Automatic viewing angle adjustment binocular camera, vehicle and vehicle viewing angle adjustment method

Abstract

This invention relates to an automatically adjustable binocular camera, a vehicle, and a method for adjusting the vehicle's viewing angle. The automatically adjustable binocular camera includes a support unit, a first frame mounted on the support unit capable of pitch and swaying, a first drive unit mounted on the first frame, and an output shaft of the first drive unit rotatably connected to the middle of left and right swaying members via a first connector. The two ends of the left and right swaying members are respectively rotatably connected to the top of a first camera and the top of a second camera via a first rotating connector and a second rotating connector, respectively. A binocular fixing beam is fixed to the rear end of the first frame at its middle section, and its two ends are rotatably connected to the bottom of the first camera and the bottom of the second camera, respectively. A pitch lever is positioned across the left and right swaying members, with one end rotatably connected to the upper end of the first frame. The output shaft of the second drive unit is rotatably connected to the other end of the pitch lever via a second connector. The drive unit enables precise control and adjustment of the camera's left and right angles and pitch angles, significantly improving installation and debugging efficiency.

Description

Technical Field

[0001] This invention relates to the field of binocular camera technology, specifically to a binocular camera with automatic viewing angle adjustment, a vehicle, and a method for adjusting the vehicle's viewing angle. Background Technology

[0002] Binocular stereo cameras can be applied to various fields such as vehicles and robots. They can quickly perceive changes in the vehicle's surrounding environment, providing environmental data, distance information, and safety warnings for assisted driving. As a core component of vehicle-mounted visual perception, they can perform functions such as obstacle ranging, target recognition, and vehicle monitoring in real time. However, existing vehicle-mounted binocular cameras generally suffer from the following drawbacks: 1. After installation, the lens angle needs to be manually rotated and adjusted repeatedly to adapt to different vehicle models, resulting in cumbersome operation and poor consistency; 2. Long-term manual torque and vehicle vibrations can easily cause irreversible deformation of key internal structures, disrupting the binocular baseline length and optical axis parallelism, leading to stereo vision failure and reduced overall stability; 3. Insufficient structural rigidity and poor shock absorption allow vehicle vibrations to be directly transmitted to the imaging device, resulting in image jitter, large ranging errors, and increased errors in the output data of the visual acquisition components, seriously affecting recognition accuracy and driving safety; 4. Most adjustable cameras have independent left and right lens movements, resulting in poor synchronization, requiring frequent parameter calibration of the algorithm, and causing system lag; 5. The lens and photosensitive circuit protection structures are simple, making them prone to loosening and damage under long-term stress.

[0003] Existing technologies only optimize a small number of hardware structures and do not address the problem from all dimensions, including mechanical structure, transmission logic, automatic control, vibration protection, and working condition linkage. They also do not propose automatic adjustment methods adapted to dynamic vehicle scenarios, making it difficult to meet the high-precision, high-reliability, and dynamic adaptive requirements of advanced autonomous driving. Summary of the Invention

[0004] To address the problems of existing binocular cameras in practical applications, such as reliance on manual adjustment, susceptibility to vibration and torsional damage, poor structural stability, and large data acquisition errors, this invention provides an automatically adjustable binocular camera, a vehicle, and a vehicle viewing angle adjustment method. This enables automatic and precise adjustment from multiple angles, improving the long-term reliability and data accuracy of the binocular camera in the application environment.

[0005] The technical solution of this invention to solve the above-mentioned technical problems is as follows: This invention provides an automatic viewing angle adjustment binocular camera, including a first frame, a first drive unit, a second drive unit, a support unit, a first camera, a second camera, a pitch lever, a binocular fixing beam, a main control board, and left and right swinging components. The first frame is mounted on the support unit and can swing back and forth around the left and right extension axis. The first drive unit is mounted on the first frame, and the output shaft of the first drive unit is rotatably connected to the middle of the left and right swinging components through a first connector. The left and right ends of the left and right swinging components are rotatably connected to the top of the first camera and the top of the second camera, respectively, through a first rotating connector and a second rotating connector. The middle of the binocular fixing beam is fixedly connected to the rear end of the first frame, and the two ends of the binocular fixing beam are rotatably connected to the bottom of the first camera and the bottom of the second camera, respectively. The pitch lever is straddling the left and right swinging components and one end is rotatably connected to the upper end of the first frame. The output shaft of the second drive unit is rotatably connected to the other end of the pitch lever through a second connector. The main control board is electrically connected to the first drive unit and the second drive unit.

[0006] The beneficial effects of the present invention are: the automatic viewing angle adjustment binocular camera of the present invention can achieve precise control and adjustment of the left and right angles and pitch angles of the first and second cameras by using the first drive unit and the second drive unit, which greatly improves the installation and debugging efficiency and can be adapted to various vehicles or robots.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, the output shaft of the first drive unit is arranged vertically, one end of the first connector is vertically fixed on the output shaft of the first drive unit, the middle part of the left and right swing members protrudes forward to form a middle connecting protrusion, and the other end of the first connector is rotatably connected to the middle connecting protrusion through the vertically arranged middle connecting shaft.

[0009] Furthermore, the left and right ends of the left and right swing members respectively protrude forward to form a first connecting protrusion and a second connecting protrusion. The first rotating connector is rotatably connected to the first connecting protrusion through a first connecting shaft, and the second rotating connector is rotatably connected to the second connecting protrusion through a second connecting shaft. Both the first connecting shaft and the second connecting shaft are arranged vertically.

[0010] Furthermore, the first connecting shaft is fixed on the first rotating connector, the second connecting shaft is fixed on the second rotating connector, the first connecting shaft is rotatably connected to the first connecting protrusion through the first bearing, and the second connecting shaft is rotatably connected to the second connecting protrusion through the second bearing.

[0011] Furthermore, the binocular fixed beam has a U-shaped structure, with both ends extending forward and used to rotatably connect the first camera and the second camera respectively; both ends of the binocular fixed beam are rotatably connected to the bottom of the first camera and the bottom of the second camera via a third bearing and a fourth bearing respectively; the central axes of the third bearing and the fourth bearing are both arranged vertically.

[0012] The beneficial effect of adopting the above-mentioned further solution is that by setting up a U-shaped double-eye fixed beam, combined with the rigid transmission of the drive unit, there is no irreversible deformation under long-term vibration and torque.

[0013] Furthermore, the pitch lever has a bent structure with the middle section bent upwards; the output shaft of the second drive unit extends to the left and right, the second connector is arranged vertically and its lower end is fixedly connected to the output shaft of the second drive unit, the upper end of the second connector is rotatably connected to the rear end of the pitch lever, and the front end of the pitch lever is rotatably connected to the upper end of the first frame.

[0014] Furthermore, it also includes a mounting plate and a backplate bracket. The support part is fixed to the upper front surface of the mounting plate. An avoidance hole is provided in the middle of the front end of the mounting plate, and the first drive part is suspended in the avoidance hole. The support part includes two support blocks, which are respectively located on the mounting plate on the left and right sides of the avoidance hole. The backplate bracket is fixed to the rear end of the binocular fixed beam and arranged vertically. The main control board is fixed on the backplate bracket.

[0015] The beneficial effect of adopting the above-mentioned further solution is that by setting a clearance hole in the middle of the front end of the mounting plate, the first drive unit can be tilted within the clearance hole under force, thus avoiding interference with the mounting plate.

[0016] The present invention also provides a vehicle, including a binocular camera with automatic viewing angle adjustment as described above, and a vehicle body, wherein the support is mounted on the vehicle body.

[0017] The beneficial effects of this invention are as follows: A vehicle equipped with the aforementioned automatically adjustable binocular camera can meet the requirements of long-term use under complex operating conditions, improving vehicle assisted driving safety. For example, when the road ahead enters a blind spot while the vehicle is going uphill and needs to look upwards, when the vehicle is going downhill and needs to look downwards at the nearby road, when the initial field of view shifts due to differences in installation height between different vehicle models, or when changes in vehicle load cause changes in vehicle posture, the binocular camera can automatically adjust to ensure that the region of interest is fully included in the common field of view of the left and right lenses, guaranteeing that the target object is always within the overlapping field of view of both lenses, providing a basis for stereo matching and distance calculation. The lens and photosensitive unit of this invention are stably positioned without offset, exhibiting good binocular synchronization and significantly reducing data acquisition errors.

[0018] This embodiment also provides a method for adjusting the viewing angle of the above-mentioned vehicle, including the following steps: S1, the automatic viewing angle adjustment binocular camera is powered on and initialized, and the mechanical structure is reset to the reference angle. The main control board performs self-tests on each device and the communication link. S2, when all devices and communication links are operating normally, the vehicle's built-in driver assistance system identifies the vehicle's driving conditions in real time, and sends a viewing angle adjustment command to the main control board when the vehicle's driving conditions change. S3, the main control board receives the viewing angle adjustment command and controls the first drive unit or / and the second drive unit to run to the target angle according to the viewing angle adjustment command, so as to adjust the deflection angle of the first camera or / and the second camera; Both the first drive unit and the second drive unit have built-in position encoders. The position encoders are used to feed back the real-time running angle of the drive unit and send it to the main control board. The main control board is used to determine whether the difference between the real-time running angle and the target angle is not greater than a preset deviation threshold. When the difference is not greater than the preset deviation threshold, the adjustment is determined to be complete. S4, after the angle of the first camera and / or the second camera is adjusted, the first camera and / or the second camera continuously collect image data and upload the collected image data to the driver assistance system.

[0019] The beneficial effects of the present invention are: the vehicle viewing angle adjustment method of the present invention can realize adaptive adjustment of the viewing angle of the vehicle-mounted binocular camera.

[0020] Furthermore, in S1, the self-test of each device and communication link by the main control board includes the main control board being used to collect the operating parameters of the first drive unit and the second drive unit, the imaging signals of the first camera and the second camera, and the communication link data in real time, and to determine the working status of the first drive unit, the second drive unit, the first camera, the second camera, and the communication link. S2 further includes: when the first drive unit and the second drive unit malfunction, the main control board immediately cuts off the control signals of the first drive unit and the second drive unit, and locks the drive angles of the first drive unit and the second drive unit; when the first camera and the second camera image abnormal, the main control board immediately cuts off the control signals of the first drive unit and the second drive unit, locks the drive angles of the first drive unit and the second drive unit; and retains the last effective field-of-view data captured by the first camera and the second camera; the main control board uploads fault codes to the driver assistance system through the communication interface to complete audible and visual or system pop-up warnings.

[0021] The beneficial effect of adopting the above-mentioned further solution is that when the binocular camera malfunctions, the drive unit can be stopped, the current viewing angle can be locked by utilizing the self-locking characteristic of the drive unit, and the angle adjustment action can be stopped, thereby realizing the fault protection of the binocular camera. Attached Figure Description

[0022] Figure 1 This is a three-dimensional exploded view of the binocular camera with automatic perspective adjustment according to the present invention. Figure 2 This is a three-dimensional structural diagram of the binocular camera with automatic viewing angle adjustment according to the present invention; Figure 3 This is a schematic diagram of the leftward tilting structure of the binocular camera with automatic viewing angle adjustment according to the present invention; Figure 4 This is a schematic diagram of the rightward tilting structure of the binocular camera with automatic viewing angle adjustment according to the present invention; Figure 5 This is a schematic diagram of the upward swing structure of the binocular camera with automatic angle adjustment according to the present invention; Figure 6 This is a schematic diagram of the downward swing structure of the binocular camera with automatic angle adjustment according to the present invention.

[0023] The attached diagram lists the components represented by each number as follows: 1. Mounting plate; 11. Support block; 12. Second frame; 13. Second drive unit; 14. Second connector; 15. Clearance hole; 16. Fifth bearing; 17. Sixth bearing; 18. Foot pad; 2. First frame; 21. First drive unit; 22. First connector; 3. Left and right swing parts; 31. Middle connecting protrusion; 32. First connecting protrusion; 33. Second connecting protrusion; 34. First connecting shaft; 35. Second connecting shaft; 36. First bearing; 37. Second bearing; 4. First camera; 41. Second camera; 42. First rotating connector; 43. Second rotating connector; 44. First lens mount; 45. First lens; 46. Second lens mount; 47. Second lens; 5. Double-eye fixed beam; 51. Third bearing; 52. Fourth bearing; 6. Pitch rod; 7. Main control board; 71. Backplate bracket. Detailed Implementation

[0024] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0025] Example 1 like Figures 1-6As shown, this embodiment of an automatically adjustable binocular camera includes a first frame 2, a first drive unit 21, a second drive unit 13, a support unit, a first camera 4, a second camera 41, a pitch lever 6, a binocular fixing beam 5, a main control board 7, and left and right swing members 3. The first frame 2 is mounted on the support unit and can tilt back and forth around the left and right extension axis. The first drive unit 21 is mounted on the first frame 2. The output shaft of the first drive unit 21 is rotatably connected to the middle of the left and right swing members 3 through a first connector 22. The left and right ends of the left and right swing members 3 are respectively connected by a first rotating connector 4. 2. The second rotating connector 43 is rotatably connected to the top of the first camera 4 and the top of the second camera 41. The middle part of the binocular fixing beam 5 is fixedly connected to the rear end of the first frame 2, and the two ends of the binocular fixing beam 5 are rotatably connected to the bottom of the first camera 4 and the bottom of the second camera 41, respectively. The pitch lever 6 is straddling the left and right swing members 3 and one end is rotatably connected to the upper end of the first frame 2. The output shaft of the second drive unit 13 is rotatably connected to the other end of the pitch lever 6 through the second connector 14. The main control board 7 is electrically connected to the first drive unit and the second drive unit, respectively. The second drive unit 13 can be directly mounted on the mounting plate 1 or mounted on the second frame 12, with the second frame 12 mounted on the mounting plate 1.

[0026] In this embodiment, the first drive unit 21 and the second drive unit 13 can be servo motors or stepper motors, or any device capable of precise drive. The first connector 22 and the second connector 14 can be elongated sheet structures. In this embodiment, the first drive unit 21 and the second drive unit 13 can adjust the left-right swing angle and pitch angle of the two cameras according to adjustment needs, for example, the adjustment process can be preset.

[0027] like Figure 1 As shown, the first camera 4 in this embodiment includes a first lens mount 44 and a first lens 45. The first lens 45 is fixed on the first lens mount 44, which is used to connect the binocular fixing beam 5 and the left and right swing members 3 respectively. The second camera 41 includes a second lens mount 46 and a second lens 47. The second lens 47 is fixed on the second lens mount 46, which is used to connect the binocular fixing beam 5 and the left and right swing members 3 respectively. The first lens 45 and the second lens 47 can be fixed by a combination of limiting grooves, adhesive, and screws to avoid direct force damage. After focusing through the pre-drilled holes in the adhesive, the lenses are cured and rigidly connected to the rotating connectors, preventing loosening and displacement.

[0028] In this embodiment, both the first camera 4 and the second camera 41 include photosensitive circuits for completing binocular image acquisition and perception.

[0029] This embodiment of the automatic viewing angle adjustment binocular camera enables precise control and adjustment of the left-right and pitch angles of the first and second cameras using the first and second drive units, significantly improving installation and debugging efficiency and adapting to various vehicles or robots. The binocular fixed beam adopts a U-shaped symmetrical structure with reinforcing ribs on its surface, providing high rigidity, resistance to deformation, and effective isolation from vibration and torsion. The use of left-right swing components and the binocular fixed beam structure results in a compact and stable overall structure, significantly reducing the impact of vibration and external forces on the core acquisition components, improving data consistency and driving safety. This embodiment employs a "suspended rigid body + independent drive at both ends" structure, achieving high-precision and highly stable automatic viewing angle adjustment, and constructing a visual recognition chain in conjunction with the functional requirements of the binocular camera.

[0030] Example 2 Based on Example 1, such as Figure 1 and Figure 2 As shown, in this embodiment, the output shaft of the first drive unit 21 is arranged vertically, one end of the first connector 22 is vertically fixed on the output shaft of the first drive unit 21, the middle part of the left and right swing members 3 protrudes forward to form a middle connecting protrusion 31, and the other end of the first connector 22 is rotatably connected to the middle connecting protrusion 31 through the vertically arranged middle connecting shaft.

[0031] Example 3 Based on Example 1 or Example 2, such as Figure 1 and Figure 2 As shown, in this embodiment, the left and right ends of the left and right swing members 3 respectively protrude forward to form a first connecting protrusion 32 and a second connecting protrusion 33. The first rotating connector 42 is rotatably connected to the first connecting protrusion 32 through a first connecting shaft 34, and the second rotating connector 43 is rotatably connected to the second connecting protrusion 33 through a second connecting shaft 35. The first connecting shaft 34 and the second connecting shaft 35 are both arranged vertically.

[0032] like Figures 1-4 As shown, the first connecting shaft 34 is fixed on the first rotating connector 42, and the second connecting shaft 35 is fixed on the second rotating connector 43. The first connecting shaft 34 is rotatably connected to the first connecting protrusion 32 through the first bearing 36, and the second connecting shaft 35 is rotatably connected to the second connecting protrusion 33 through the second bearing 37.

[0033] Specifically, the third bearing 51, the fourth bearing 52, the fifth bearing 16 and the sixth bearing 17 can all adopt a shaft connection method similar to that of the first bearing 36 and the second bearing 37.

[0034] In this embodiment, the left and right swing components are linked with the first and second cameras to achieve synchronous rotation of the two cameras, ensuring the stability of the baseline and optical axis.

[0035] Example 4 Based on any of the above embodiments, such as Figures 1-4 As shown, the binocular fixing beam 5 in this embodiment has a U-shaped structure. Both ends of the binocular fixing beam 5 extend forward and are used to rotatably connect the first camera 4 and the second camera 41, respectively. The two ends of the binocular fixing beam 5 are rotatably connected to the bottom of the first camera 4 and the bottom of the second camera 41 via a third bearing 51 and a fourth bearing 52, respectively. The central axes of the third bearing 51 and the fourth bearing 52 are both arranged vertically. By setting the U-shaped binocular fixing beam and combining it with the rigid transmission of the drive unit, there is no irreversible deformation under long-term vibration and torque.

[0036] Example 5 Based on any of the above embodiments, such as Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the pitch lever 6 in this embodiment has a bent structure with the middle part bent upwards; the output shaft of the second drive unit 13 extends to the left and right, the second connector 14 is arranged vertically and its lower end is fixedly connected to the output shaft of the second drive unit 13, the upper end of the second connector 14 is rotatably connected to the rear end of the pitch lever 6, and the front end of the pitch lever 6 is rotatably connected to the upper end of the first frame 2.

[0037] Example 6 Based on any of the above embodiments, such as Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the support portion in this embodiment includes two support blocks 11. The first frame 2 is rotatably mounted on the two support blocks 11 via a fifth bearing 16 and a sixth bearing 17, respectively. The central axes of the fifth bearing 16 and the sixth bearing 17 extend to the left and right. By providing a clearance hole in the center of the front end of the mounting plate, the first drive unit can be tilted within the clearance hole under force, avoiding interference with the mounting plate.

[0038] like Figure 1 , Figure 2 , Figure 5 and Figure 6As shown, the binocular camera with automatic viewing angle adjustment in this embodiment also includes a mounting plate 1 and a backplate bracket 71. The second drive unit 13 is fixed on the mounting plate 1, and the support unit is fixed on the upper front surface of the mounting plate. A clearance hole is provided in the middle of the front end of the mounting plate, and the first drive unit is suspended in the clearance hole. The two support blocks are respectively located on the mounting plate on the left and right sides of the clearance hole. The backplate bracket 71 is fixed to the rear end of the binocular fixing beam 5 and is arranged vertically. The main control board 7 is fixed on the backplate bracket 71 and is electrically connected to the first drive unit 21 and the second drive unit 13 respectively. The main control board 7 can be a commonly used existing main control board 7, used to control the two drive units to adjust according to set requirements. The control program in the main control board is not the focus of this patent. This patent mainly provides an automatically adjustable structure for a binocular camera, and the specific adjustment process can be designed as needed.

[0039] Example 7 This embodiment provides a vehicle including an automatically adjustable binocular camera as described in any one of embodiments 1 to 6, and a vehicle body. The support is mounted on the vehicle body. The support can be directly fixed to the vehicle body, or the mounting plate 1 can be fixed to the vehicle body. In this embodiment, a foot block 18 can be fixed to the back of the mounting plate 1 to facilitate installation and fixation with the vehicle body.

[0040] The vehicle in this embodiment has an assisted driving system, which is a commonly used system in existing automotive intelligent driving systems. Its functions are mature. This embodiment can use an automatically adjustable binocular camera to provide accurate data support for the various functional modules of the automotive assisted driving system.

[0041] In this embodiment, vibrations generated by the vehicle body are first attenuated by high-damping foot blocks to filter high-frequency vibrations. The remaining vibrations are transmitted to the suspension rotation assembly (pitch bars, etc.) via the mounting plate and backplate bracket. Secondary vibration reduction is achieved by suppressing structural resonance through the high-rigidity structure of the U-shaped binocular fixed beam and rotating connectors. Tertiary vibration reduction is completed by blocking the transmission of rigid vibrations to the camera through the stress isolation structure of the support block. The main control board acquires image data in real time and performs motion blur correction and electronic image stabilization on the acquired images based on vibration characteristics. This embodiment also utilizes multiple fixing structures for the lens mount and camera to prevent component loosening, outputting stable imaging and ranging data.

[0042] In actual operation, when the driver assistance system needs to adjust the horizontal observation angle—for example, when changing lanes and monitoring adjacent lanes, turning and expanding the field of vision, or dynamically tracking the position of a target—the main control board sends an angle adjustment command to the first drive unit. Upon receiving the control signal, the first drive unit's output shaft begins to rotate, outputting torque. This torque is first transmitted to the rigidly connected first frame. The rotational motion of the first drive unit's output shaft is converted into precise horizontal displacement of the left and right swing members via the first connecting member. The left and right swing members are rigidly fixed to the rotating connecting members, thus the horizontal displacement of the left and right swing members is directly transmitted to the rotating connecting members (the first and second rotating connecting members). The rotating connecting members carry the binocular fixed beam and the first and second cameras fixed on it, rotating left and right around precision bearings (the third and fourth bearings) installed on the left and right swing members. These bearings, as the sole rotational fulcrum of the entire suspension assembly, provide low-friction, sway-free rotational freedom.

[0043] Throughout the entire driving process, the first and second cameras rotate synchronously as a single rigid body, rather than being driven separately on the left and right sides. Since the first and second cameras are part of the same rigid body, their relative positional relationship remains unchanged during rotation. Regardless of the horizontal angle to which the cameras rotate, the left and right optical axes remain parallel, ensuring the epipolar constraint of binocular stereo vision is always valid. This allows the stereo matching algorithm to perform fast and accurate 3D ranging without real-time calibration of extrinsic parameters. Simultaneously, both the first and second cameras are fixed to the same U-shaped binocular fixed beam, which does not deform during rotation. Therefore, the baseline length remains constant throughout the adjustment range, structurally eliminating ranging errors caused by baseline changes. Furthermore, the adjustment torque of the driving unit acts on the external rotating connector and the binocular fixed beam, which in turn supports the lens mount through a stress isolation structure. The torque transmission link terminates at the binocular fixed beam and does not continue to the photosensitive circuit and lens itself. The core acquisition unit is not subjected to any external force during adjustment.

[0044] When a vehicle needs to adjust its vertical viewing angle due to different operating conditions—for example, when going uphill and the road ahead enters a blind spot requiring an upward view, or going downhill requiring a downward view of the nearby road, or when the initial field of vision shifts due to differences in installation height between different vehicle models, or when changes in vehicle load cause changes in vehicle posture—the main control board sends a pitch adjustment command to the second drive unit. Upon receiving the command, the second drive unit rotates its output shaft, and its output end is rigidly connected to one end of the pitch lever. The rotational motion of the second drive unit is converted into a linear push-pull motion of the pitch lever through the crank structure (second connecting piece) at the output end. The two ends of the pitch lever are movably connected to the second connecting piece and the first frame, typically using ball joints or pins, providing rotational freedom in the pitch direction. When the pitch lever is pushed forward, it applies a forward thrust to the first frame. The torque generated by this thrust causes the first frame and its camera assembly to rotate downwards around the fifth and sixth bearings, causing the entire binocular fixed beam and lens assembly to look downwards. When the pitch lever is pulled backwards, the torque direction is reversed, causing the first frame and its camera assembly to rotate upwards, causing the binocular assembly to look upwards. The magnitude of the rotation angle of the second drive unit directly determines the push-pull stroke of the pitch lever, thereby precisely controlling the pitch angle. Pitch adjustment ensures that under different slopes and loads, the binocular camera can completely include the region of interest in the common field of view of the left and right lenses, ensuring that the target object is always within the binocular overlapping field of view, providing a basis for stereo matching and distance calculation. Similar to horizontal rotation, the pitch action is a holistic movement of the entire suspension assembly. The relative position between the left and right lenses does not change during the pitch process, the optical axis parallelism and baseline length are maintained throughout the pitch adjustment, and the stereo matching accuracy is not affected.

[0045] This embodiment employs multiple synergistic measures to ensure high system stability. The camera is mounted to the vehicle body via foot blocks made of a high-damping elastic material, which are compressed between the mounting plate and the vehicle body mounting surface to form an elastic interlayer. When vehicle vibrations are transmitted to the camera, the internal friction of the molecular chains within the foot block material converts the vibrational kinetic energy into heat energy, effectively attenuating high-frequency vibrations and reducing the total vibrational energy entering the camera structure from the source. This results in the output of continuous, stable, and low-error binocular visual data to the driver assistance system.

[0046] In this embodiment, a vehicle equipped with the aforementioned automatically adjustable binocular camera can meet the requirements for long-term use under complex operating conditions, thereby improving the safety of assisted driving. The lens and photosensitive unit in this embodiment are stably positioned without shifting, exhibiting good binocular synchronization and significantly reducing data acquisition errors.

[0047] Example 8 This embodiment provides a vehicle viewing angle adjustment method for the vehicle described in Embodiment 7, including the following steps: S1, the automatic viewing angle adjustment binocular camera is powered on and initialized, and the mechanical structure is reset to the reference angle. The main control board 7 performs self-tests on each device and the communication link. S2, when all devices and communication links are operating normally, the vehicle's built-in driver assistance system identifies the vehicle's driving conditions in real time, and sends a perspective adjustment command to the main control board 7 when the vehicle's driving conditions change; the vehicle's driving conditions include driving speed, uphill and downhill attitude, steering action, changes in vehicle load, etc.

[0048] S3, the main control board 7 receives the viewing angle adjustment command. The main control board also needs to distinguish between horizontal angle adjustment command, pitch angle adjustment command, and dual-dimensional linkage angle adjustment command, and control the first drive unit 21 or / and the second drive unit 13 to run to the target angle according to the viewing angle adjustment command, so as to adjust the deflection angle of the first camera 4 or / and the second camera 41. Both the first drive unit 21 and the second drive unit 13 have built-in position encoders. The position encoders are used to feed back the real-time running angle of the drive unit and send it to the main control board 7. The main control board 7 is used to determine whether the difference between the real-time running angle and the target angle is not greater than a preset deviation threshold. When the difference is not greater than the preset deviation threshold, the adjustment is determined to be complete. In this embodiment, the position encoder and the main control board are used to realize closed-loop control of the target angle.

[0049] S4, after the angle of the first camera 4 or / and the second camera 41 is adjusted, the first camera 4 or / and the second camera 41 continuously collects image data and uploads the collected image data to the driver assistance system.

[0050] This embodiment utilizes the driver assistance system to monitor changes in driving conditions in real time and cyclically executes the process of condition recognition and perspective adjustment.

[0051] In S1, the main control board 7 performs self-tests on each device and the communication link, including the main control board being used to collect in real time the operating parameters of the first drive unit 21 and the second drive unit 13, the imaging signals of the first camera 4 and the second camera 41, and the communication link data, and to determine the working status of the first drive unit 21, the second drive unit 13, the first camera 4, the second camera 41, and the communication link. S2 further includes the following: when the first drive unit 21 and the second drive unit 13 malfunction, the main control board 7 immediately cuts off the control signals of the first drive unit 21 and the second drive unit 13 and locks the drive angles of the first drive unit 21 and the second drive unit 13; when the first camera 4 and the second camera 41 exhibit abnormal imaging, the main control board 7 immediately cuts off the control signals of the first drive unit 21 and the second drive unit 13 and locks the drive angles of the first drive unit 21 and the second drive unit 13; and retains the last effective field-of-view data captured by the first camera 4 and the second camera 41; the main control board 7 uploads fault codes to the driver assistance system through the communication interface, completes audible and visual or system pop-up warnings, and reminds the backend and drivers to check and repair.

[0052] In this embodiment, the horizontal adjustment adopts an overall rigid body motion mode. The adjustment torque only acts on the external rigid structure, and the core imaging device is subjected to zero force. The binocular baseline and optical axis remain unchanged throughout the entire process, and the stereo vision does not require recalibration of parameters.

[0053] In this embodiment, when all device module parameters are normal, the self-test process runs silently, and the device continuously performs adaptive angle adjustment, image acquisition, and distance measurement data output according to the operating condition instructions.

[0054] In this embodiment, the main control board has a built-in status monitoring unit, instruction parsing unit, and control drive unit, which undertake the core functions of detecting the working status of related equipment, parsing vehicle-mounted instructions, and controlling the servo motor drive.

[0055] During the operation of the equipment in this embodiment (equipment refers to each piece of equipment that needs to be powered on), the status monitoring unit on the main control board continuously monitors the operating status of each hardware module in real time. If there is no fault, the camera performs normal angle adjustment, image acquisition, and data transmission; once an abnormality is detected, the current angle is immediately locked, the angle adjustment action is stopped, and at the same time, a fault alarm and corresponding code are pushed to the upper-level vehicle-mounted driver assistance system to maintain the existing imaging field of view and ensure basic perception capabilities.

[0056] After the device is powered on, it completes initialization and self-test. The main control board listens for commands in real time. When there are no commands, it continues to image and measure distance. After receiving a command, it parses the parameters and drives the servo motor to complete the viewing angle adjustment. The entire process is based on a rigid body structure to ensure the stability of the binocular parameters and runs in a loop.

[0057] The vehicle viewing angle adjustment method in this embodiment can achieve adaptive adjustment of the viewing angle of the vehicle-mounted binocular camera. When the binocular camera malfunctions, the drive unit can be stopped, and the current viewing angle can be locked using the self-locking characteristic of the drive unit, thus stopping the angle adjustment action and realizing fault protection for the binocular camera.

[0058] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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. Therefore, they should not be construed as limitations on this invention.

[0059] 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 at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0060] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "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 direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0061] In this invention, unless otherwise explicitly 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," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply 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 that the first feature is at a lower horizontal level than the second feature.

[0062] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "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 the present invention. 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0063] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An automatically adjustable viewing angle binocular camera, characterized in that, The device includes a first frame, a first drive unit, a second drive unit, a support unit, a first camera, a second camera, a pitch lever, a binocular fixed beam, a main control board, and left and right swing components. The first frame is mounted on the support unit and can pitch and swing back and forth around its left and right extension axes. The first drive unit is mounted on the first frame, and its output shaft is rotatably connected to the middle of the left and right swing components via a first connector. The left and right ends of the left and right swing components are rotatably connected to the top of the first camera and the top of the second camera, respectively, via a first rotating connector and a second rotating connector, respectively. The middle of the binocular fixed beam is fixedly connected to the rear end of the first frame, and its two ends are rotatably connected to the bottom of the first camera and the bottom of the second camera, respectively. The pitch lever is positioned across the left and right swing components, with one end rotatably connected to the upper end of the first frame. The output shaft of the second drive unit is rotatably connected to the other end of the pitch lever via a second connector. The main control board is electrically connected to both the first drive unit and the second drive unit.

2. The binocular camera with automatic viewing angle adjustment according to claim 1, characterized in that, The output shaft of the first drive unit is arranged vertically, one end of the first connector is vertically fixed on the output shaft of the first drive unit, the middle part of the left and right swing members protrudes forward to form a middle connecting protrusion, and the other end of the first connector is rotatably connected to the middle connecting protrusion through the vertically arranged middle connecting shaft.

3. The binocular camera with automatic viewing angle adjustment according to claim 1, characterized in that, The left and right ends of the left and right swing members respectively protrude forward to form a first connecting protrusion and a second connecting protrusion. The first rotating connector is rotatably connected to the first connecting protrusion through a first connecting shaft, and the second rotating connector is rotatably connected to the second connecting protrusion through a second connecting shaft. Both the first connecting shaft and the second connecting shaft are arranged vertically.

4. The binocular camera with automatic viewing angle adjustment according to claim 3, characterized in that, The first connecting shaft is fixed on the first rotating connector, the second connecting shaft is fixed on the second rotating connector, the first connecting shaft is rotatably connected to the first connecting protrusion through the first bearing, and the second connecting shaft is rotatably connected to the second connecting protrusion through the second bearing.

5. The binocular camera with automatic viewing angle adjustment according to claim 1, characterized in that, The binocular fixed beam has a U-shaped structure, with both ends extending forward and used to rotatably connect the first camera and the second camera, respectively. The two ends of the binocular fixed beam are rotatably connected to the bottom of the first camera and the bottom of the second camera via a third bearing and a fourth bearing, respectively. The central axes of the third bearing and the fourth bearing are both arranged vertically.

6. The binocular camera with automatic viewing angle adjustment according to claim 1, characterized in that, The pitch lever has a bent structure with the middle part bent upwards; the output shaft of the second drive unit extends to the left and right, the second connector is arranged vertically and its lower end is fixedly connected to the output shaft of the second drive unit, the upper end of the second connector is rotatably connected to the rear end of the pitch lever, and the front end of the pitch lever is rotatably connected to the upper end of the first frame.

7. The binocular camera with automatic viewing angle adjustment according to claim 1, characterized in that, It also includes a mounting plate and a backplate bracket. The support part is fixed to the front upper surface of the mounting plate. An avoidance hole is opened in the middle of the front end of the mounting plate, and the first drive part is suspended in the avoidance hole. The support part includes two support blocks, which are respectively located on the mounting plate on the left and right sides of the avoidance hole. The backplate bracket is fixed to the rear end of the binocular fixed beam and arranged vertically. The main control board is fixed on the backplate bracket.

8. A vehicle, characterized in that, The device includes an automatically adjustable binocular camera as described in any one of claims 1 to 7, and also includes a vehicle body, wherein the support is mounted on the vehicle body.

9. The vehicle viewing angle adjustment method of claim 8, characterized in that, Includes the following steps: S1, the automatic viewing angle adjustment binocular camera is powered on and initialized, and the mechanical structure is reset to the reference angle. The main control board performs self-tests on each device and the communication link. S2, when all devices and communication links are operating normally, the vehicle's built-in driver assistance system identifies the vehicle's driving conditions in real time, and sends a viewing angle adjustment command to the main control board when the vehicle's driving conditions change. S3, the main control board receives the viewing angle adjustment command and controls the first drive unit or / and the second drive unit to run to the target angle according to the viewing angle adjustment command, so as to adjust the deflection angle of the first camera or / and the second camera; Both the first drive unit and the second drive unit have built-in position encoders. The position encoders are used to feed back the real-time running angle of the drive unit and send it to the main control board. The main control board is used to determine whether the difference between the real-time running angle and the target angle is not greater than a preset deviation threshold. When the difference is not greater than the preset deviation threshold, the adjustment is determined to be complete. S4, after the angle of the first camera and / or the second camera is adjusted, the first camera and / or the second camera continuously collect image data and upload the collected image data to the driver assistance system.

10. The vehicle viewing angle adjustment method according to claim 9, characterized in that, In S1, the main control board performs self-tests on each device and communication link, including the main control board collecting the operating parameters of the first drive unit and the second drive unit, the imaging signals of the first camera and the second camera, and the communication link data in real time, and determining the working status of the first drive unit, the second drive unit, the first camera, the second camera, and the communication link. S2 further includes: when the first drive unit and the second drive unit are stuck in operation, the main control board immediately cuts off the control signals of the first drive unit and the second drive unit, and locks the drive angle of the first drive unit and the second drive unit; when the first camera and the second camera are abnormal in imaging, the main control board immediately cuts off the control signals of the first drive unit and the second drive unit, locks the drive angle of the first drive unit and the second drive unit; and retains the last effective field of view data captured by the first camera and the second camera. The main control board uploads fault codes to the driver assistance system via a communication interface, and issues audible and visual warnings or system pop-up warnings.

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