A multi-bionic modal binocular fisheye camera system and control method

Abstract

The application 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 comprising 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 motion assembly, the second fisheye camera is connected with the second motion assembly, and the first motion assembly and the second motion assembly are respectively connected on the driving assembly. Two fisheye cameras are adopted, the two motion assemblies are controlled through the driving assembly, the corresponding fisheye cameras are driven to adjust the azimuth, the visual field obtained by the two fisheye cameras can be adjusted in the bionic-mode visual field of the head-up, side-view and tilted-view, so that 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] This application relates to the field of binocular camera technology, and in particular to a multi-biomimetic modal binocular fisheye camera system and control method. Background Technology

[0002] Currently, binocular vision systems are widely used in computer vision, autonomous driving, robot navigation, and 3D reconstruction. Conventional binocular cameras mainly use ordinary-view cameras and are installed at fixed intervals and angles to simulate the parallax characteristics of human eyes. However, this traditional binocular vision system has certain limitations in terms of field of view, flexibility, and adaptability to different application scenarios.

[0003] Traditional binocular vision systems feature a completely fixed camera layout, making it difficult to flexibly adjust the camera arrangement to adapt to different application scenarios and biomimetic requirements. Current binocular camera gimbal designs typically only achieve basic pitch and rotation functions, failing to effectively simulate multiple biomimetic modes and limiting their application in multi-tasking environments. Furthermore, existing research shows few designs for adjustable mechanisms for biomimetic binocular structures; most employ fixed installations or simple motorized gimbals, making it difficult to achieve multiple biomimetic binocular modes under limited actuation conditions.

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

[0005] The main objective of this application is to provide a multi-biomimetic modal binocular fisheye camera system and control method, which aims to solve the problem that the traditional binocular vision system in the prior art adopts a fixed camera layout, which cannot effectively simulate multiple biomimetic modalities, resulting in poor adaptability in multi-task environments.

[0006] The first aspect of this application provides a multi-biomimetic modal binocular fisheye camera system, the multi-biomimetic modal binocular fisheye camera system including a first fisheye camera, a second fisheye camera, a first motion component, a second motion component, and a driving component;

[0007] 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 drive component;

[0008] 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 second motion component, so that the second motion component drives the second fisheye camera to move, so that the camera posture of the multi-biomimetic modal binocular fisheye camera system is in a level view posture, a side view posture, or a tilted view posture.

[0009] Optionally, in one embodiment of this application, the drive component includes a platform base, a folding structure, a drive structure, and a drive connector;

[0010] The platform base is hinged to the folding structure, the folding structure is connected to the drive structure, the drive structure is hinged to the drive connector, and the drive structure is connected to the platform base via a parallel link; the folding structure and the drive connector are respectively connected to the first motion component, and the folding structure and the drive connector are respectively connected to the second motion component.

[0011] Optionally, in one embodiment of this application, the drive structure includes a drive servo and a servo base. The two ends of the parallel link are respectively connected to the servo base and the platform base. The drive servo is disposed on the servo base and connected to the drive connector. The drive servo is used to control the rotation state of the drive connector.

[0012] The servo base has a groove on the side opposite to the drive servo, and the folding structure has a sliding rod, which is slidably and / or rotatably connected within the groove.

[0013] Optionally, in one embodiment of this application, the number of parallel links is at least four, at least two of the parallel links are hinged at both ends to one side of the servo base and one side of the platform base, respectively, and at least two other parallel links are hinged at both ends to the other side of the servo base and the other side of the platform base, respectively.

[0014] Optionally, in one embodiment of this application, the first motion component and the second motion component are symmetrically arranged with respect to the folding structure;

[0015] When the drive servo controls the drive connector to rotate, the drive connector drives the first motion component and the second motion component to move synchronously.

[0016] Optionally, in one embodiment of this application, the first motion component includes a first camera base, a first connecting rod, and a first connector; the first fisheye camera is mounted 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 connector are respectively hinged to the other end of the first connecting rod and one side of the drive connector; and / or

[0017] The second motion component includes a second camera base, a second connecting rod, and a second connector; the second fisheye camera is mounted 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 both ends of the second connector are respectively hinged to the other end of the second connecting rod and the other side of the drive connector.

[0018] Optionally, in one embodiment of this application, the folding structure is provided with a first fixed shaft and a second fixed shaft;

[0019] The first camera base is rotatably connected to the first fixed shaft, and one end of the first connecting rod is hinged to the top of the other side of the first camera base; the cross-section of the first connecting member is L-shaped, 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 drive connecting member.

[0020] The second camera base is rotatably connected to the second fixed shaft, and one end of the second connecting rod is hinged to the top 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 drive connecting member.

[0021] Optionally, in one embodiment of this application, the platform base, the folding structure, the drive connector, the servo base, the parallel link, the first link, and the second link are all provided with weight reduction holes.

[0022] A second aspect of this application also provides a control method for a binocular fisheye camera system with multiple biomimetic modalities based on any one of the above-described solutions, wherein the control method for the binocular fisheye camera system with multiple biomimetic modalities includes:

[0023] When the camera posture of the multi-biomimetic modal binocular fisheye camera system needs to be switched to a level-view posture, the first fisheye camera and the second fisheye camera are set parallel to each other. The drive structure controls the drive connector to rotate towards the first fisheye camera to a level-view rotation state. The drive connector drives the first motion component and the second motion component to move to the initial state. The first motion component drives the first fisheye camera to move to a level-view state and the second motion component drives the second fisheye camera to move to a level-view state, so that the multi-biomimetic modal binocular fisheye camera system is in a level-view posture.

[0024] When the camera posture of the multi-biomimetic modal 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 set to face both sides. The drive structure controls the drive connector to rotate towards the first fisheye camera or away from the first fisheye camera to the side-view rotation state. The drive connector drives the first motion component and the second motion component to move to the 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-biomimetic modal binocular fisheye camera system is in a side-view posture.

[0025] When the camera posture of the multi-biomimetic modal binocular fisheye camera system needs to be switched to a tilted-view posture, the first fisheye camera and the second fisheye camera in the tilted-view posture are positioned on both sides facing upwards. The drive structure controls the drive connector to rotate away from the first fisheye camera to the tilted-view rotation state. The drive connector 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-view state and the second motion component drives the second fisheye camera to move to the tilted-view state, so that the multi-biomimetic modal binocular fisheye camera system is in a tilted-view posture.

[0026] Optionally, in one embodiment of this application, the driving structure controls the driving connector to rotate toward the first fisheye camera to a head-up rotation state. The driving connector 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 a head-up state, and the second motion component drives the second fisheye camera to a head-up state, so that the multi-biomimetic modal binocular fisheye camera system is in a head-up posture. Specifically:

[0027] The drive servo receives a head-up attitude switching signal. According to the head-up attitude switching signal, the drive servo controls the drive connector to rotate towards the first fisheye camera to the head-up rotation state. The drive connector drives the first camera base to rotate inward to the initial state through the first connector and the first link, and drives the second camera base to rotate inward to the initial state through the second connector and the second link, so that the first fisheye camera and the second fisheye camera rotate inward synchronously to the head-up state, thus completing the head-up attitude switching of the multi-bionic modal binocular fisheye camera system.

[0028] The driving structure controls the driving connector to rotate towards or away from the first fisheye camera to a side-view rotation state. The driving connector 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 a side-view state, and the second motion component drives the second fisheye camera to move to a side-view state, so that the multi-biomimetic modal binocular fisheye camera system is in a side-view posture, specifically:

[0029] The drive servo receives a side-view attitude switching signal. The drive servo controls the drive connector to rotate towards the first fisheye camera or away from the first fisheye camera to the side-view rotation state according to the side-view attitude switching signal. The drive connector drives the first camera base to rotate outward to the first state through the first connector and the first link, and drives the second camera base to rotate outward to the first state through the second connector and the second link, so that the first fisheye camera and the second fisheye camera rotate outward synchronously to the side-view state, thus completing the side-view attitude switching of the multi-bionic mode binocular fisheye camera system.

[0030] The driving structure controls the driving connector to rotate away from the first fisheye camera to a tilted-view rotation state. The driving connector drives the first motion component and the second motion component to move to a second state. The first motion component drives the first fisheye camera to move to the tilted-view state, and the second motion component drives the second fisheye camera to move to the tilted-view state, so that the multi-biomimetic modal binocular fisheye camera system is in a tilted-view posture, specifically:

[0031] The drive servo receives a tilt attitude switching signal. Based on the tilt attitude switching signal, the drive servo controls the drive connector to rotate away from the first fisheye camera to a tilt rotation state. The drive connector drives the first camera base to rotate outward to a second state through a first connector and a first link, and drives the second camera base to rotate outward to a second state through a second connector and a second link. The drive connector also drives the platform base to move. The platform base drives the first camera base and the second camera base to rotate upward to a tilt state, so that the first fisheye camera and the second fisheye camera rotate outward and upward synchronously, completing the tilt attitude switching of the multi-biomimetic modal binocular fisheye camera system.

[0032] Beneficial effects: This application provides a multi-bionic modal binocular fisheye camera system and control method. This application uses two fisheye cameras (the inherent characteristics of fisheye cameras result in a large field of view). Two motion components are controlled by a drive component, and the two motion components drive the corresponding fisheye cameras to adjust their orientation. This allows the fields of view acquired by the two fisheye cameras to be adjusted to bionic modal views such as eye level (imitating primates, such as monkeys), side view (imitating herbivores, such as horses), and tilted view (imitating rabbits). This enables the effective switching of multiple bionic modalities under different environments and task requirements, thereby improving the adaptability of the binocular vision system in multi-task environments. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A stereoscopic view of the head-up posture in a preferred embodiment of the multi-modal binocular fisheye camera system of this application;

[0035] Figure 2 This is a stereoscopic image of a preferred embodiment of the multi-modal binocular fisheye camera system of this application, taken from another perspective in a head-up pose.

[0036] Figure 3 A stereoscopic view of the side view posture in a preferred embodiment of the multi-biomimetic binocular fisheye camera system of this application;

[0037] Figure 4 A stereoscopic view of the tilted-view posture in a preferred embodiment of the multi-biomimetic binocular fisheye camera system of this application;

[0038] Figure 5 This is a simplified diagram of the mechanism in a preferred embodiment of the multi-biomimetic modal binocular fisheye camera system of this application;

[0039] Figure 6 This is a structural topology diagram of a preferred embodiment of the multi-biomimetic modal binocular fisheye camera system of this application;

[0040] Figure 7 This is a front view in a head-up posture in a preferred embodiment of the multi-biomimetic modal binocular fisheye camera system of this application;

[0041] Figure 8 This is a side view in a head-up orientation in a preferred embodiment of the multi-biomimetic modal binocular fisheye camera system of this application;

[0042] Figure 9 This is a front view in a side-view posture in a preferred embodiment of the multi-biomimetic binocular fisheye camera system of this application;

[0043] Figure 10 This is a side view of the preferred embodiment of the multi-biomimetic binocular fisheye camera system of this application in a side-view posture.

[0044] Figure 11 This is a top view of the side view posture in a preferred embodiment of the multi-biomimetic modal binocular fisheye camera system of this application;

[0045] Figure 12 This is a perspective view of the platform base in a preferred embodiment of the multi-modal binocular fisheye camera system of this application.

[0046] Figure 13 A perspective view of the folding structure in a preferred embodiment of the multi-biomimetic binocular fisheye camera system of this application;

[0047] Figure 14 This is a perspective view of the drive connector in a preferred embodiment of the multi-biomimetic modal binocular fisheye camera system of this application.

[0048] Figure 15 This is a perspective view of the servo base in a preferred embodiment of the multi-biomimetic binocular fisheye camera system of this application.

[0049] Figure 16 A perspective view of the parallel link in a preferred embodiment of the multi-biomimetic modal binocular fisheye camera system of this application;

[0050] Figure 17 This is a perspective view of the first camera base in a preferred embodiment of the multi-modal binocular fisheye camera system of this application.

[0051] Figure 18 A perspective view of the first link in a preferred embodiment of the multi-biomimetic modal binocular fisheye camera system of this application;

[0052] Figure 19 A perspective view of the first connector in a preferred embodiment of the multi-modal binocular fisheye camera system of this application;

[0053] Figure 20 This is a diagram showing the biomimetic correspondence of different postures in a preferred embodiment of the multi-biomimetic modal binocular fisheye camera system of this application.

[0054] Figure 21 This is a flowchart of a preferred embodiment of the multi-biomimetic modal binocular fisheye camera system of this application.

[0055] Explanation of reference numerals in the attached figures:

[0056] 101. Platform base; 102. Folding structure; 103. Servo base; 1031. Slide; 1032. Parallel connecting rod; 1033. Slide rod; 104. Drive servo; 105. Drive connector;

[0057] 401. First fisheye camera; 402. First camera base; 403. First connecting rod; 404. First connector;

[0058] 501. Second fisheye camera; 502. Second camera base; 503. Second connecting rod; 504. Second connector.

[0059] exist Figure 5 Organizational diagram and Figure 6 Numbers 1 to 12 in the topology diagram represent hinges, for example... Figure 5 and Figure 6 The "1" in the figure represents the hinge connecting the platform base 101 and the folding structure 102.

[0060] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0061] To make the objectives, technical solutions, and effects of this application clearer and more explicit, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are only possible technical implementations of this application and not all possible implementations. Based on the embodiments in this application, those skilled in the art can obtain other embodiments without creative effort, and these embodiments are also within the protection scope of this application.

[0062] Existing binocular vision systems primarily employ conventional field-of-view cameras, which are fixedly installed, lacking adaptability to different biomimetic modalities and exhibiting the following technical problems: First, limited field of view: Traditional binocular cameras are limited by the field of view of ordinary lenses, making it difficult to simultaneously achieve a wide field of view and high-precision stereo perception within a single system. While fisheye cameras offer a larger field of view, their application in binocular systems is limited, and their advantages have not yet been fully utilized. Second, insufficient biomimetic capability: Existing binocular camera arrangements are mostly fixed in the parallel layout of human eyes, unable to flexibly adjust to adapt to the binocular structural characteristics of different organisms, such as the lateral or upward eye arrangement of animals like horses and rabbits, limiting their applicability in applications such as biomimetic robots and intelligent monitoring. Third, complex mechanism adjustments and high drive requirements: Existing adjustable binocular gimbals typically rely on multiple motors or complex mechanical structures to change camera positions, resulting in large system size, high energy consumption, and complex control, which is not conducive to 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 scene and lack a unified design that can switch bionic modes under different environments and task requirements, resulting in poor versatility and inability to efficiently adapt to multi-task applications.

[0063] Fisheye cameras have garnered significant attention in fields such as panoramic imaging, augmented reality (AR), virtual reality (VR), and robotic perception due to their wide field of view. However, in current technology, fisheye cameras are typically used as monocular devices, with limited applications, particularly in biomimetic binocular setups, where systematic research and design are lacking. In nature, the binocular setups of different organisms vary considerably. For example, the eyes of humans and primates are relatively parallel, suitable for stereoscopic perception of targets directly in front; the eyes of herbivores such as horses and cattle are located on the sides of their heads, providing a wider lateral field of view; and the eyes of rabbits are located on the sides and slightly upwards to observe potential threats above.

[0064] To address the problem that traditional binocular vision systems, which employ a fixed camera layout, cannot effectively simulate multiple biomimetic modalities, resulting in poor adaptability in multi-task environments, this application uses two fisheye cameras (whose inherent characteristics allow for a large field of view). A driving component controls two motion components, which in turn drive the corresponding fisheye cameras to adjust their orientation. This allows the fields of view acquired by the two fisheye cameras to be adjusted to biomimetic modalities such as eye-level (mimicking primates, like monkeys), lateral (mimicking herbivores, like horses), and tilted (mimicking rabbits). This enables effective switching between multiple biomimetic modalities under different environments and task requirements, thereby improving the adaptability of the binocular vision system in multi-task environments.

[0065] This application employs a fisheye camera to construct a binocular vision system. By analyzing common biological types, different species are categorized, and the main characteristics of their binocular arrangements are extracted to establish a unified structure that enables switching between different binocular arrangements. The binocular configurations can be broadly classified as follows: primates, represented by humans (monkeys, gorillas, etc.), have relatively parallel eyes for acquiring target perception directly in front; herbivores, represented by horses, have eyes distributed on both sides, relying on lateral vision to obtain environmental information due to their flattened skulls; and animals like rabbits, due to aerial predators, also need to observe the environment above, requiring both lateral and upward vision. Therefore, this application can design a mechanism covering these three main forms. During the design process, symmetry is a crucial design principle. Inspired by flapping wing mechanisms, the addition of slide rails and grooves liberates the camera base, allowing for greater mobility. Simultaneously, a parallelogram mechanism replaces the slide rail motion, improving the mechanism's accuracy and reliability.

[0066] The multi-biomimetic binocular fisheye camera system (i.e., binocular fisheye camera gimbal) of this application features a simple structure, high driving efficiency, and multi-biomimetic modal adjustment capability. It can realize a variety of biomimetic binocular modalities, improve the flexibility and adaptability of binocular vision systems, and thus be more widely used in fields such as robot perception, autonomous driving, and biological behavior research, thereby better meeting the needs of different application scenarios.

[0067] The technical solutions of this application will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0068] like Figures 1 to 4 As shown in the preferred embodiment of this application, the multi-bionic modal 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.

[0069] 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 drive component;

[0070] The driving component is used to control the first motion component, causing the first motion component to drive the first fisheye camera 401 to move. The driving component is also used to control the movement of the second motion component, causing the second motion component to drive the second fisheye camera 501 to move, so that the camera attitude of the multi-biomimetic modal binocular fisheye camera system is at eye level (see...). Figure 1 and Figure 2 ), side-view posture (see Figure 3 ) or tilting posture (see Figure 4 ).

[0071] Specifically, the multi-modal binocular fisheye camera system includes a platform base 101, a servo base 103, a drive servo 104, a drive connector 105 (i.e., a drive link), two L-shaped rotating joints (i.e., the first connector 404 and the second connector 504), two links (the first link 403 and the second link 503), two camera bases, two fisheye cameras, a folding structure 102, a slide 1031, and four parallel links 1032 that form a parallelogram mechanism. This application synchronously drives the first motion component and the second motion component through the driving 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 mirror image, so that the first fisheye camera 401 and the second fisheye camera 501 are in a level viewing posture, that is, the two eyes are relatively parallel to obtain the target perception directly in front, or in a side viewing posture, that is, the two eyes are distributed on both sides to obtain environmental information due to the flattened skull shape, or in a tilted viewing posture, that is, the two eyes have dual fields of view of the side and the top.

[0072] It should be noted that the multi-modal binocular fisheye camera system in this application is a highly symmetrical mechanism that can be manufactured at extremely low cost using machining or 3D printing. The entire system has only one degree of freedom, requiring only a single calibration of a few points on the system while ensuring repeatability accuracy, allowing for arbitrary changes without the need for repeated calibration. Installing this vision system on a robot for use under different working conditions allows for adjustments at any time, expanding the robot's visual performance.

[0073] This application enhances flexibility and adaptability by enabling the switching of various biomimetic binocular eye layouts through a multi-modal binocular fisheye camera system (binocular fisheye camera gimbal). These layouts include the parallel binocular layout of primates, the lateral binocular layout of herbivores, and the lateral and superior dual-view layout of animals such as rabbits. Compared to existing technologies, this application offers greater adaptability, allowing for flexible adjustment of the binocular camera layout to meet the needs of different application scenarios and fulfilling multi-task perception requirements in complex environments.

[0074] See Figure 5 and Figure 6 The multi-modal binocular fisheye camera system is a spatial ten-bar linkage with a total of twelve hinges. Figure 5 and Figure 6The numbers in the diagram represent hinges. Motion simulation shows that the mechanism has one degree of freedom. According to the degree-of-freedom formula, the mechanism must have over-constraints. During simplification, the slide at point 1031 can be simplified to two kinematic pairs: a revolute joint and a prismatic joint. The mechanism's topology diagram can then be drawn, as shown below. Figure 6 As shown. The lines with numbers between different links represent hinges, and the connection relationships between different links can be intuitively seen through the mechanism topology diagram. It can be seen that the mechanism is a multi-loop mechanism, and more than two loops, thus further verifying the existence of over-constraint. It is worth noting that the slide at 1031 is a cylindrical pair. The cylindrical pair has two translational and two rotational degrees of freedom in the spatial mechanism, and is a higher pair with four degrees of freedom. Therefore, the mechanism has successfully completed the design task, realizing the entire symmetrical multi-biomimetic modal binocular vision system with only one drive. In this application, the fisheye camera itself has a large field of view. By cleverly using only one degree of freedom, the switching between three configurations is realized. By comparing the side-view posture and the tilted-view posture, there is an upward angle on the camera base in the tilted-view posture. This angle is to obtain more of the top field of view. When this part of the field of view is not needed, it can be switched to the other two postures.

[0075] Further, see Figure 6 Platform base 101 is connected to folding structure 102 via hinge 1. Platform base 101 is connected to parallel link 1032 via hinge 2. Platform base 101 is connected to parallel link 1032 via hinge 11. Parallel link 1032 is connected to servo base 103 via hinge 3. Parallel link 1032 is connected to servo base 103 via hinge 4. Servo base 103 is connected to drive connector 105 via hinge 5. Drive connector 105 is connected to first connector 404 via hinge 6. First connector 404 is connected to first link 403 via hinge 7. First link 403 is connected to first camera base 402 via hinge 8. First camera base 402 is connected to folding structure 102 via hinge 9. Folding structure 102 is connected to slide 1031 via hinge 10. Slide 1031 is connected to servo base 103 via hinge 12.

[0076] In one embodiment of this application, the drive assembly includes a platform base 101, a folding structure 102, a drive structure, and a drive connector 105;

[0077] The platform base 101 is hinged to the folding structure 102, the folding structure 102 is connected to the drive structure, the drive structure is hinged to the drive connector 105, and the drive structure is connected to the platform base 101 through a parallel link 1032; the folding structure 102 and the drive connector 105 are respectively connected to the first motion component, and the folding structure 102 and the drive connector 105 are respectively connected to the second motion component.

[0078] Specifically, such as Figures 1 to 4 , Figures 7 to 11 As shown, the folding structure 102 is hinged to the front side of the platform base 101 (near the fisheye camera side) via a pivot. The first fisheye camera 401 and the second fisheye camera 501 are connected to the folding structure 102. 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 This refers to the switching between different postures.

[0079] In one embodiment of this application, the drive structure includes a drive servo motor 104 and a servo motor base 103. The two ends of the parallel connecting rod 1032 are respectively connected to the servo motor base 103 and the platform base 101. The drive servo motor 104 is disposed on the servo motor base 103 and is connected to the drive connector 105. The drive servo motor 104 is used to control the rotation state of the drive connector 105.

[0080] The servo base 103 has a groove 1031 on the side opposite to the drive servo 104, and the folding structure 102 has a slide rod 1033, which is slidably and / or rotatably connected in the groove 1031.

[0081] Specifically, such as Figures 1 to 4 As shown, the long side of the servo base 103 is on both sides ( Figure 9The left and right sides are respectively hinged to the platform base 101 via parallel connecting rods 1032. The front side of the servo base 103 is provided with a slide groove 1031. The folding structure 102 is connected to the slide groove 1031 via a slide rod 1033. The slide rod 1033 can translate back and forth and rotate clockwise and counterclockwise in the slide groove 1031. Thus, when the drive servo 104 controls the rotation of the drive connector 105 (drive connecting rod), the rotation of the drive connector 105 not only drives the two camera bases to rotate inward and outward (horizontal view-side view), 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 allows the slide rod 1033 in its slide groove 1031 to rotate and translate accordingly, so that the drive connector 105 drives the two camera bases to rotate up and down (side view-tilt view), thereby realizing the switching of different bionic modes.

[0082] In one embodiment of this application, the number of parallel links 1032 is at least four, at least two of the parallel links 1032 are hinged at both ends to one side of the servo base 103 and one side of the platform base 101, respectively, and at least two other parallel links 1032 are hinged at both ends to the other side of the servo base 103 and the other side of the platform base 101, respectively.

[0083] Specifically, there are four parallel links 1032, two of which are located on one side of the long side of the servo base 103, and the other two are located on the other side of the long side of the servo base 103. Each parallel link 1032 is connected to the servo base 103 and the platform base 101 respectively.

[0084] This application improves accuracy and reliability by using a parallelogram mechanism instead of a traditional slide rail structure, significantly enhancing the motion accuracy and stability of the mechanism. Compared to the slide rail design of traditional binocular gimbals, this application offers higher precision control, reduces looseness and errors in the mechanism, ensures accurate adjustment of the camera's viewing angle, and thus improves the accuracy and stability of image acquisition.

[0085] In the embodiments of this application, such as Figure 12 As shown, the platform base 101 is in the shape of a long plate. The two ends of the front side of the platform base 101 are rotatably connected to the folding structure 102 through a pivot. The two ends of the middle and rear sides of the platform base 101 are respectively hinged to the parallel connecting rod 1032 through a pivot.

[0086] In one embodiment of this application, the first motion component and the second motion component are symmetrically arranged with respect to the folding structure 102;

[0087] When the drive servo motor 104 controls the drive connector 105 to rotate, the drive connector 105 drives the first motion component and the second motion component to move synchronously.

[0088] Specifically, such as Figure 13 As shown, the folding structure 102 is shaped like a mountain, with two fixed shafts on both sides rotatably connected to two camera bases. The rear side of the folding structure 102 has a protrusion, which is rotatably connected to the front side of the platform base 101 via a rotating shaft.

[0089] like Figure 14 As shown, the drive connector 105 is U-shaped. One end of the drive connector 105 is connected to the output end of the drive servo motor 104. That is, the output end is rotatably connected to the inner wall of the end of the drive connector 105, thereby driving the servo motor 104 to control the drive connector 105 to rotate around the end of the drive connector 105 to adjust the rotation state of the drive connector 105. The two sides of the drive connector 105 are connected to two motion components respectively. The side of the drive connector 105 near the front end (opposite to the end, the front end is closer to the fisheye camera, and the front end is the end of the U-shaped drive connector 105 with a larger rotation range) is connected to the first connector 404, and the other side near the front end is connected to the second connector 504.

[0090] like Figure 15 As shown, the servo base 103 is arranged opposite to the platform base 101. The servo base 103 is provided with two fixing blocks, which are used to limit the position of the drive servo 104. The servo base 103 has an L-shaped baffle protruding to the long side. The baffle is used to rotatably connect with one front end of the drive connector 105. The baffle is located on the side away from the output end of the drive servo 104.

[0091] like Figure 16 As shown, a keyhole is provided in the middle of the parallel connecting rod 1032.

[0092] In one embodiment of this application, the first motion component includes a first camera base 402, a first connecting rod 403, and a first connecting member 404; the first fisheye camera 401 is mounted 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 drive connector 105; and / or

[0093] The second motion component includes a second camera base 502, a second connecting rod 503, and a second connector 504; the second fisheye camera 501 is mounted on the second camera base 502, one end of the second camera base 502 is rotatably connected to the folding structure 102, the other end of the second camera base 502 is hinged to one end of the second connecting rod 503, and both ends of the second connector are respectively hinged to the other end of the second connecting rod 503 and the other side of the drive connector 105.

[0094] In one embodiment of this application, the folding structure 102 is provided with a first fixed shaft and a second fixed shaft;

[0095] The first camera base 402 is rotatably connected to the first fixed shaft, 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 cross section of the first connecting member 404 is L-shaped, the bottom of the first connecting member 404 is hinged to the other end of the first connecting rod 403, and the side of the first connecting member 404 is hinged to one side of the drive connecting member 105.

[0096] The second camera base 502 is rotatably connected to the second fixed shaft, and one end of the second connecting rod 503 is hinged to the top 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 drive connecting member 105.

[0097] Specifically, see Figure 17 , Figure 18 and Figure 19 The first camera base 402 and the second camera base 502 are mirror images of each other. Taking the first camera base 402 as an example, the first camera base 402 is a vertically oriented long plate. The first camera base 402 has reinforcing ribs on the side near the folding structure 102 to improve structural stability. A protruding connecting plate is provided at the top of the first camera base 402 on the side away from the folding structure 102. This protruding connecting plate is hinged to one end of the first connecting rod 403. The first connecting rod 403 and the second connecting rod 503 have the same structure. The first connecting rod 403 has two right-angled triangular holes (weight-reducing holes). The first connecting piece 404 and the second connecting piece 504 have the same structure. The edge of the first connecting piece 404 is arc-shaped, and the side and bottom of the first connecting piece 404 are respectively connected to the drive connecting piece 105 and the first connecting rod 403, thereby connecting and hinged the two structures on the vertical and horizontal planes.

[0098] This application simplifies drive and control. Compared to the complex multi-motor drive systems in the prior art, this patented design reduces the demand for high drive power (achieving three configurations using only one motor) and lowers system complexity through a reasonable mechanism layout and precise motion control. The ingenious design of the combination of slide bar 1033 (slide rail) and slide groove 1031, along with a parallelogram mechanism, provides the necessary multi-modal adjustment functions while minimizing the number of drive components, thus improving the system's energy efficiency and drive response speed.

[0099] In one embodiment of this application, 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 are all provided with weight-reducing holes. This reduces the weight of the entire system.

[0100] like Figure 20 As shown, the multi-modal binocular fisheye camera system can adjust the posture of the binocular fisheyes according to the motor input of the drive motor to achieve different biomimetic forms and complete different biomimetic meanings. In this way, it can achieve camera postures that mimic humans (eye-level view), horses (side view), and rabbits (upward view), thereby expanding the application range of camera systems under the same mechanism.

[0101] The embodiments of this application provide greater flexibility, accuracy, and reliability, and have stronger adaptability and energy-saving characteristics, which can be more widely applied to fields such as intelligent robots, autonomous driving, and environmental monitoring, and have significant technical advantages and practical application value.

[0102] The control method for the multi-modal binocular fisheye camera system described in the preferred embodiment of this application is applied to any of the above-mentioned multi-modal binocular fisheye camera systems, such as... Figure 21 As shown, the control method for the multi-biomimetic modal binocular fisheye camera system includes the following steps:

[0103] In step S100, when the camera posture of the multi-biomimetic modal binocular fisheye camera system needs to be switched to a level-view posture, the first fisheye camera and the second fisheye camera are set parallel to each other. The drive structure controls the drive connector to rotate towards the first fisheye camera to a level-view rotation state. The drive connector drives the first motion component and the second motion component to move to the initial state. The first motion component drives the first fisheye camera to move to a level-view state and the second motion component drives the second fisheye camera to move to a level-view state, so that the multi-biomimetic modal binocular fisheye camera system is in a level-view posture.

[0104] In step S200, when the camera posture of the multi-biomimetic modal 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 set to face both sides. The drive structure controls the drive connector to rotate towards the first fisheye camera or away from the first fisheye camera to the side-view rotation state. The drive connector drives the first motion component and the second motion component to move to the 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-biomimetic modal binocular fisheye camera system is in the side-view posture.

[0105] In step S300, when the camera posture of the multi-biomimetic modal binocular fisheye camera system needs to be switched to a tilted-view posture, the first fisheye camera and the second fisheye camera in the tilted-view posture are positioned on both sides facing upwards. The drive structure controls the drive connector to rotate away from the first fisheye camera to a tilted-view rotation state. The drive connector drives the first motion component and the second motion component to move to a second state. The first motion component drives the first fisheye camera to move to the tilted-view state, and the second motion component drives the second fisheye camera to move to the tilted-view state, so that the multi-biomimetic modal binocular fisheye camera system is in a tilted-view posture.

[0106] In one possible implementation, during the head-up attitude adjustment process in step S100, the drive servo receives a head-up attitude switching signal. The drive servo controls the drive connector to rotate towards the first fisheye camera to a head-up rotation state according to the head-up attitude switching signal. The drive connector drives the first camera base to rotate inward to an initial state through a first connector and a first link, and drives the second camera base to rotate inward to an initial state through a second connector and a second link, so that the first fisheye camera and the second fisheye camera rotate inward synchronously to a head-up state, thus completing the head-up attitude switching of the multi-biomimetic modal binocular fisheye camera system.

[0107] In one possible implementation, during the side-view attitude adjustment process in step S200, the drive servo receives a side-view attitude switching signal. The drive servo controls the drive connector to rotate towards 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 drive connector drives the first camera base to rotate outward to a first state through the first connector and the first link, and drives the second camera base to rotate outward to the first state through the second connector and the second link, so that the first fisheye camera and the second fisheye camera rotate outward synchronously to a side-view state, thus completing the side-view attitude switching of the multi-biomimetic modal binocular fisheye camera system.

[0108] In one possible implementation, during the tilt attitude adjustment process in step S300, the drive servo receives a tilt attitude switching signal. The drive servo controls the drive connector to rotate away from the first fisheye camera to a tilt rotation state according to the tilt attitude switching signal. The drive connector drives the first camera base to rotate outward to a second state through the first connector and the first link, and drives the second camera base to rotate outward to a second state through the second connector and the second link. The drive connector also drives the platform base to move. The platform base drives the first camera base and the second camera base to rotate upward to a tilt state, so that the first fisheye camera and the second fisheye camera rotate outward and upward synchronously, completing the tilt attitude switching of the multi-biomimetic modal binocular fisheye camera system.

[0109] The control method for the multi-biomimetic modal binocular fisheye camera system provided in this application is applied to the aforementioned multi-biomimetic modal binocular fisheye camera system, thereby possessing all the beneficial effects of the aforementioned multi-biomimetic modal binocular fisheye camera system, which will not be elaborated further here.

[0110] In the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0111] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0112] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0113] It should be noted that, in this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0114] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0115] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this 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 one or more embodiments or examples.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A multi-biomimetic modal dual fisheye camera system, characterized in that, The multi-bionic modal 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 motion assembly, the second fisheye camera is connected with the second motion assembly, and the first motion assembly and the second motion assembly are respectively connected on the driving assembly; The driving assembly is used for controlling the motion of the first motion assembly, so that the first motion assembly drives the motion of the first fisheye camera, and the driving assembly is also used for controlling the motion of the second motion assembly, so that the second motion assembly drives the motion of the second fisheye camera, so that the camera posture of the multi-bionic modal binocular fisheye camera system is in a head-up posture, a side-view posture or a tilted posture; The driving assembly comprises a platform base, a folding structure, a driving structure and a driving connecting piece; The platform base is hinged with the folding structure, the folding structure is connected with the driving structure, the driving structure is hinged with the driving connecting piece, and the driving structure is connected with the platform base through parallel connecting rods; the folding structure and the driving connecting piece are respectively connected with the first motion assembly, and the folding structure and the driving connecting piece are respectively connected with the second motion assembly; The driving structure comprises a driving steering engine and a steering engine base, two ends of the parallel connecting rods are respectively connected with the steering engine base and the platform base, the driving steering engine is arranged on the steering engine base, and the driving steering engine is connected with the driving connecting piece; the driving steering engine is used for controlling the rotation state of the driving connecting piece; The side of the steering engine base away from the driving steering engine is provided with a sliding groove, and the folding structure is provided with a sliding rod which is slidingly and / or rotatably connected in the sliding groove.

2. The multi-biomimetic modal dual-fish-eye camera system of claim 1, wherein, The number of the parallel connecting rods is at least four, two ends of at least two parallel connecting rods are respectively hinged with one side of the steering engine base and one side of the platform base, and two ends of at least two other parallel connecting rods are respectively hinged with the other side of the steering engine base and the other side of the platform base.

3. The multi-biomimetic modal dual-fish-eye camera system of claim 1, wherein, The first motion assembly and the second motion assembly are symmetrically arranged about the folding structure; When the driving steering engine controls the rotation of the driving connecting piece, the driving connecting piece drives the synchronous motion of the first motion assembly and the second motion assembly.

4. The multi-biomimetic modal dual-fish-eye camera system of claim 3, wherein, The first motion assembly comprises a first camera base, a first connecting rod and a first connecting piece; the first fisheye camera is arranged on the first camera base, one side of the first camera base is rotatably connected with the folding structure, the other side of the first camera base is hinged with one end of the first connecting rod, and two ends of the first connecting piece are respectively hinged with the other end of the first connecting rod and one side of the driving connecting piece; and / or The second motion assembly comprises a second camera base, a second connecting rod and a second connecting piece; the second fisheye camera is arranged on the second camera base, one end of the second camera base is rotationally connected with the folding structure, the other end of the second camera base is hingedly connected with one end of the second connecting rod, and two ends of the second connecting piece are respectively hingedly connected with the other end of the second connecting rod and the other side of the driving connecting piece.

5. The multi-biomodal modal dual-fish eye camera system of claim 4, wherein, The folding structure is provided with a first fixed shaft and a second fixed shaft; The first camera base is rotationally connected with the first fixed shaft, and one end of the first connecting rod is hingedly connected with the top end of the other side of the first camera base; the cross section of the first connecting piece is L-shaped, the bottom of the first connecting piece is hingedly connected with the other end of the first connecting rod, and the side of the first connecting piece is hingedly connected with one side of the driving connecting piece; The second camera base is rotationally connected with the second fixed shaft, and one end of the second connecting rod is hingedly connected with the top end of the other side of the second camera base; the cross section of the second connecting piece is L-shaped, the bottom of the second connecting piece is hingedly connected with the other end of the second connecting rod, and the side of the second connecting piece is hingedly connected with the other side of the driving connecting piece.

6. The multi-biomimetic modal dual-fish eye camera system of claim 4, wherein, The platform base, the folding structure, the driving connecting piece, the steering engine base, the parallel connecting rod, the first connecting rod and the second connecting rod are all provided with weight-reducing holes.

7. A control method of a binocular fisheye camera system based on the multi-bionic modalities according to any one of claims 1 to 6, characterized in that, The control method comprises: when the camera posture of the multi-bionic mode binocular fisheye camera system needs to be switched to a head-up posture, the first fisheye camera and the second fisheye camera are arranged in parallel, the driving structure controls the driving connecting piece to rotate to a head-up rotating state, the driving connecting piece 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 head-up state, the second motion assembly drives the second fisheye camera to move to a head-up state, so that the multi-bionic mode binocular fisheye camera system is in a head-up posture; when the camera posture of the multi-bionic mode 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 towards two sides, the driving structure controls the driving connecting piece to rotate to a side-view rotating state towards the first fisheye camera or away from the first fisheye camera, the driving connecting piece 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-view state, the second motion assembly drives the second fisheye camera to move to a side-view state, so that the multi-bionic mode binocular fisheye camera system is in a side-view posture; When the camera pose of the multi-bionic mode binocular fisheye camera system needs to be switched to a tilted pose, the first fisheye camera and the second fisheye camera in the tilted pose are arranged towards the two sides of the upper part, the driving structure controls the driving connecting piece to rotate to a tilted rotation state in the direction away from the first fisheye camera, the driving connecting piece drives the first movement assembly and the second movement assembly to move to a second state, the first movement assembly drives the first fisheye camera to move to a tilted state and the second movement assembly drives the second fisheye camera to move to a tilted state, so that the multi-bionic mode binocular fisheye camera system is in a tilted pose.

8. The method of claim 7, wherein the method further comprises: The driving structure controls the driving connecting piece to rotate to a horizontal rotation state in the direction of the first fisheye camera, the driving connecting piece drives the first movement assembly and the second movement assembly to move to an initial state, the first movement assembly drives the first fisheye camera to move to a horizontal state and the second movement assembly drives the second fisheye camera to move to a horizontal state, so that the multi-bionic mode binocular fisheye camera system is in a horizontal pose, specifically: The driving steering engine receives a horizontal pose switching signal, the driving steering engine controls the driving connecting piece to rotate to a horizontal rotation state in the direction of the first fisheye camera according to the horizontal pose switching signal, the driving connecting piece drives the first camera base to rotate inward to an initial state through the first connecting piece and the first connecting rod and drives the second camera base to rotate inward to an initial state through the second connecting piece and the second connecting rod, so that the first fisheye camera and the second fisheye camera are synchronously rotated inward to a horizontal state, completing the switching of the horizontal pose of the multi-bionic mode binocular fisheye camera system; The driving structure controls the driving connecting piece to rotate to a side view rotation state in the direction of the first fisheye camera or in the direction away from the first fisheye camera, the driving connecting piece drives the first movement assembly and the second movement assembly to move to a first state, the first movement assembly drives the first fisheye camera to move to a side view state and the second movement assembly drives the second fisheye camera to move to a side view state, so that the multi-bionic mode binocular fisheye camera system is in a side view pose, specifically: The driving steering engine receives a side view pose switching signal, the driving steering engine controls the driving connecting piece to rotate to a side view rotation state in the direction of the first fisheye camera or in the direction away from the first fisheye camera according to the side view pose switching signal, the driving connecting piece drives the first camera base to rotate outward to a first state through the first connecting piece and the first connecting rod and drives the second camera base to rotate outward to a first state through the second connecting piece and the second connecting rod, so that the first fisheye camera and the second fisheye camera are synchronously rotated outward to a side view state, completing the switching of the side view pose of the multi-bionic mode binocular fisheye camera system; The driving structure controls the driving connecting piece to rotate to a tilted state in a direction away from the first fisheye camera, the driving connecting piece drives the first movement assembly and the second movement assembly to move to a second state, the first movement assembly drives the first fisheye camera to move to a tilted state and the second movement assembly drives the second fisheye camera to move to a tilted state, so that the multi-bionic mode binocular fisheye camera system is in a tilted posture, in particular: The driving steering wheel receives a tilted posture switching signal, the driving steering wheel controls the driving connecting piece to rotate to a tilted state in a direction away from the first fisheye camera according to the tilted posture switching signal, the driving connecting piece drives the first camera base to rotate outward to a second state through the first connecting piece and the first connecting rod and drives the second camera base to rotate outward to a second state through the second connecting piece and the second connecting rod, and the driving connecting piece drives the platform base to move, the platform base drives the first camera base and the second camera base to rotate upward to a tilted state, so that the first fisheye camera and the second fisheye camera are synchronously rotated outward and upward, completing the switching of the tilted posture of the multi-bionic mode binocular fisheye camera system.

Images