A gun camera pan / tilt bracket with azimuth and pitch angle measurement functions

Abstract

The utility model discloses a gun camera pan / tilt bracket with azimuth and pitch angle measurement functions, comprising: a fixed bracket, a rotating bracket, an outer frame bracket, a pan / tilt, a camera, an angle sensor, an inclination sensor, and a pan / tilt control unit; the outer frame bracket and the fixed bracket are connected through the rotating bracket, the pan / tilt is located at the connection between the fixed bracket and the rotating bracket, the angle sensor is located at the connection between the outer frame bracket and the rotating bracket, the camera is installed at the pan / tilt, and the inclination sensor is used to detect the inclination angle of the pan / tilt in real time. The angle sensor detects the rotation angle of the pan / tilt in the horizontal direction in real time, and the inclination sensor can accurately measure the inclination angle of the pan / tilt, thereby providing a basic posture perception capability for the pan / tilt bracket. By applying real-time image processing and feature point matching technology, the accuracy of angle measurement is improved, so that the system can cope with various complex environments.

Description

Technical Field

[0001] The utility model relates to a gun camera pan / tilt bracket, in particular to a gun camera pan / tilt bracket with azimuth and pitch angle measurement functions. Background Art

[0002] The PTZ is a supporting device for installing and fixing mobile phones, cameras, and camcorders. At present, with the development of information technology, especially the development of artificial intelligence technology, users have higher and higher requirements for PTZ cameras. Among them, the PTZ camera is a type of surveillance camera. The PTZ camera is mainly distinguished by the appearance and lens mounting interface. Surveillance cameras mainly include: gun-type PTZ cameras, small hemispheres, large hemispheres, all-in-one cameras, ball cameras, etc. Among them, the gun-type PTZ cameras are more commonly used in life. The gun-type PTZ camera can be rotated at multiple angles, such as vertical rotation and horizontal rotation.

[0003] The existing PTZ gun camera can realize the azimuth and pitch angle measurement sensors under the Pelco and other protocols and in the internal settings, so as to realize the control of azimuth and pitch movement. In many fields, such as navigation activities, monitoring security, etc., it is necessary to provide the azimuth of the monitored target during video monitoring. In multi-point monitoring, the location information of the target can be further obtained by referring to the geographical space position of the PTZ. Especially in remote observation, the azimuth of the PTZ target is of great significance.

[0004] However, in actual use, the existing gun camera pan / tilt will be affected by environmental factors such as wind and vibration, which may cause the angle of the camera to deviate. If it cannot be adjusted online in time, the accuracy and effectiveness of the monitoring image will be seriously affected.

[0005] Therefore, there is an urgent need for a gun camera pan / tilt bracket with azimuth and pitch angle measurement functions to solve the above technical problems. Utility Model Content

[0006] The utility model overcomes the shortcomings of the prior art and provides a gun camera pan / tilt bracket with the function of automatically correcting the detection angle.

[0007] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a gun camera pan / tilt bracket with automatic correction detection angle function, comprising: a fixed bracket, a rotating bracket, an outer frame bracket, a pan / tilt bracket, a camera, an angle sensor, a tilt sensor, and a pan / tilt bracket control unit;

[0008] The outer frame bracket is connected to the fixed bracket through the rotating bracket, the pan head is located at the connection between the fixed bracket and the rotating bracket, the angle sensor is located at the connection between the outer frame bracket and the rotating bracket, the camera is installed at the pan head, the inclination sensor is used to detect the inclination angle of the pan head in real time, and the pan head control unit is used to adjust the inclination angle of the pan head;

[0009] The pan-tilt control unit includes: a driving unit, an image acquisition unit, and a data processing unit; the image acquisition unit is used to obtain image information taken by the camera and pre-process the image information; the data processing unit is used to capture and process feature points in the image information to generate image descriptors, and the data processing unit is also used to match image descriptors of multiple images to generate image difference values; the driving unit is used to receive the difference value generated by the data processing unit and correct the tilt angle of the pan-tilt.

[0010] In a preferred embodiment of the present invention, the data processing unit performs point-to-point matching and comparison on the feature points of the current image and the subsequent image, captures the difference between the feature points, and generates an image difference.

[0011] In a preferred embodiment of the utility model, the outer frame bracket is mounted on a static base, and the north reference is obtained by using a magnetic compass, or geographic target measurement, or celestial orientation, and the static base is placed and the outer frame bracket is installed.

[0012] In a preferred embodiment of the utility model, the pan / tilt allows the camera to rotate 360° in the horizontal direction and 45° to 135° in the vertical direction.

[0013] In a preferred embodiment of the utility model, the fixed bracket, the rotating bracket and the outer frame bracket are all made of aluminum alloy or carbon fiber composite material.

[0014] In a preferred embodiment of the utility model, a U-shaped frame is arranged at the rotating bracket, and the open end of the U-shaped frame is connected to the pan / tilt head through a rotating shaft.

[0015] In a preferred embodiment of the present invention, the angle sensor, the rotating bracket, the camera and the pan / tilt head are all installed along the same center line.

[0016] In a preferred embodiment of the present invention, the center line is parallel to the outer frame support.

[0017] In a preferred embodiment of the utility model, the fixing bracket is connected to the outer frame bracket by welding or plugging, and the fixing bracket is perpendicular to the outer frame bracket.

[0018] In a preferred embodiment of the present invention, the inclination sensor is fixedly connected to the rotating bracket.

[0019] In a preferred embodiment of the utility model, based on the above-mentioned gun camera pan / tilt bracket with automatic correction detection angle function, a gun camera pan / tilt bracket angle correction method is provided, comprising the following steps:

[0020] S1, adjust the tilt angle of the gun camera pan / tilt bracket and calibrate the focal length and principal point coordinate parameters of the camera;

[0021] S2, using a camera to shoot a real-time image. After the image acquisition unit obtains the real-time image, it pre-processes the image and uses computer vision technology to extract feature points in the image to generate an image descriptor. The image descriptor is matched with feature points of subsequent images to generate a difference value between the images;

[0022] S3, the data processing unit uses a posture estimation method based on a basic matrix or an essential matrix to solve the rotation matrix and translation vector of the image using trigonometric functions according to the difference values ​​between the images, and extract the pitch angle and roll angle values ​​of the image;

[0023] S4, the driving unit receives the pitch angle and roll angle values ​​of the image obtained in step S3, and analyzes them in combination with the real-time angle of the gimbal detected by the angle sensor and the inclination sensor to obtain the gimbal angle error value. The driving unit corrects the inclination angle of the gimbal in real time according to the gimbal angle error value.

[0024] In a preferred embodiment of the present invention, in step S2, the image preprocessing includes pixel enhancement, denoising, contrast enhancement, and grayscale processing of the real-time image.

[0025] In a preferred embodiment of the present invention, in step S2, the computer vision technology adopts one of SIFT, SURF or ORB algorithms, and the feature points of the image include the boundary extreme values, scale invariance, rotation invariance, illumination invariance, and local features of the image.

[0026] In a preferred embodiment of the utility model, in step S2, a feature vector including image color, texture, shape, illumination, viewing angle, and scale value is generated for each feature point of the image, and the feature vectors of all feature points of the image are collected to generate a descriptor of the overall image.

[0027] In a preferred embodiment of the utility model, the difference value of the image is obtained by comparing the feature points of the current image with the subsequent image, including: the difference in feature point position, the difference in descriptors, the difference in rotation matrix and translation vector, and the difference in pitch angle and roll angle.

[0028] In a preferred embodiment of the present invention, the rotation matrix is ​​used to describe the rotation direction of the image, and the translation vector is used to describe the movement distance and direction of the image.

[0029] The utility model solves the defects existing in the background technology, and has the following beneficial effects:

[0030] (1) The utility model can detect the horizontal rotation angle of the pan-tilt head in real time through the angle sensor, and the tilt sensor can accurately measure the tilt angle of the pan-tilt head, thereby providing the pan-tilt head bracket with basic posture perception capabilities. The real-time image of the camera is obtained through the image acquisition unit, and the feature points in the image are extracted using computer vision technology. By comparing the difference in feature points between the images, the rotation and translation changes of the camera's posture are reflected, and the difference is further resolved by the data processing unit to achieve high-precision measurement of the camera angle. The drive unit obtains the error value of the camera angle and adjusts the tilt angle of the pan-tilt head in real time to correct the error, thereby improving the quality of monitoring or shooting. It not only improves the accuracy of angle measurement, but also ensures the stability of the camera through the real-time correction mechanism, thereby ensuring that the camera can always maintain the correct posture.

[0031] (2) The utility model not only improves the accuracy of angle measurement by applying real-time image processing and feature point matching technology, but also enables the system to cope with various complex environments. Regardless of whether the light is changing, obstructions are interfering, or the background is dynamic, the system can stably extract and match feature points to ensure the accuracy of the camera angle, and by introducing multi-sensor fusion technology, the stability and reliability of the gun camera pan / tilt bracket are further improved. By combining the information provided by computer vision technology and the real-time detection data of the angle sensor and the tilt sensor, the system can more comprehensively understand the posture status of the camera.

[0032] (3) The utility model uses the image content of the camera to correct the pitch angle of the gimbal. This method can provide additional information to calibrate and verify the measurement results of the physical sensor, thereby improving the attitude estimation accuracy of the entire system, and by combining azimuth angle measurement and pitch angle measurement, it improves the flexibility and accuracy of the monitoring system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 It is a structural schematic diagram of the bolt head bracket of the utility model;

[0035] Figure 2 The utility model is a flow chart of the angle correction method of the gun camera pan / tilt bracket.

[0036] In the figure: 1. fixed bracket; 2. rotating bracket; 3. outer frame bracket; 4. pan / tilt; 5. camera; 6. angle sensor; 7. tilt sensor. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0039] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention of the present utility model, unless otherwise specified, "multiple" means two or more.

[0040] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0041] like Figure 1 As shown, a gun camera pan / tilt bracket with automatic correction detection angle function includes: a fixed bracket 1, a rotating bracket 2, an outer frame bracket 3, a pan / tilt bracket 4, a camera 5, an angle sensor 6, a tilt sensor 7, and a pan / tilt bracket control unit;

[0042] The outer frame bracket 3 is connected to the fixed bracket 1 through the rotating bracket 2, the pan-tilt head 4 is located at the connection between the fixed bracket 1 and the rotating bracket 2, the angle sensor 6 is located at the connection between the outer frame bracket 3 and the rotating bracket 2, the camera 5 is installed on the pan-tilt head 4, the inclination sensor 7 is used to detect the inclination angle of the pan-tilt head 4 in real time, and the pan-tilt head control unit is used to adjust the inclination angle of the pan-tilt head 4.

[0043] The pan-tilt control unit includes: a driving unit, an image acquisition unit, and a data processing unit; the image acquisition unit is used to obtain image information taken by the camera and pre-process the image information; the data processing unit is used to capture and process feature points in the image information and generate image descriptors. The data processing unit is also used to match the image descriptors of multiple images and generate image difference values; the driving unit is used to receive the difference value generated by the data processing unit and correct the tilt angle of the pan-tilt.

[0044] In one embodiment, the outer frame bracket 3 is mounted on a static base, and the north reference is obtained by using a magnetic compass, or by measuring geographic targets, or by celestial orientation, and the static base is placed and the outer frame bracket is installed.

[0045] In one embodiment, the outer frame bracket 3 is mounted on a base of a moving carrier such as a ship, and the outer frame bracket is installed based on the bow position. The pan / tilt 4 allows the camera 5 to rotate 360° in the horizontal direction and 45° to 135° in the vertical direction. The fixed bracket 1, the rotating bracket 2, and the outer frame bracket 3 are all made of aluminum alloy or carbon fiber composite material.

[0046] like Figure 2 As shown, based on the above-mentioned gun camera pan / tilt bracket with automatic correction detection angle function, a gun camera pan / tilt bracket angle correction method is provided, comprising the following steps:

[0047] S1, adjust the tilt angle of the gun camera pan / tilt bracket and calibrate the focal length and principal point coordinate parameters of the camera;

[0048] S2, using a camera to shoot a real-time image. After the image acquisition unit obtains the real-time image, it pre-processes the image and uses computer vision technology to extract feature points in the image to generate an image descriptor. The image descriptor is matched with feature points of subsequent images to generate a difference value between the images;

[0049] In one embodiment, the preprocessing of the image includes pixel enhancement, denoising, contrast enhancement, and grayscale processing of the real-time image. Computer vision technology uses one of the SIFT, SURF, or ORB algorithms, and the feature points of the image include the boundary extreme values, scale invariance, rotation invariance, illumination invariance, and local features of the image. A feature vector containing image color, texture, shape, illumination, viewing angle, and scale value is generated for each feature point of the image, and the feature vectors of all feature points of the image are collected to generate a descriptor of the overall image. The difference value of the image is obtained by matching and comparing the feature points of the current image with the subsequent image, including: feature point position difference, descriptor difference, rotation matrix and translation vector difference, and pitch angle and roll angle difference.

[0050] S3, the data processing unit uses a posture estimation method based on a basic matrix or an essential matrix. According to the difference values ​​between the images, it uses trigonometric functions to solve the rotation matrix and translation vector of the image, and extracts the pitch angle and roll angle values ​​of the image; the rotation matrix is ​​used to describe the rotation direction of the image, and the translation vector is used to describe the moving distance and direction of the image.

[0051] S4, the driving unit receives the pitch angle and roll angle values ​​of the image obtained in step S3, and analyzes them in combination with the real-time angle of the gimbal detected by the angle sensor and the inclination sensor to obtain the gimbal angle error value. The driving unit corrects the inclination angle of the gimbal in real time according to the gimbal angle error value.

[0052] Embodiment 1

[0053] This embodiment is an application of the gun camera pan / tilt bracket in a static land environment, specifically an industrial site where the pan / tilt bracket is used to monitor the position of a target object in real time. The application installation steps are as follows:

[0054] (1) The fixed bracket, the rotating bracket, and the outer frame bracket are all made of aluminum alloy materials. The fixed bracket, the rotating bracket, the outer frame bracket, and the pan / tilt head are assembled in sequence, and then the camera is fixed on the pan / tilt head, and the angle sensor and the tilt sensor are installed on the bracket.

[0055] (2) The angle sensor and the inclination sensor are connected to the control unit. The control unit in this embodiment is implemented by a single-chip microcomputer of model STC12C5A60S2. Capacitor F, capacitor G, and crystal oscillator are connected between the XTAL2 terminal and the XTAL1 terminal of the single-chip microcomputer. Capacitor H and capacitor I are connected in parallel between the VCC terminal and the GND terminal of the single-chip microcomputer. The P4.7 / RST terminal of the single-chip microcomputer is grounded through a resistor A. The sensor arm is connected to P1.6 or (optional) of the single-chip microcomputer. The STC12C5A60S8 has a 10-bit A / D conversion that can realize the digitization of the angle (voltage DC: 0~+5V) signal, and the accuracy can reach 360° / 1024, that is: 0.3515625°. This system uses channels to ensure that the two wings of the bridge observe the target orientation. The sensor module in the conditioning circuit realizes the linear mapping of 0~360° angle measurement and 1~+5VDc. Use Keil uVision to program the inspection output sensor with 0 to 1024 working positions, design LED display on the board corresponding to the angle measurement, send the 0 to 1024 working positions to the host computer, and the azimuth angle is calculated by the host computer according to the fixed carrier or the mobile carrier.

[0056] (3) Set the initial pitch angle and roll angle of the gimbal to 15° and 25° respectively. The pitch angle is the angle of rotation around the Y axis with the ground as the reference line. The gimbal head is slightly tilted upward by 15° relative to the ground. The roll angle is the angle of rotation around the X axis with the ground as the reference line. The gimbal is tilted 25° to the left or right relative to the ground. In this embodiment, it is tilted 25° to the left.

[0057] In this embodiment, the process of achieving the pan / tilt angle correction is as follows:

[0058] With the target object as the origin of the coordinate system (0,0,0), a three-dimensional coordinate system is established, and the coordinates of the gimbal are determined to be (1,1,1). The rotation matrix A is: The parameters of the translation vector (1, 1, 1). Thus, the relevant parameters of the calibration camera are determined according to the coordinates of the pan / tilt, including the focal length of the camera is 8mm, the coordinates of the principal point are (cx960, cy540), and the camera can be ensured to clearly capture the target object.

[0059] The camera is turned on to capture images of the target object in real time, and the captured images are transmitted to the control unit. The image processing software in the control unit performs pixel enhancement, denoising, contrast enhancement, and grayscale processing on the images, thereby improving the contrast and edge clarity of the image.

[0060] After the processed image, the computer vision technology SIFT algorithm is used to extract the boundary extrema, scale invariance, rotation invariance, illumination invariance, and local features of the image in the image, and generate a feature point descriptor for the image at this moment, and save it in the image acquisition unit. The computer vision technology SIFT algorithm is then used to extract the boundary extrema, scale invariance, rotation invariance, illumination invariance, and local features of the image in the subsequent image, and generate a feature point descriptor for the subsequent image.

[0061] The image acquisition unit compares the feature point descriptors of the current image with the feature point descriptors of the subsequent image through the SURF (Speeded Up Robust Features) algorithm, and generates a difference value of the subsequent image with respect to the current image.

[0062] The data processing unit uses the basic matrix attitude estimation method, combined with the obtained difference value, to solve the gimbal rotation matrix B using trigonometric functions: And the translation vector (1.2, 1.8, 1.1), the solution process is:

[0063] From the rotation matrix B: It can be learned that:

[0064] The pitch angle is obtained by calculating the arc tangent of the elements of the first row, first column, and second column of the rotation matrix, which is 18°.

[0065] The roll angle is obtained by calculating the arc tangent of the elements of the second row, second column and third column of the rotation matrix, which is 36°.

[0066] The drive unit receives the data changes of the pitch angle and roll angle, and calculates the pitch angle error of the gimbal by difference calculation, which is 3°, the roll angle error is 21°, and the translation vector is (0.2, 0.8, 0.1). The drive unit corrects the tilt angle of the gimbal according to the error value to ensure that the initial pitch angle and roll angle values ​​of the gimbal are restored.

[0067] Embodiment 2

[0068] This embodiment is an application of a gun-type pan-tilt bracket in a dynamic marine environment, specifically a transport ship using the pan-tilt bracket to monitor the environment in front of the transport ship in real time. The application installation process is equivalent to the installation process in a static land environment, and the initial pitch angle and roll angle of the pan-tilt bracket are set to 0° and 30° respectively. The initial pitch angle of the pan-tilt bracket is set to 0° in order to ensure that the camera is always parallel to the hull, so as to achieve the effect of always detecting the environment in front of the hull.

[0069] With the front end of the bow as the origin of the coordinate system (0,0,0), a three-dimensional coordinate system is established, and the coordinates of the pan / tilt camera are determined to be (3,3,3), and the rotation matrix C is: The parameters of the translation vector (3, 3, 3). Thus, the relevant parameters of the calibration camera are determined according to the coordinates of the camera, including the focal length of the camera is 80mm, the coordinates of the principal point are (cx960, cy540), and the camera can clearly capture the situation in front of the hull.

[0070] The data processing unit uses the basic matrix attitude estimation method, combined with the obtained difference value, to solve the gimbal rotation matrix D using trigonometric functions: And the translation vector (4.1, 4.8, 4.4), the solution process is:

[0071] From the rotation matrix D: It can be learned that:

[0072] The pitch angle is obtained by calculating the arc tangent of the elements of the first row, first column, and second column of the rotation matrix, which is 54°.

[0073] The roll angle is obtained by calculating the arc tangent of the elements of the second row, second column and third column of the rotation matrix, which is 72°.

[0074] The drive unit receives the data changes of the pitch angle and roll angle, and calculates the pitch angle error value of the image by difference calculation, which is 54°, the roll angle error value is 42°, and the translation vector is (1.1, 1.8, 1.4). The drive unit corrects the tilt angle of the gimbal according to this error value to ensure that the initial pitch angle and roll angle values ​​of the gimbal are restored.

[0075] When the utility model is used, the fixed bracket, the rotating bracket, the outer frame bracket and the pan / tilt are assembled in sequence, the camera is fixed on the pan / tilt, the angle sensor and the tilt sensor are installed on the bracket, and the angle sensor and the tilt sensor are connected to the control unit;

[0076] After setting the initial parameter values ​​of the camera and using the camera to capture real-time images, the image acquisition unit preprocesses the captured images to improve the quality and clarity of the images; then the data processing unit uses computer vision technology to collect and extract feature points in the image and generate image descriptors; and then the image descriptors are matched with feature points of subsequent images to generate image difference values;

[0077] The data processing unit calculates the difference value to obtain the rotation matrix and translation vector of the gimbal, thereby determining the real-time angle of the gimbal. The drive unit calculates the angle error based on the real-time angle detected by the sensor and corrects the tilt angle of the gimbal in real time.

[0078] The above is based on the ideal embodiment of the utility model. Through the above description, relevant personnel can make various changes and modifications without deviating from the technical concept of the utility model. The technical scope of this utility model is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. A bolt head bracket with azimuth and pitch angle measurement functions, comprising: A fixed bracket, a rotating bracket, an outer frame bracket, a pan / tilt head, a camera, an angle sensor, a tilt sensor, and a pan / tilt head control unit; characterized in that: The outer frame bracket is connected to the fixed bracket through the rotating bracket, and the pan / tilt head is located on the fixed bracket. The fixed bracket is connected to the rotating bracket, the angle sensor is located at the connection between the outer frame bracket and the rotating bracket, the camera is installed at the pan head, the inclination sensor is used to detect the inclination angle of the pan head in real time, and the pan head control unit is used to adjust the inclination angle of the pan head.

2. The bolt head bracket with azimuth and pitch angle measurement function according to claim 1, characterized in that: The pan-tilt control unit includes: a driving unit, an image acquisition unit, and a data processing unit; the image acquisition unit is used to obtain image information taken by the camera and pre-process the image information; the data processing unit is used to capture and process feature points in the image information to generate image descriptors, and the data processing unit is also used to match image descriptors of multiple images to generate image difference values; the driving unit is used to receive the difference value generated by the data processing unit and correct the tilt angle of the pan-tilt.

3. The bolt head bracket with azimuth and pitch angle measurement function according to claim 1, characterized in that: The outer frame bracket is mounted on a static base, and the north reference is obtained by using a magnetic compass, or by measuring a geographical target, or by obtaining a celestial orientation, and the static base is placed and the outer frame bracket is installed.

4. The bolt head bracket with azimuth and pitch angle measurement function according to claim 1, characterized in that: The pan / tilt allows the camera to rotate 360° in the horizontal direction and 45° to 135° in the vertical direction.

5. The bolt head bracket with azimuth and pitch angle measurement function according to claim 1, characterized in that: The fixed bracket, the rotating bracket and the outer frame bracket are all made of aluminum alloy or carbon fiber composite material.

6. The bolt head bracket with azimuth and pitch angle measurement function according to claim 1, characterized in that: A U-shaped frame is arranged at the rotating bracket, and an open end of the U-shaped frame is connected to the pan / tilt head through a rotating shaft.

7. The bolt head bracket with azimuth and pitch angle measurement function according to claim 1, characterized in that: The angle sensor, the rotating bracket, the camera and the pan / tilt head are all installed along the same center line.

8. The bolt head bracket with azimuth and pitch angle measurement function according to claim 7, characterized in that: The center line is parallel to the outer frame support.

9. The bolt head bracket with azimuth and pitch angle measurement function according to claim 1, characterized in that: The fixing bracket is connected to the outer frame bracket by welding or plugging, and the fixing bracket is perpendicular to the outer frame bracket.

10. The bolt head bracket with azimuth and pitch angle measurement function according to claim 1, characterized in that: The inclination sensor is fixedly connected to the rotating bracket.

Images