of a first camera base in a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 18 A stereoscopic diagram of the first connecting rod in a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 19 A three-dimensional diagram of the first connecting member in a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application; Figure 20 This is a bionic correspondence diagram of different postures in a preferred embodiment of the multi-bionic modality binocular fisheye camera system of this application; Figure 21 This is a flow chart of a preferred embodiment of the multi-bionic modality binocular fisheye camera system of the present application.

[0019] Description of reference numerals: 101. Platform base; 102. Folding structure; 103. Servo base; 1031. Slide; 1032. Parallel connecting rod; 1033. Slide rod; 104. Driving servo; 105. Driving connector; 401, first fisheye camera; 402, first camera base; 403, first connecting rod; 404, first connecting member; 501, second fisheye camera; 502, second camera base; 503, second connecting rod; 504, second connecting member.

[0020] exist Figure 5 Organization diagram and Figure 6 The numbers 1 to 12 in the topology diagram represent hinges, e.g. Figure 5 and Figure 6 The “1” in FIG. 1 represents the hinge connecting the platform base 101 and the folding structure 102 .

[0021] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and effects of this application clearer and more specific, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. The described embodiments are only possible technical implementations of this application and are not all possible implementations. Based on the embodiments in this application, those skilled in the art can fully combine the embodiments of this application to obtain other embodiments without creative work, and these embodiments are also within the scope of protection of this application.

[0023] Existing binocular vision systems primarily utilize conventional cameras with fixed mounting arrangements, lacking adaptability to diverse biomimetic modalities and presenting the following technical challenges: First, limited field of view: Traditional binocular cameras are limited by the field of view (FOV) of standard lenses, making it difficult to achieve both a wide field of view and high-precision stereoscopic perception within a single system. While fisheye cameras offer a wider FOV, their application in binocular systems is limited, and their advantages are currently underutilized. Second, insufficient biomimetic capabilities: Existing binocular camera arrangements are mostly fixed to the parallel arrangement of human eyes, lacking the flexibility to adapt to the idiosyncratic binocular structures of different organisms. For example, the lateral or upward orientation of the eyes in animals like horses and rabbits limits their applicability in applications such as biomimetic robotics and intelligent monitoring. Third, complex mechanism adjustment and high drive requirements: Existing adjustable binocular gimbals typically rely on multiple motors or complex mechanical structures to change the camera position, resulting in large system size, high energy consumption, and complex control, making them unsuitable for lightweight and low-power applications. Fourth, there is a lack of a unified multimodal fusion design: Current binocular vision systems are often optimized for a single scenario and lack a unified design that can switch bionic modalities under different environments and task requirements. This results in poor versatility and an inability to efficiently adapt to multi-task applications.

[0024] Fisheye cameras, due to their wide field of view, have attracted widespread attention in fields such as panoramic imaging, augmented reality (AR), virtual reality (VR), and robotic perception. However, in existing technologies, fisheye cameras are typically used as monocular devices, while binocular fisheye cameras are less commonly used. In particular, there is a lack of systematic research and design regarding biomimetic binocular arrangements. In nature, binocular arrangements vary significantly across different organisms. For example, the eyes of humans and primates are relatively parallel, suitable for stereoscopic perception of objects directly in front of them. Herbivores such as horses and cows have eyes located on the sides of their heads, providing a wider lateral field of view. Rabbits have eyes located both to the sides and slightly upwards, allowing them to observe potential threats from above.

[0025] In order to address the problem that traditional binocular vision systems use a fixed camera layout and are unable to effectively simulate multiple bionic modalities, resulting in poor adaptability in multi-task environments, this application uses two fisheye cameras (the characteristics of the fisheye camera itself make it have a large field of view), and controls two motion components through a driving component. The two motion components drive the corresponding fisheye cameras to adjust their orientation, so that the field of view obtained by the two fisheye cameras can be adjusted to the bionic modal field of view of straight-ahead vision (imitating primates, such as monkeys), side-viewing vision (imitating herbivores, such as horses), and upward-looking vision (imitating rabbits), thereby achieving the purpose of effectively switching between multiple bionic modalities under different environments and task requirements, thereby improving the adaptability of the binocular vision system in multi-task environments.

[0026] This application uses a fisheye camera to build a binocular vision system. By analyzing common biological types, different species are classified, the key characteristics of their binocular arrangements are extracted, and a unified structure is established to achieve switching between different binocular arrangements. Generally speaking, binocular configurations can be categorized into: Primates, such as humans (monkeys, gorillas, etc.), have relatively parallel binoculars that perceive objects directly in front of them; herbivores, such as horses, have binoculars located on either side of their skulls, relying on lateral vision to obtain environmental information due to their flat skulls; and creatures like rabbits, due to the presence of aerial predators, need binoculars with both lateral and upward vision. This allows the design of a mechanism that encompasses these three main configurations. Because symmetry is a key design principle, the design, inspired by flapping wing mechanisms, incorporates slide rails and slots to free up degrees of freedom, allowing the camera base to have a high degree of mobility. Furthermore, a parallelogram mechanism replaces the slide rails for motion, improving the mechanism's precision and reliability.

[0027] The multi-bionic modality binocular fisheye camera system (i.e., binocular fisheye camera gimbal) of the present application has the characteristics of simple structure, efficient drive, and multi-bionic modality adjustment capability. It can realize multiple bionic binocular modalities, improve the flexibility and adaptability of the binocular vision system, and thus be more widely used in robot perception, autonomous driving, biological behavior research and other fields, so as to better meet the needs of different application scenarios.

[0028] The following specific embodiments are used to describe the technical solution of the present application in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0029] like Figures 1 to 4 As shown, the multi-bionic modality binocular fisheye camera system described in the preferred embodiment of the present application, wherein the multi-bionic modality binocular fisheye camera system includes a first fisheye camera 401, a second fisheye camera 501, a first motion component, a second motion component and a driving component; The first fisheye camera 401 is connected to the first motion component, the second fisheye camera 501 is connected to the second motion component, and the first motion component and the second motion component are respectively connected to the driving component; The driving component is used to control the first motion component so that the first motion component drives the first fisheye camera 401 to move. The driving component is also used to control the second motion component so that the second motion component drives the second fisheye camera 501 to move, so that the camera posture of the multi-bionic modality binocular fisheye camera system is in a head-on posture (see Figure 1 and Figure 2 ), side view posture (see Figure 3 ) or tilted gaze (see Figure 4 ).

[0030] Specifically, the multi-bionic modality binocular fisheye camera system includes a platform base 101, a servo base 103, a driving servo 104, a driving connector 105 (i.e., a driving connecting rod), two L-shaped rotating pairs (i.e., a first connecting member 404 and a second connecting member 504), two connecting rods (a first connecting rod 403 and a second connecting rod 503), two camera bases, two fisheye cameras, a folding structure 102, a slide groove 1031 and four parallel connecting rods 1032 that constitute a parallelogram mechanism. In the present application, a driving component synchronously drives the first motion component and the second motion component, so that the first motion component drives the first fisheye camera 401 and the second motion component drives the second fisheye camera 501 to move synchronously in a mirrored manner, so that the first fisheye camera 401 and the second fisheye camera 501 are in a level-looking posture, that is, the two eyes are relatively parallel to each other for obtaining target perception directly in front, or in a side-looking posture, that is, the two eyes are distributed on both sides for people with flat skull shapes who rely on lateral vision to obtain environmental information, or in an upturned posture, that is, the two eyes have a dual field of view of the side and above.

[0031] It should be noted that the multi-modal binocular fisheye camera system in this application is a highly symmetrical structure that can be manufactured using extremely low-cost methods such as machining or 3D printing. The entire system has only a single degree of freedom. Only a single calibration of several points in the system is required while ensuring repeatable positioning accuracy, and arbitrary changes can be made without repeated calibration each time. This vision system can be installed on a robot for use in different working conditions and can be adjusted at any time, broadening the robot's visual performance.

[0032] This application offers enhanced flexibility and adaptability. Through a multi-modal binocular fisheye camera system (binocular fisheye camera gimbal), it is possible to switch between a variety of biomimetic binocular configurations, including the parallel binocular configuration of primates, the lateral binocular configuration of herbivores, and the lateral and upward dual field of view configurations of creatures like rabbits. Compared to existing technologies, this application offers greater adaptability, enabling flexible adjustment of the binocular camera layout to meet the needs of different application scenarios, thus meeting the requirements of multi-task perception in complex environments.

[0033] See also Figure 5 and Figure 6 ,The multi-bionic modality binocular fisheye camera system is a spatial ten-bar mechanism with a total of twelve hinges. Figure 5 and Figure 6 The numbers in represent hinges. From the motion simulation, we know that the mechanism has one degree of freedom. From the degree of freedom formula, we know that the mechanism must be overconstrained. In the simplification process, the slide 1031 can be simplified into two kinematic pairs, namely the rotation pair and the translation pair, and then the mechanism topology diagram is drawn, as shown in the figure below. Figure 6As shown. The lines with numbers between different rods represent hinges, and the connection relationship between different rods can be intuitively seen through the mechanism topology diagram. It can be seen that the mechanism is a multi-ring mechanism, and there are more than two loops, which further verifies the existence of over-constraint. It is worth noting that the slide 1031 is a cylindrical pair. The cylindrical pair has two translation and two rotation activities in the spatial mechanism, and is a high pair with 4 degrees of freedom. Therefore, the mechanism has completed the design task relatively well. Under the premise of only one drive, the entire symmetrical multi-bionic modal binocular vision system is realized. In this application, the field of view of the fisheye camera itself is very large. By cleverly using only one degree of freedom, the switching of three configurations is realized; by comparing the side-view posture and the tilted posture, there is an upward angle at the base of the camera in the tilted posture. This angle is to obtain more field of view of the top. When this part of the field of view is not needed, it can be switched to the other two postures.

[0034] Further, see Figure 6 The platform base 101 is connected to the folding structure 102 through a hinge 1, the platform base 101 is connected to the parallel link 1032 through a hinge 2, the platform base 101 is connected to the parallel link 1032 through a hinge 11, the parallel link 1032 is connected to the servo base 103 through a hinge 3, the parallel link 1032 is connected to the servo base 103 through a hinge 4, the servo base 103 is connected to the drive connector 105 through a hinge 5, the drive connector 105 is connected to the first connecting member 404 through a hinge 6, the first connecting member 404 is connected to the first connecting rod 403 through a hinge 7, the first connecting rod 403 is connected to the first camera base 402 through a hinge 8, the first camera base 402 is connected to the folding structure 102 through a hinge 9, the folding structure 102 is connected to the slide groove 1031 through a hinge 10, and the slide groove 1031 is connected to the servo base 103 through a hinge 12.

[0035] In one embodiment of the present application, the driving assembly includes a platform base 101, a folding structure 102, a driving structure and a driving connector 105; The platform base 101 is hinged to the folding structure 102, the folding structure 102 is connected to the driving structure, the driving structure is hinged to the driving connector 105, and the driving structure is connected to the platform base 101 through a parallel connecting rod 1032; the folding structure 102 and the driving connector 105 are respectively connected to the first motion component, and the folding structure 102 and the driving connector 105 are respectively connected to the second motion component.

[0036] Specifically, if Figures 1 to 4 、 Figures 7 to 11As shown, the folding structure 102 is hinged to the front side of the platform base 101 (near the fisheye camera side) through a rotating shaft, the first fisheye camera 401 and the second fisheye camera 501 are connected to the folding structure 102, and the platform base 101 is fixed to a structure, so that when the folding structure 102 flips relative to the platform base 101, it drives the two fisheye cameras to rotate, achieving a level view ( Figure 1 、 Figure 2 、 Figure 7 、 Figure 8 ), Side View ( Figure 3 、 Figure 9 、 Figure 10 、 Figure 11 ) Two postures and tilted gaze ( Figure 4 ) to switch between these postures.

[0037] In one embodiment of the present application, the driving structure includes a driving servo 104 and a servo base 103. The two ends of the parallel connecting rod 1032 are respectively connected to the servo base 103 and the platform base 101. The driving servo 104 is disposed on the servo base 103 and connected to the driving connector 105. The driving servo 104 is used to control the rotation state of the driving connector 105. A sliding groove 1031 is provided on a side of the servo base 103 facing away from the driving servo 104 . A sliding rod 1033 is provided on the folding structure 102 . The sliding rod 1033 is slidably and / or rotatably connected in the sliding groove 1031 .

[0038] Specifically, if Figures 1 to 4 As shown, the two sides of the long side of the steering engine base 103 ( Figure 9 The left and right sides) are respectively hinged to the platform base 101 through parallel connecting rods 1032, and a sliding groove 1031 is provided on the front side of the servo base 103. The folding structure 102 is connected to the sliding groove 1031 through a sliding rod 1033. The sliding rod 1033 can translate back and forth and rotate clockwise and counterclockwise in the sliding groove 1031. Therefore, when the driving servo 104 controls the rotation state of the driving connecting member 105 (driving connecting rod), the rotation of the driving connecting member 105 not only drives the two camera bases to rotate inward and outward (horizontal viewing-side viewing), but also raises the servo base 103 relative to the platform base 101 through the rotation of the parallel connecting rod 1032. The movement of the servo base 103 enables the sliding rod 1033 in its sliding groove 1031 to rotate and translate in the sliding groove 1031 accordingly, so that the driving connecting member 105 drives the two camera bases to rotate up and down (side viewing-tilt viewing), thereby realizing the switching of different bionic modes.

[0039] In one embodiment of the present application, the number of the parallel links 1032 is provided at least four, and the two ends of at least two of the parallel links 1032 are respectively hinged to one side of the servo base 103 and one side of the platform base 101, and the two ends of at least another two of the parallel links 1032 are respectively hinged to the other side of the servo base 103 and the other side of the platform base 101.

[0040] Specifically, there are four parallel links 1032 , two of which are arranged on one side of the long side of the servo base 103 , and the other two are arranged on the other side of the long side of the servo base 103 . Each parallel link 1032 connects the servo base 103 and the platform base 101 respectively.

[0041] This application improves accuracy and reliability by replacing the traditional slide rail structure with a parallelogram mechanism, significantly improving the mechanism's motion accuracy and stability. Compared to the slide rail design of traditional binocular gimbals, this application provides higher precision control, reduces looseness and errors in the mechanism, ensures precise adjustment of the camera's viewing angle, and thus improves the accuracy and stability of image acquisition.

[0042] In the embodiments of this application, Figure 12 As shown, the platform base 101 is in the shape of a long plate, and the two ends of the front side of the platform base 101 are rotatably connected to the folding structure 102 through a rotating shaft, and the two ends of the middle side and the rear side of the platform base 101 are respectively hinged to the parallel connecting rod 1032 through a rotating shaft.

[0043] In one embodiment of the present application, the first motion component and the second motion component are symmetrically arranged with respect to the folding structure 102; When the driving servo 104 controls the driving connector 105 to rotate, the driving connector 105 drives the first motion component and the second motion component to move synchronously.

[0044] Specifically, if Figure 13 As shown, the folding structure 102 is in a mountain shape, and the fixed shafts on both sides are rotatably connected to the two camera bases. A protrusion is provided on the rear side of the folding structure 102, and the protrusion is rotatably connected to the front side of the platform base 101 through a rotating shaft.

[0045] like Figure 14As shown, the drive connector 105 is U-shaped, with the inner side of one end of the drive connector 105 connected to the output end of the drive servo 104. That is, the output end is rotatably connected to the inner wall surface of the end of the drive connector 105, thereby driving the servo 104 to control the drive connector 105 to rotate around the end of the drive connector 105 to adjust the rotational state of the drive connector 105. The two sides of the drive connector 105 are respectively connected to the two motion components. The side of the drive connector 105 near the front end (opposite the end, the front end is close to the fisheye camera, and the front end is the end of the U-shaped drive connector 105 with the largest rotation range) is connected to the first connector 404, and the other side near the front end is connected to the second connector 504.

[0046] like Figure 15 As shown, the servo base 103 is arranged opposite to the platform base 101, and two fixing blocks are provided on the servo base 103, which are used to limit the position of the driving servo 104, and the servo base 103 has an L-shaped baffle protruding to one side of the long side, which is used to be rotatably connected to a front end of the driving connector 105, and the baffle is arranged on the side away from the output end of the driving servo 104.

[0047] like Figure 16 As shown, a key hole is provided in the middle of the parallel link 1032 .

[0048] In one embodiment of the present application, the first motion assembly includes a first camera base 402, a first connecting rod 403 and a first connecting member 404; the first fisheye camera 401 is arranged on the first camera base 402, one side of the first camera base 402 is rotatably connected to the folding structure 102, the other side of the first camera base 402 is hinged to one end of the first connecting rod 403, and both ends of the first connecting member are respectively hinged to the other end of the first connecting rod 403 and one side of the driving connecting member 105; and / or The second motion component includes a second camera base 502, a second connecting rod 503 and a second connecting member 504; the second fisheye camera 501 is set on the second camera base 502, one end of the second camera base 502 is rotatably connected to the folding structure 102, and the other end of the second camera base 502 is hinged to one end of the second connecting rod 503, and the two ends of the second connecting member are respectively hinged to the other end of the second connecting rod 503 and the other side of the driving connecting member 105.

[0049] In one embodiment of the present application, the folding structure 102 is provided with a first fixed axis and a second fixed axis; The first camera base 402 is rotatably connected to the first fixed axis, and one end of the first connecting rod 403 is hinged to the top of the other side of the first camera base 402. The first connecting member 404 has an L-shaped cross-section, with the bottom of the first connecting member 404 hinged to the other end of the first connecting rod 403, and the side of the first connecting member 404 hinged to one side of the driving connecting member 105. The second camera base 502 is rotatably connected to the second fixed axis, and one end of the second connecting rod 503 is hinged to the top end of the other side of the second camera base 502; the cross-section of the second connecting member 504 is L-shaped, the bottom of the second connecting member 504 is hinged to the other end of the second connecting rod 503, and the side of the second connecting member 504 is hinged to the other side of the driving connecting member 105.

[0050] Specifically, see Figure 17 、 Figure 18 and Figure 19 The first camera base 402 and the second camera base 502 are mirror images. For illustration, the first camera base 402 is a vertically long plate. Reinforcing ribs are provided on the side of the first camera base 402 near the folding structure 102 to improve structural stability. A protruding connecting plate is provided at the top of the first camera base 402 facing away from the folding structure 102. This protruding connecting plate is hingedly connected to one end of the first connecting rod 403. The first connecting rod 403 has the same structure as the second connecting rod 503. Two right-angled triangular holes (weight-reducing holes) are provided on the first connecting rod 403. The first connecting member 404 has the same structure as the second connecting member 504. The edge of the first connecting member 404 is arc-shaped, and the side and bottom of the first connecting member 404 are respectively connected to the drive connecting member 105 and the first connecting member 403, thereby articulating the two structures on the vertical and horizontal planes.

[0051] This patent simplifies drive and control. Compared to the complex multi-motor drive systems of the prior art, this patented design reduces the need for high drive power (achieving three configurations with only one motor) and reduces system complexity through a rational mechanism layout and precise motion control. The ingenious design of the combination of slide bar 1033 (slide rail) and slide slot 1031, along with a parallelogram mechanism, provides the required multi-modal adjustment functionality while minimizing the number of drive components, improving the system's energy efficiency and drive response speed.

[0052] In one embodiment of the present application, weight-reducing holes are provided on the platform base 101, the folding structure 102, the drive connector 105, the servo base 103, the parallel connecting rod 1032, the first connecting rod 403, and the second connecting rod 503, thereby reducing the weight of the entire system.

[0053] like Figure 20 As shown, the multi-bionic modality binocular fisheye camera system can adjust the posture of the binocular fisheye according to the motor input of the driving motor to achieve different bionic forms and complete different bionic meanings, and then complete the camera postures of humans (looking straight ahead), horses (looking sideways), and rabbits (looking up), thereby expanding the application range of the camera system under the same mechanism.

[0054] In the embodiments of the present application, higher flexibility, accuracy and reliability are provided, and it has stronger adaptability and energy-saving characteristics. It can be more widely used in intelligent robots, autonomous driving, environmental monitoring and other fields, and has great technical advantages and practical application value.

[0055] The control method of the multi-bionic modality binocular fisheye camera system described in the preferred embodiment of the present application is applied to the multi-bionic modality binocular fisheye camera system in any of the above solutions, such as Figure 21 As shown, the control method of the multi-bionic modality binocular fisheye camera system includes the following steps: In step S100, when the camera posture of the multi-bionic modality binocular fisheye camera system needs to be switched to a head-on posture, the first fisheye camera and the second fisheye camera are arranged relatively parallel to each other, the driving structure controls the driving connection member to rotate toward the first fisheye camera to a head-on rotation state, the driving connection member drives the first motion component and the second motion component to move to an initial state, the first motion component drives the first fisheye camera to move to a head-on state, and the second motion component drives the second fisheye camera to move to a head-on state, so that the multi-bionic modality binocular fisheye camera system is in a head-on posture; In step S200, when the camera posture of the multi-bionic modality binocular fisheye camera system needs to be switched to a side-view posture, the first fisheye camera and the second fisheye camera in the side-view posture are arranged toward both sides, the driving structure controls the driving connection member to rotate toward the first fisheye camera or away from the first fisheye camera to a side-view rotation state, the driving connection member drives the first motion component and the second motion component to move to a first state, the first motion component drives the first fisheye camera to move to the side-view state, and the second motion component drives the second fisheye camera to move to the side-view state, so that the multi-bionic modality binocular fisheye camera system is in a side-view posture; In step S300, when the camera posture of the multi-bionic modality binocular fisheye camera system needs to be switched to a tilted posture, the first fisheye camera and the second fisheye camera in the tilted posture are set on both sides facing upward, and the driving structure controls the driving connection to rotate away from the first fisheye camera to a tilted rotation state, and the driving connection drives the first motion component and the second motion component to move to the second state, the first motion component drives the first fisheye camera to move to the tilted state and the second motion component drives the second fisheye camera to move to the tilted state, so that the multi-bionic modality binocular fisheye camera system is in a tilted posture.

[0056] In one possible implementation, during the head-up posture adjustment process in step S100, the driving servo receives a head-up posture switching signal, and the driving servo controls the driving connector to rotate toward the first fisheye camera to a head-up rotation state according to the head-up posture switching signal. The driving connector drives the first camera base to rotate inward to an initial state through the first connector and the first connecting rod, and drives the second camera base to rotate inward to an initial state through the second connector and the second connecting rod, so that the first fisheye camera and the second fisheye camera rotate synchronously inward to a head-up state, thereby completing the switching of the head-up posture of the multi-bionic modality binocular fisheye camera system.

[0057] In one possible implementation, during the side-view posture adjustment process in step S200, the driving servo receives a side-view posture switching signal, and the driving servo controls the driving connector to rotate toward the first fisheye camera or away from the first fisheye camera to a side-view rotation state according to the side-view posture switching signal. The driving connector drives the first camera base to rotate outward to the first state through the first connector and the first connecting rod, and drives the second camera base to rotate outward to the first state through the second connector and the second connecting rod, so that the first fisheye camera and the second fisheye camera rotate synchronously outward to the side-view state, completing the switching of the side-view posture of the multi-bionic modality binocular fisheye camera system.

[0058] In one possible implementation, during the tilted posture adjustment process in step S300, the driving servo receives a tilted posture switching signal, and the driving servo controls the driving connection member to rotate in a direction away from the first fisheye camera to a tilted rotation state according to the tilted posture switching signal, and the driving connection member drives the first camera base to rotate outward to the second state through the first connector and the first connecting rod, and drives the second camera base to rotate outward to the second state through the second connector and the second connecting rod, and the driving connection member drives the platform base to move, and the platform base drives the first camera base and the second camera base to rotate upward to the tilted state, so that the first fisheye camera and the second fisheye camera rotate synchronously outward and upward, completing the switching of the tilted posture of the multi-bionic modality binocular fisheye camera system.

[0059] The control method of the multi-bionic modality binocular fisheye camera system provided in this application is applied to the above-mentioned multi-bionic modality binocular fisheye camera system, thereby having all the beneficial effects of the above-mentioned multi-bionic modality binocular fisheye camera system, which will not be repeated here.

[0060] In the description of this application, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections, or mutual communication; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0061] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0063] It should be noted that, in this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0064] The terms "first," "second," "third," "fourth," etc. (if any) in the specification and claims of the present application and in the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential sequence. It should be understood that the numbers used in this way are interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or apparatus.

[0065] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-bionic modality binocular fisheye camera system, characterized in that: The multi-bionic modality binocular fisheye camera system includes a first fisheye camera, a second fisheye camera, a first motion component, a second motion component and a driving component; The first fisheye camera is connected to the first motion component, the second fisheye camera is connected to the second motion component, and the first motion component and the second motion component are respectively connected to the driving component; The driving component is used to control the movement of the first motion component so that the first motion component drives the first fisheye camera to move. The driving component is also used to control the movement of the second motion component so that the second motion component drives the second fisheye camera to move, so that the camera posture of the multi-bionic modality binocular fisheye camera system is in a head-on posture, a side-looking posture or a tilted-looking posture.

2. The multi-bionic modality binocular fisheye camera system according to claim 1, characterized in that: The driving assembly includes a platform base, a folding structure, a driving structure and a driving connector; The platform base is hinged to the folding structure, the folding structure is connected to the driving structure, the driving structure is hinged to the driving connecting member, and the driving structure and the platform base are connected through parallel connecting rods; the folding structure and the driving connecting member are respectively connected to the first motion component, and the folding structure and the driving connecting member are respectively connected to the second motion component.

3. The multi-bionic modality binocular fisheye camera system according to claim 2, characterized in that: The driving structure includes a driving servo and a servo base, the two ends of the parallel connecting rod are respectively connected to the servo base and the platform base, the driving servo is arranged on the servo base, and the driving servo is connected to the driving connecting member, and the driving servo is used to control the rotation state of the driving connecting member; A slide groove is provided on the side of the servo base facing away from the driving servo, and a slide rod is provided on the folding structure. The slide rod is slidably and / or rotatably connected in the slide groove.

4. The multi-bionic modality binocular fisheye camera system according to claim 3, characterized in that: The number of the parallel links is at least four, the two ends of at least two of the parallel links are hinged to one side of the servo base and one side of the platform base respectively, and the two ends of at least another two of the parallel links are hinged to the other side of the servo base and the other side of the platform base respectively.

5. The multi-bionic modality binocular fisheye camera system according to claim 3, characterized in that: The first motion component and the second motion component are symmetrically arranged with respect to the folding structure; When the driving servo controls the driving connection member to rotate, the driving connection member drives the first motion component and the second motion component to move synchronously.

6. The multi-bionic modality binocular fisheye camera system according to claim 5, characterized in that: The first motion assembly includes a first camera base, a first connecting rod and a first connecting member; the first fisheye camera is arranged on the first camera base, one side of the first camera base is rotatably connected to the folding structure, the other side of the first camera base is hinged to one end of the first connecting rod, and both ends of the first connecting member are respectively hinged to the other end of the first connecting rod and one side of the driving connecting member; and / or The second motion component includes a second camera base, a second connecting rod and a second connecting member; the second fisheye camera is arranged on the second camera base, one end of the second camera base is rotatably connected to the folding structure, the other end of the second camera base is hinged to one end of the second connecting rod, and the two ends of the second connecting member are respectively hinged to the other end of the second connecting rod and the other side of the driving connecting member.

7. The multi-bionic modality binocular fisheye camera system according to claim 6, characterized in that: The folding structure is provided with a first fixed axis and a second fixed axis; The first camera base is rotatably connected to the first fixed axis, and one end of the first connecting rod is hinged to the top end of the other side of the first camera base; the first connecting member has an L-shaped cross-section, the bottom of the first connecting member is hinged to the other end of the first connecting rod, and the side of the first connecting member is hinged to one side of the driving connecting member; The second camera base is rotatably connected to the second fixed axis, and one end of the second connecting rod is hinged to the top end of the other side of the second camera base; the cross-section of the second connecting member is L-shaped, the bottom of the second connecting member is hinged to the other end of the second connecting rod, and the side of the second connecting member is hinged to the other side of the driving connecting member.

8. The multi-bionic modality binocular fisheye camera system according to claim 6, characterized in that: Weight-reducing holes are provided on the structures of the platform base, the folding structure, the driving connector, the steering gear base, the parallel connecting rods, the first connecting rod and the second connecting rod.

9. A control method for a binocular fisheye camera system based on the multi-bionic modality according to any one of claims 1 to 8, characterized in that: The control method includes: When the camera posture of the multi-bionic modality binocular fisheye camera system needs to be switched to a head-on posture, the first fisheye camera and the second fisheye camera are arranged relatively parallel to each other, the driving structure controls the driving connection member to rotate toward the first fisheye camera to a head-on rotation state, the driving connection member drives the first motion component and the second motion component to move to an initial state, the first motion component drives the first fisheye camera to move to a head-on state, and the second motion component drives the second fisheye camera to move to a head-on state, so that the multi-bionic modality binocular fisheye camera system is in a head-on posture; When the camera posture of the multi-bionic modality binocular fisheye camera system needs to be switched to a side-view posture, the first fisheye camera and the second fisheye camera in the side-view posture are arranged toward both sides, the driving structure controls the driving connection member to rotate toward the first fisheye camera or away from the first fisheye camera to a side-view rotation state, the driving connection member drives the first motion component and the second motion component to move to a first state, the first motion component drives the first fisheye camera to move to the side-view state, and the second motion component drives the second fisheye camera to move to the side-view state, so that the multi-bionic modality binocular fisheye camera system is in a side-view posture; When the camera posture of the multi-bionic modality binocular fisheye camera system needs to be switched to a tilted posture, the first fisheye camera and the second fisheye camera in the tilted posture are set on both sides facing upward, and the driving structure controls the driving connection to rotate away from the first fisheye camera to a tilted rotation state, and the driving connection drives the first motion component and the second motion component to move to the second state, the first motion component drives the first fisheye camera to move to the tilted state and the second motion component drives the second fisheye camera to move to the tilted state, so that the multi-bionic modality binocular fisheye camera system is in a tilted posture.

10. The control method of the multi-bionic modality binocular fisheye camera system according to claim 9, characterized in that: The driving structure controls the driving connection member to rotate toward the first fisheye camera to a level-viewing rotation state, the driving connection member drives the first motion assembly and the second motion assembly to move to an initial state, the first motion assembly drives the first fisheye camera to move to a level-viewing state, and the second motion assembly drives the second fisheye camera to move to a level-viewing state, so that the multi-bionic modality binocular fisheye camera system is in a level-viewing posture, specifically: The driving servo receives a head-up attitude switching signal, and controls the driving connection member to rotate toward the first fisheye camera to a head-up rotation state according to the head-up attitude switching signal. The driving connection member drives the first camera base to rotate inward to an initial state via the first connector and the first connecting rod, and drives the second camera base to rotate inward to an initial state via the second connector and the second connecting rod, so that the first fisheye camera and the second fisheye camera synchronously rotate inward to a head-up state, thereby completing the head-up attitude switching of the multi-bionic modality binocular fisheye camera system. The driving structure controls the driving connection member to rotate toward the first fisheye camera or away from the first fisheye camera to a side-viewing rotation state, the driving connection member drives the first motion assembly and the second motion assembly to move to a first state, the first motion assembly drives the first fisheye camera to move to a side-viewing state, and the second motion assembly drives the second fisheye camera to move to a side-viewing state, so that the multi-bionic modality binocular fisheye camera system is in a side-viewing posture, specifically: The driving servo receives a side view attitude switching signal, and the driving servo controls the driving connection member to rotate toward the first fisheye camera or away from the first fisheye camera to a side view rotation state according to the side view attitude switching signal. The driving connection member drives the first camera base to rotate outward to the first state via the first connecting member and the first connecting rod, and drives the second camera base to rotate outward to the first state via the second connecting member and the second connecting rod, so that the first fisheye camera and the second fisheye camera rotate outward synchronously to the side view state, thereby completing the switching of the side view attitude of the multi-bionic modality binocular fisheye camera system; The driving structure controls the driving connection member to rotate in a direction away from the first fisheye camera to a tilted rotation state, the driving connection member drives the first motion assembly and the second motion assembly to move to a second state, the first motion assembly drives the first fisheye camera to move to the tilted state, and the second motion assembly drives the second fisheye camera to move to the tilted state, so that the multi-bionic modality binocular fisheye camera system is in a tilted posture, specifically: The driving servo receives a tilting posture switching signal, and the driving servo controls the driving connection member to rotate in a direction away from the first fisheye camera to a tilting rotation state according to the tilting posture switching signal. The driving connection member drives the first camera base to rotate outward to a second state through the first connector and the first connecting rod, and drives the second camera base to rotate outward to the second state through the second connector and the second connecting rod. The driving connection member drives the platform base to move, and the platform base drives the first camera base and the second camera base to rotate upward to the tilting state, so that the first fisheye camera and the second fisheye camera rotate synchronously outward and upward, completing the switching of the tilting posture of the multi-bionic modality binocular fisheye camera system.

Images