Computer image acquisition system

Abstract

The invention provides a computer image acquisition system, and relates to the technical field of image acquisition, the computer image acquisition system comprises an assembly base, a main shaft pile is fixedly arranged in the middle of the top of the assembly base, and an inverted conical bearing stand is integrally arranged outside the main shaft pile; the middle of the rotating plate seat is of a circular truncated cone structure extending downwards, and the bottom of the rotating plate seat is matched with a tapered roller bearing to be rotationally arranged outside the main shaft pile; six groups of guide pipes are fixedly arranged in the middle of the bottom of the object placing table, and the guide pipes are inserted into the top of the main shaft pile; through cooperative operation of the rotating plate seat, the L-shaped arc-shaped track and the advancing collector, in cooperation with circumferential rotation driven by the steering motor and arc-shaped track movement controlled by the advancing motor, multi-angle three-dimensional collection above an object placing table can be completed without manual intervention and adjustment of the position of the object or the collection device; the problems of tedious operation process and low acquisition efficiency of fixed-angle shooting are thoroughly solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of image acquisition, in particular to a computer image acquisition system. BACKGROUND

[0002] In the fields of industrial detection, object recognition, quality control, etc., computer image acquisition technology has become one of the core application means due to its high efficiency and precision. Through all-round image acquisition and analysis of objects, the appearance defects, size parameters and morphological characteristics of the objects can be quickly determined.

[0003] The current acquisition system and acquisition device mostly adopt a fixed-angle shooting mode, which can only obtain single-view images of objects. If omnidirectional acquisition is required, the object placement position needs to be manually adjusted or the acquisition device needs to be moved, which is cumbersome and inefficient, and is difficult to adapt to the rapid acquisition requirements of batch objects. Meanwhile, during the acquisition process, objects are prone to image blurring or geometric distortion due to vibration or displacement, which affects the subsequent analysis accuracy. The image processing capability is weak, and the data transmission delay and real-time adjustment of optimization parameters are problems. Moreover, there is a lack of cooperative linkage mechanism with the acquisition device, which cannot dynamically correct image defects according to the acquisition scene. In addition, some systems do not have effective object positioning and fixing structure, and the image reference is easily misaligned due to the object shift during the acquisition process, further reducing the reliability of the image data. SUMMARY

[0004] Therefore, the present application provides a computer image acquisition system to solve the above problems in the prior art.

[0005] The present application provides a computer image acquisition system, which specifically comprises: an assembly base, a main shaft post is fixedly arranged at the top middle of the assembly base, and a bearing table in the shape of an inverted cone is integrally arranged outside the main shaft post; a rotating plate base, the middle of the rotating plate base is a circular table structure extending downward, and the bottom of the rotating plate base is rotatably arranged outside the main shaft post through a conical roller bearing; an object placing table, six groups of guide pipes are fixedly arranged at the bottom middle of the object placing table, and the guide pipes are inserted into the top of the main shaft post; two groups of semicircular arches are fixedly arranged at the top of the rotating plate base, and arc-shaped tracks are fixedly arranged at the inner sides of the semicircular arches; the two groups of arc-shaped tracks are symmetrically arranged in the shape of L, and the outer arc surface of the turning part of the semicircular arch is a tooth surface; a traveling collector, four groups of guide rods are fixedly arranged at the front side of the traveling collector, a feeding seat is slidably arranged outside the four groups of guide rods, and an acquisition camera is fixedly arranged outside the feeding seat; a traveling frame is fixedly arranged at the rear side of the traveling collector, traveling gears are rotatably arranged at the upper and lower ends of the two sides of the traveling frame, and alignment guide wheels are rotatably arranged at the rear ends of the two sides of the traveling frame; the traveling gears and the alignment guide wheels slide on the outside of the arc-shaped tracks; and an intelligent control module, which is a remote terminal with wireless communication function.

[0006] Optionally, the top of the main shaft pile is fixedly provided with a weighing sensor, and the bottom of the object placing table is attached to the top of the weighing sensor.

[0007] Optionally, the bottom of the rotating plate seat is fixedly provided with a bevel gear ring, and the top of the assembly base is fixedly provided with a steering motor, and the shaft end of the steering motor is provided with a bevel gear engaged with the bevel gear ring.

[0008] Optionally, four groups of air suction holes are formed in the middle of the top of the object placing table, the air suction holes are in communication with the guide pipe through the air path, the top of the object placing table is printed with a horizontal and vertical grid, the top of the assembly base is fixedly provided with a suction pump, the air suction port of the suction pump is connected with a solenoid valve, and the other end of the solenoid valve is provided with an air path passing through the inside of the main shaft pile and communicated with the guide pipe.

[0009] Optionally, a traveling screw is rotatably arranged on the front side of the traveling collector, the traveling screw is threadedly connected with the feeding seat, a driving motor is fixedly arranged outside the traveling collector, the driving motor is in transmission connection with the traveling screw, and a battery is arranged in the feeding seat to supply power to the collection camera.

[0010] Optionally, a linkage shaft is rotatably arranged on the front side of the traveling frame, the two ends of the linkage shaft are in synchronous belt transmission connection with the rotating shafts of the traveling gears, a traveling motor is fixedly arranged on the rear side of the traveling frame, the shaft end of the traveling motor is in bevel gear transmission connection with the linkage shaft, and two groups of extension supports are fixedly arranged on the rear side of the traveling frame, a storage battery is fixedly arranged between the two groups of extension supports, and the storage battery supplies power to the traveling motor.

[0011] Optionally, a micro electric cylinder is fixedly arranged on each side of the traveling frame, a rubber clamping block is fixedly arranged at the telescopic end of the micro electric cylinder, and the rubber clamping block can be attached to the synchronous pulley outside the rotating shaft of the traveling gear.

[0012] Optionally, a data transmission module is arranged in each of the steering motor, the driving motor and the traveling motor, the data transmission module adopts a 5G and WiFi dual-mode transmission structure, and a signal output end of the data transmission module is connected with an intelligent control module.

[0013] Optionally, an angle sensor is further arranged in the traveling collector, and the intelligent control module is wirelessly connected with the steering motor, the driving motor, the traveling motor, the suction pump, the solenoid valve and the micro electric cylinder.

[0014] Optionally, the acquisition camera is built-in an image optimization processing module, the image optimization processing module is built-in an image sharpening algorithm, a multi-frame noise reduction algorithm, a color balance algorithm and a geometric calibration algorithm, after receiving the original image data of the acquisition camera, the image optimization processing module enhances the edge details of the object through the sharpening algorithm, weakens the image noise points caused by the equipment running jitter through the multi-frame noise reduction algorithm, and corrects the color deviation caused by uneven light through the color balance algorithm; at the same time, combined with the horizontal and vertical grid reference information on the top of the object placing table, the image is corrected and calibrated through the geometric calibration algorithm, so as to ensure the accuracy of the image geometric parameters; the image optimization processing module can dynamically adjust the processing strength of each algorithm according to the parameter instruction issued by the intelligent control module, and finally feeds back the optimized image data to the intelligent control module.

[0015] The beneficial effects are as follows: Break through the angle limitation and realize efficient multi-angle acquisition: through the cooperative operation of the rotating plate base, the L-shaped arc track and the advancing collector, combined with the circumferential rotation driven by the steering motor and the arc track movement controlled by the advancing motor, without manual intervention to adjust the position of the object or the acquisition device, multi-angle three-dimensional acquisition above the object placing table can be completed, and the problems of fixed angle shooting, complicated operation process and low acquisition efficiency are solved, and the rapid acquisition demand of batch objects is perfectly adapted.

[0016] Strengthen the positioning stability and improve the image acquisition accuracy: on the one hand, the negative pressure adsorption structure composed of the air suction pump, the electromagnetic valve and the air suction hole is combined with the positioning function of the guide pipe to realize the stable fixation of the object during the acquisition process, and effectively avoid the image blur caused by vibration and displacement; on the other hand, the real-time feedback of the horizontal and vertical grid reference of the object placing table and the angle sensor provides accurate geometric reference for image acquisition, solves the problems of image reference misplacement and geometric distortion caused by object deviation.

[0017] Integrate intelligent image processing and realize real-time accurate optimization: the acquisition camera is built-in a multi-algorithm image optimization processing module, which can directly complete detail enhancement, jitter noise reduction, color correction and distortion calibration on the acquisition site, without relying on external terminals for post-processing, at the same time, through the 5G and WiFi dual-mode transmission technology, the real-time linkage with the intelligent control module is realized, the algorithm parameters can be dynamically adjusted according to the acquisition scene, the problems of data transmission delay and the real-time adaptation of optimization parameters to the scene are solved, and the reliability and accuracy of the image data are greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The system flow structure schematic diagram of the embodiment in the application is shown; Figure 2 The three-dimensional structure schematic diagram of the embodiment in the application is shown; Figure 3 The side elevation structure schematic diagram of the embodiment in the application is shown; Figure 4 The exploded structure of the embodiment of the present application is shown in the perspective view. Figure 5 The exploded structure of the embodiment of the present application is shown in the side view. Figure 6 The structure of the traveling collector of the embodiment of the present application is shown in the perspective view. Figure 7 The structure of the traveling frame of the embodiment of the present application is shown in the perspective view. Figure 8 The installation position of the micro electric cylinder of the embodiment of the present application is shown in the structure diagram.

[0019] List of reference signs: 1, assembly base; 101, main shaft post; 102, bearing table; 103, weighing sensor; 2, steering motor; 3, rotating plate base; 301, bevel gear ring; 302, semicircular arc frame; 303, arc-shaped track; 4, object placing table; 401, air suction hole; 402, guide pipe; 5, air suction pump; 501, electromagnetic valve; 6, traveling collector; 601, guide rod; 602, feeding seat; 603, collecting camera; 604, traveling screw; 605, driving motor; 7, traveling frame; 701, traveling gear; 702, alignment guide wheel; 703, linkage shaft; 704, traveling motor; 705, extension support; 706, storage battery; 8, micro electric cylinder; 801, rubber clamping block; 9, intelligent control module. DETAILED DESCRIPTION

[0020] In order to make the purpose, scheme and advantages of the technical solutions of the present application more clear, the technical solutions of the embodiments of the present application will be described clearly and completely in the following with reference to the drawings of the specific embodiments of the present application.

[0021] Embodiment 1: please refer to the drawings in the specification, Figures 1 to 8 shown: The computer image acquisition system comprises an assembly base 1, a main shaft stake 101 fixedly arranged in the middle of the top of the assembly base 1, a bearing table 102 in an inverted conical shape integrally arranged outside the main shaft stake 101, a rotating plate base 3, the middle of the rotating plate base 3 being a downwardly extending circular table structure, the bottom of the rotating plate base 3 being rotatably arranged outside the main shaft stake 101 in cooperation with a tapered roller bearing, an object placing table 4, six groups of guide pipes 402 fixedly arranged in the middle of the bottom of the object placing table 4, the guide pipes 402 being inserted into the top of the main shaft stake 101, two groups of semicircular arc frames 302 fixedly arranged on the top of the rotating plate base 3, arc-shaped tracks 303 fixedly arranged on the inner sides of the semicircular arc frames 302, the two groups of arc-shaped tracks 303 being symmetrically arranged in L-shaped structures, the outer arc surfaces of the turning portions of the semicircular arc frames 302 being tooth surfaces, a traveling collector 6, four groups of guide rods 601 fixedly arranged on the front side of the traveling collector 6, feed bases 602 slidably arranged outside the four groups of guide rods 601, acquisition cameras 603 fixedly arranged outside the feed bases 602, a traveling frame 7 fixedly arranged on the rear side of the traveling collector 6, traveling gears 701 rotatably arranged on the upper and lower ends of the two sides of the traveling frame 7, and alignment guide wheels 702 rotatably arranged at the rear ends of the two sides of the traveling frame 7, the traveling gears 701 and the alignment guide wheels 702 being slidably arranged outside the arc-shaped tracks 303, and an intelligent control module 9 being a remote terminal with a wireless communication function.

[0022] The top of the main shaft stake 101 is fixedly arranged with a weighing sensor 103, and the bottom of the object placing table 4 is attached to the top of the weighing sensor 103.

[0023] The bottom of the rotating plate base 3 is fixedly arranged with a bevel gear ring 301, the top of the assembly base 1 is fixedly arranged with a steering motor 2, and the shaft end of the steering motor 2 is arranged with a bevel gear engaged with the bevel gear ring 301.

[0024] The top of the object placing table 4 is provided with four groups of air suction holes 401 in the middle, the air suction holes 401 are in air path communication with the guide pipes 402, the top of the object placing table 4 is printed with horizontal and vertical intersecting grids, the top of the assembly base 1 is fixedly arranged with an air suction pump 5, the air suction port of the air suction pump 5 is connected with an electromagnetic valve 501, the other end of the electromagnetic valve 501 is arranged in air path communication with the guide pipes 402 through the inside of the main shaft stake 101.

[0025] The front side of the traveling collector 6 is rotatably arranged with a traveling lead screw 604, the traveling lead screw 604 is threadedly connected with the feed base 602, the traveling collector 6 is fixedly arranged outside with a driving motor 605, the driving motor 605 is drivingly connected with the traveling lead screw 604, and a battery is arranged in the feed base 602 to supply power to the acquisition camera 603.

[0026] The front side of the traveling frame 7 is provided with a linkage shaft 703, the two ends of the linkage shaft 703 are provided with synchronous belt transmission connection with the rotating shaft of the traveling gear 701; the rear side of the traveling frame 7 is fixedly provided with a traveling motor 704, the shaft end of the traveling motor 704 is provided with bevel gear transmission connection with the linkage shaft 703; the rear side of the traveling frame 7 is fixedly provided with two groups of extension supports 705, the two groups of extension supports 705 are fixedly provided with a storage battery 706, and the storage battery 706 supplies power to the traveling motor 704.

[0027] The two sides of the traveling frame 7 are fixedly provided with a micro electric cylinder 8, and the telescopic end of the micro electric cylinder 8 is fixedly provided with a rubber clamping block 801, which can be attached to the synchronous pulley outside the rotating shaft of the traveling gear 701.

[0028] The data transmission module is provided in the steering motor 2, the driving motor 605 and the traveling motor 704, and the data transmission module adopts a 5G and WiFi dual-mode transmission structure, and the signal output end is connected with the intelligent control module 9.

[0029] The angle sensor is further provided in the traveling collector 6; the intelligent control module 9 is wirelessly connected with the steering motor 2, the driving motor 605, the traveling motor 704, the air suction pump 5, the electromagnetic valve 501, the weighing sensor 103 and the micro electric cylinder 8.

[0030] The image optimization processing module is built in the collection camera 603, the image optimization processing module is built in the image sharpening algorithm, the multi-frame noise reduction algorithm, the color balance algorithm and the geometric calibration algorithm, after receiving the original image data of the collection camera 603, the image optimization processing module enhances the edge details of the object through the sharpening algorithm, weakens the image noise points generated by the equipment running jitter through the multi-frame noise reduction algorithm, and corrects the color deviation caused by uneven light through the color balance algorithm; at the same time, combined with the horizontal and vertical grid reference information on the top of the object placing table 4, the image optimization processing module corrects the distortion and calibrates the proportion of the image through the geometric calibration algorithm, so as to ensure the accuracy of the image geometric parameters; the image optimization processing module can dynamically adjust the processing strength of each algorithm according to the parameter instruction issued by the intelligent control module 9, and finally feedback the optimized image data to the intelligent control module 9.

[0031] The artificial places the to-be-collected object above the object placing table 4, and prepares for image information collection; the collection content includes product three-dimensional appearance style, mechanical workpiece size detection, handicraft surface crack judgment and other key information; at the same time, the weighing sensor 103 is used to detect the initial weight of the object.

[0032] Shooting angle and trajectory adjustment: start the steering motor 2, drive the bevel gear ring 301 and the rotating plate base 3 to rotate, adjust the overall angle to determine the appropriate shooting trajectory angle; then start the travel motor 704, drive the linkage shaft 703 to rotate, drive the travel gear 701 to rotate through the synchronous belt, the travel gear 701 and the semicircular arc frame 302 tooth surface meshing realize travel, make the travel frame 7 and the travel collector 6 move along the arc trajectory, complete the circumferential shooting and collection of the object, and the angle is monitored by the angle sensor and fed back to the intelligent control module 9; stop, start the micro electric cylinder 8, and realize accurate positioning through the rubber block 801 contacting the synchronous pulley.

[0033] Example 2: On the basis of example 1, if the image recognition is unclear due to the influence of the texture, the driving motor 605 is started to drive the travel lead screw 604 to rotate, the position of the feeding seat 602 and the collection camera 603 is adjusted horizontally, and the type of the texture is determined through movement verification.

[0034] Auxiliary positioning and data collection: the horizontal and vertical grid on the top of the object placing table 4 provides reference information to help the collection camera 603 accurately focus and recognize patterns, ensuring the accuracy of the collected data.

[0035] Three-dimensional modeling: the system completes the global pattern scanning and picking of the object through the above process, realizes single-sided pattern recognition and recording, concave-convex pattern judgment, and three-dimensional data information collection, and can generate three-dimensional patterns by combining with drawing software, and finally achieves the three-dimensional modeling goal.

[0036] Example 3: On the basis of example 1, a rubber ring is arranged outside and below the guide pipe 402 to ensure the sealing property; the electromagnetic valve 501 is opened and the air suction pump 5 is started, the negative pressure is generated by air suction, and the object is adsorbed and fixed by the air suction hole 401 of the object placing table 4; the adsorption effect can be maintained by closing the electromagnetic valve 501 under the negative pressure state of the guide pipe 402, otherwise, the adsorption can be released by reversing the air suction pump 5; the downward pulling force generated during adsorption can increase the load pressure of the weighing sensor 103, and the stability of adsorption can be determined in real time through the feedback signal of the sensor.

[0037] The specific use and role of the embodiment: in the application, the intelligent control module 9 is used for control; First, the object to be collected is placed on the top of the object placing table 4 to prepare for collecting image information, such as collecting the three-dimensional appearance style of the product, detecting the size information of the mechanical workpiece, and judging whether the surface of the handicraft is cracked or not; The weighing sensor 103 can be used for weighing, and the weight of the object is detected first; Open electromagnetic valve 501, start the air pump 5 to suction, produce negative pressure, from the suction hole 401 adsorption object, fixed object, will also produce a downward force, increase the load pressure of weighing sensor 103, weighing sensor 103 feedback signal can also determine whether the adsorption is stable; Starting the steering motor 2 can drive the bevel gear ring 301 and the rotating plate seat 3 to rotate, adjust the overall angle of the rotating plate seat 3, and then adjust the track angle of the shooting; Starting the travel motor 704 drives the linkage shaft 703 to rotate, and through the synchronous belt drives the travel gear 701 to rotate. The travel gear 701 engages with the tooth surface of the semicircular arc frame 302 to provide travel effect, so that the travel frame 7 and the travel collector 6 move along the arc trajectory, and the image pickup is carried out, and then the image pickup is realized. When stopping, the miniature electric cylinder 8 contacts the synchronous pulley by using the rubber clamp block 801 to realize positioning; If some image recognition is not clear, such as being affected by the texture and being unable to normally judge whether it is a convex or a groove, the driving motor 605 is started to drive the travel lead screw 604 to rotate, the position of the feeding seat 602 and the collection camera 603 is adjusted horizontally, and the moving verification is carried out, so that the texture type is judged; In the moving process, the horizontal and vertical grid on the top of the object placing table 4 provides reference information, which can facilitate the focusing of the collection camera 603 and the recognition of the pattern; Therefore, the system can globally scan and pick up the external pattern of the object, can recognize and record the single-sided pattern, can recognize and judge the concave-convex pattern, and can record the three-dimensional data information of the object. Subsequently, combined with drawing software, three-dimensional pattern is generated, and three-dimensional modeling is realized.

Claims

1. A computer image acquisition system, characterized by, include: Assembly base (1), the top center of the assembly base (1) is fixedly provided with a main shaft pile (101), and the outside of the main shaft pile (101) is integrally provided with an inverted conical bearing platform (102); Rotary plate seat (3), the middle of the rotary plate seat (3) is a downward extending frustum structure, and the bottom of the rotary plate seat (3) is rotatably provided outside the main shaft pile (101) in conjunction with a tapered roller bearing; Object placement platform (4), the bottom center of the object placement platform (4) is fixedly provided with six sets of guide tubes (402), and the guide tubes (402) are inserted into the top of the main shaft pile (101); the top of the rotary plate seat (3) is fixedly provided with two sets of semi-circular arc frames (302), and the inner side of each semi-circular arc frame (302) is fixedly provided with an arc-shaped track (303); the two sets of arc-shaped tracks (303) are symmetrically arranged. The L-shaped structure has a toothed outer arc surface at the turning point of the semi-circular arc frame (302); the traveling collector (6) has four sets of guide rods (601) fixedly installed on the front side, and a feed seat (602) is slidably installed on the four sets of guide rods (601), and a collection camera (603) is fixedly installed on the outside of the feed seat (602); the traveling frame (7) is fixedly installed on the rear side of the traveling collector (6), and a traveling gear (701) is rotatably installed on the upper and lower ends of both sides of the traveling frame (7), and a positioning guide wheel (702) is rotatably installed on the rear ends of both sides of the traveling frame (7); the traveling gear (701) and the positioning guide wheel (702) slide together on the outside of the arc track (303); the intelligent control module (9) is a remote terminal with wireless communication function.

2. The computer image acquisition system of claim 1, wherein, A weighing sensor (103) is fixedly installed on the top of the main shaft pile (101), and the bottom of the object placement platform (4) is attached to the top of the weighing sensor (103).

3. The computer image acquisition system of claim 1, wherein, A bevel gear ring (301) is fixedly installed at the bottom of the rotating plate base (3); a steering motor (2) is fixedly installed at the top of the assembly base (1), and a bevel gear is installed at the shaft end of the steering motor (2) to mesh with the bevel gear ring (301).

4. The computer image acquisition system of claim 1, wherein, The top of the object placement platform (4) has four sets of air intake holes (401) in the middle. The air intake holes (401) are connected to the guide tube (402) by an air passage. The top of the object placement platform (4) is printed with a grid of horizontal and vertical crisscrossing. The top of the mounting base (1) is fixedly equipped with an air pump (5). The air intake of the air pump (5) is connected to a solenoid valve (501). The other end of the solenoid valve (501) is provided with an air passage that passes through the inside of the main shaft pile (101) and is connected to the guide tube (402).

5. The computer image acquisition system of claim 4 wherein, The front side of the traveling collector (6) is rotatably provided with a traveling screw (604), which is threadedly connected to the feed seat (602); a drive motor (605) is fixedly provided on the outside of the traveling collector (6), which is connected to the traveling screw (604) for transmission; a battery is provided in the feed seat (602) to power the acquisition camera (603).

6. A computer image acquisition system as in claim 5, wherein, The front side of the traveling frame (7) is rotationally provided with a linkage shaft (703), both ends of which are provided with synchronous belt transmission connection with the rotating shaft of the traveling gear (701); the rear side of the traveling frame (7) is fixedly provided with a traveling motor (704), the shaft end of which is provided with bevel gear transmission connection with the linkage shaft (703); the rear side of the traveling frame (7) is fixedly provided with two groups of extension supports (705), between which a storage battery (706) is fixedly provided, which supplies power for the traveling motor (704).

7. The computer image acquisition system of claim 1, wherein, Both sides of the traveling frame (7) are fixedly provided with micro electric cylinders (8), the telescopic ends of which are fixedly provided with rubber clamping blocks (801), which can be attached to the synchronous pulley outside the rotating shaft of the traveling gear (701).

8. The computer image acquisition system of claim 6, wherein, The steering motor (2), the driving motor (605) and the traveling motor (704) are all provided with data transmission modules, which adopt 5G and WiFi dual-mode transmission structure, and the signal output ends of which are connected with the intelligent control module (9).

9. The computer image acquisition system of claim 8 wherein, The traveling collector (6) is also provided with an angle sensor; the intelligent control module (9) is wirelessly connected with the steering motor (2), the driving motor (605), the traveling motor (704), the air suction pump (5), the electromagnetic valve (501), the weighing sensor (103) and the micro electric cylinder (8).

10. The computer image acquisition system of claim 1, wherein, The image optimization processing module built-in the collecting camera (603) has image sharpening algorithm, multi-frame noise reduction algorithm, color balance algorithm and geometric calibration algorithm; after receiving the original image data of the collecting camera (603), it enhances the edge details of the object by sharpening algorithm, weakens the image noise points generated by equipment running jitter by multi-frame noise reduction algorithm, and corrects the color cast caused by uneven light by color balance algorithm; At the same time, combined with the horizontal and vertical grid reference information on the top of the object placing table (4), the image is corrected for distortion and calibrated for proportion by the geometric calibration algorithm, so as to ensure the accuracy of the image geometric parameters; The image optimization processing module can dynamically adjust the processing strength of each algorithm according to the parameter instructions issued by the intelligent control module (9), and finally feedback the optimized image data to the intelligent control module (9).

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