Helmet equipment for modal data acquisition

Abstract

The embodiment of the utility model discloses helmet equipment for modal data acquisition. The helmet equipment comprises a helmet main body 1; the bracket assembly is fixedly connected to the helmet main body 1, the bracket assembly comprises a plurality of mounting positions for mounting image capturing equipment, and the mounting positions can move and / or rotate based on the bracket assembly; a plurality of image capture devices, one image capture device is installed on one installation position of the support assembly, and the image capture devices move and / or rotate based on the support assembly through the corresponding installation positions so as to obtain different capture angles and are used for capturing image data and uploading the image data to the industrial personal computer; the motion data acquisition module 5 is arranged behind the helmet main body 1 and is used for acquiring motion data of the head and uploading the motion data to the industrial personal computer; the sound acquisition module 6 is arranged at the top of the helmet main body 1 and is used for acquiring external sound data and uploading the external sound data to the industrial personal computer; according to the method, the multi-modal data with consistent time can be acquired, and the integrity of data acquisition is improved.

Description

Technical Field

[0001] This application relates to the technical field of wearable devices, and particularly to a helmet device for modal data acquisition. Background Art

[0002] Multimodal data refers to data from multiple different types of sensors, such as images, audio, point clouds, and inertial measurement unit (IMU) data. High-quality multimodal data is a key element used in artificial intelligence algorithms during powerful predictive analysis. Therefore, many fields have an urgent need for high-quality multimodal data, such as autonomous driving, robot navigation, virtual reality (VR), augmented reality (AR), and human-computer interaction, etc.

[0003] However, most of the data acquisition devices on the market can only collect single-modal data. For example, a head-mounted camera can only collect image data, a lapel microphone can only collect audio data, and a strap-type inertial measurement unit can only collect motion data. This single-modal data may not be sufficient to provide comprehensive environmental information in some application scenarios, thus limiting the performance and application scope of artificial intelligence algorithms. Summary of the Invention

[0004] An embodiment of this application discloses a helmet device for modal data acquisition, which can collect multimodal data with consistent time and improve the integrity of data acquisition.

[0005] An embodiment of this application discloses a helmet device for modal data acquisition, which may include:

[0006] A helmet main body 1;

[0007] A bracket assembly, the bracket assembly is fixedly connected to the helmet main body 1, the bracket assembly includes a plurality of mounting positions for installing an image capture device, and the mounting positions can move and / or rotate based on the bracket assembly;

[0008] A plurality of image capture devices, one image capture device is installed on one of the mounting positions of the bracket assembly, and the image capture device moves and / or rotates based on the bracket assembly through the corresponding mounting position to obtain different capture angles for capturing image data and uploading it to an industrial control computer;

[0009] A motion data acquisition module 5, which is arranged at the back of the helmet main body 1 and is used for collecting the motion data of the head and uploading it to the industrial control computer;

[0010] The sound collection module 6 is arranged on the top of the helmet main body 1 and is used for collecting external sound data and uploading it to the industrial control computer.

[0011] In an implementable manner, the bracket assembly includes:

[0012] The first bracket body, which includes a first base 201, a first bracket 202 and a second bracket 203. The first base 201 is fixedly connected to the front of the helmet main body 1. The first bracket 202 and the second bracket 203 are connected to the first base 201. There is a first installation position on the first bracket 202, and there are two such first installation positions on the second bracket 203;

[0013] The second bracket body, which includes two groups of sliding components 301 and two third brackets. The two groups of sliding components 301 are respectively arranged on the two side surfaces of the helmet main body 1. One third bracket is installed on one sliding component 301 and slides relatively along the sliding component 301. There is a second installation position on each of the two third brackets;

[0014] The third bracket body, which includes a second base 401 and a fourth bracket 402. The second base 401 is fixedly connected to the front of the helmet main body 1. The fourth bracket 402 is connected to the second base 401. There is a third installation position on the fourth bracket 402.

[0015] In an implementable manner, the sliding component 301 includes a card slot track, and the third bracket includes a card slot slide rail 3021, a third base 3022, a column 3023 and a fourth base 3024;

[0016] The card slot slide rail 3021 is connected to the third base 3022. There is a hole on the third base 3022, and there is a hole on the fourth base 3024. The column 3023 passes through the hole of the third base 3022 and the hole of the fourth base 3024. One end of the column 3023 protruding out of the fourth base 3024 is provided with the second installation position;

[0017] The card slot slide rail 3021 slides relatively along the card slot track.

[0018] In an implementable manner, the fourth base 3024 includes a first shell and a second shell. Installation holes are provided on the first shell and the second shell, and the first shell and the second shell are fixed by screws using the installation holes.

[0019] In an implementable manner, both the first bracket 202 and the second bracket 203 are three-axis pan-tilt heads;

[0020] The second bracket 203 is a horizontal bracket, and the first mounting position on the second bracket 203 is horizontally movable along the second bracket 203.

[0021] In an implementable manner, a depth image capture device for capturing a color image is mounted on the first mounting position, and the depth image capture device can move and / or rotate based on the first bracket 202 or the second bracket 203 to obtain different capture angles;

[0022] A two-dimensional image capture device for capturing a two-dimensional color image is mounted on the second mounting position, and the two-dimensional image capture device obtains different capture angles when the third bracket slides along the sliding assembly 301;

[0023] A wide-angle image capture device for capturing a wide-angle image is mounted on the third mounting position.

[0024] In an implementable manner, the depth image capture device is an RGBD camera 2 for capturing color image data and depth image data;

[0025] The two-dimensional image capture device is a monocular RGB camera 3 for capturing two-dimensional color image data;

[0026] The wide-angle image capture device is a fish-eye RGB camera 4 for capturing ultra-wide-angle image data.

[0027] In an implementable manner, a counterweight is fixed to the rear end of the helmet body 1 for adjusting the center of gravity of the entire helmet body 1 so that it is located at the geometric center of the helmet body 1.

[0028] In an implementable manner, the helmet device further includes:

[0029] A head circumference adjustment system is provided on the inner side of the helmet body 1 for adjusting the tightness of the head space formed by the helmet body 1.

[0030] In an implementable manner, the motion data acquisition module 5 includes an inertial measurement unit IMU for acquiring the linear acceleration and angular velocity of the head.

[0031] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0032] The helmet device disclosed in the embodiments of the present application includes a helmet main body 1, a plurality of image capture devices, a bracket assembly disposed on the helmet main body 1, a motion data acquisition module 5, and a sound acquisition module 6. An image capture device is placed on an installation position of the bracket assembly, and the image capture device moves and / or rotates through the corresponding installation position to obtain different capture angles, for capturing image data and uploading it to an industrial control computer. The motion data acquisition module 5 is disposed at the back of the helmet main body 1, for collecting the motion data of the head and uploading it to the industrial control computer. The sound acquisition module 6 is disposed on the top of the helmet main body 1, for collecting external sound data and uploading it to the industrial control computer. By implementing this helmet device, by setting a bracket assembly on the helmet main body 1, a plurality of image capture devices can be installed. At the same time, a motion data acquisition module and a sound acquisition module are also set on the helmet main body 1. Using this helmet device, multi-modal data acquisition can be completed, comprehensive environmental data can be obtained, and the multi-modal data collected will be immediately uploaded to the industrial control computer, which can make the multi-modal data collected meet consistency in time and improve the integrity of data acquisition. Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0034] Figure 1 It is the front view of the helmet device disclosed in the embodiments of the present application;

[0035] Figure 2 It is the side view of the helmet device disclosed in Embodiment 1 of the present application;

[0036] Figure 3 It is the top view of the helmet device disclosed in Embodiment 1 of the present application;

[0037] Figure 4 It is the top view of the helmet device disclosed in Embodiment 2 of the present application;

[0038] Figure 5 It is the top view of the helmet device disclosed in Embodiment 3 of the present application;

[0039] Figure 6 It is the side view of the helmet device disclosed in Embodiment 2 of the present application;

[0040] Figure 7 It is the structural schematic diagram of the fish-eye RGB camera disclosed in the embodiments of the present application.

[0041] Description of the Reference Numerals:

[0042] 1. Helmet main body; 2. RGBD camera; 3. Monocular RGB camera; 4. Fish-eye RGB camera; 5. Motion data acquisition module; 6. Sound acquisition module; 201. First base; 202. First bracket; 203. Second bracket; 301. Sliding assembly; 401. Second base; 402. Fourth bracket; 3021. Card slot slide rail; 3022. Third base; 3023. Cylinder; 3024. Fourth base. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0044] In the present invention, the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. is based on the orientation or positional relationship shown in the accompanying drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit that the indicated devices, elements or components must have a specific orientation, or be constructed and operated in a specific orientation.

[0045] Moreover, in addition to being able to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present invention can be understood according to the specific situation.

[0046] In addition, the terms "installed", "set up", "provided with", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific situation.

[0047] In addition, terms such as "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise stated, the meaning of "a plurality" is two or more.

[0048] The technical solution of the present application will be further described below in conjunction with specific embodiments and the accompanying drawings.

[0049] An embodiment of the present application discloses a helmet device for modal data acquisition, which can collect multi-modal data with consistent time, improve the integrity of data acquisition, and can provide reliable multi-modal data for fields such as autonomous driving, robot navigation, virtual reality (VR), augmented reality (AR), and human-computer interaction that have requirements for high-quality multi-modal data.

[0050] First, some concepts related to the embodiments of the present application will be briefly introduced.

[0051] Multi-modal data: refers to data collected for a thing to be described through different methods or perspectives.

[0052] RGBD camera: a camera that combines RGB (red, green, blue) imaging function and depth perception function.

[0053] Monocular RGB camera: a camera that captures and records color information of three colors, namely red, green, and blue, through one lens and one image sensor.

[0054] Fisheye RGB camera: an RGB camera with an ultra-wide-angle lens, usually capable of providing a field of view of 180 degrees or more.

[0055] Microphone array: a system composed of multiple microphones arranged in a specific geometry, capable of collecting and processing the spatial sound field by capturing sound signals.

[0056] Inertial Measurement Unit (IMU): a device used to measure the motion state of an object in three-dimensional space.

[0057] Please refer to Figures 1 to 7 As shown, the helmet device provided by the embodiment of the present application includes: a helmet main body 1; a bracket assembly fixedly connected to the helmet main body 1, the bracket assembly includes a plurality of mounting positions for mounting image capture devices, and the mounting positions can move and / or rotate based on the bracket assembly; a plurality of image capture devices, one image capture device is mounted on one mounting position of the bracket assembly, and the image capture device moves and / or rotates based on the bracket assembly through the corresponding mounting position to obtain different capture angles for capturing image data and uploading it to an industrial control computer; a motion data acquisition module 5, arranged at the back of the helmet main body 1, for collecting the motion data of the head and uploading it to the industrial control computer; a sound acquisition module 6, arranged on the top of the helmet main body 1, for collecting external sound data and uploading it to the industrial control computer.

[0058] Among them, the bracket assembly is fixedly connected to the helmet main body 1. Multiple mounting positions for installing image capture devices are set through the bracket assembly, and then multiple image capture devices are installed to capture image data. Moreover, the image capture devices can move and / or rotate based on the corresponding mounting positions and the bracket assembly, so that different capture angles can be obtained, realizing the comprehensiveness of image data collection.

[0059] Optionally, the image capture devices move and / or rotate based on the corresponding mounting positions and the bracket assembly to obtain different capture angles, which means that the mounting positions themselves can rotate, and / or the mounting positions can move relative to the bracket assembly, so as to adjust the image capture devices to obtain different capture angles, ensuring that the main visual field range of the human eyes is covered and improving the integrity of data collection.

[0060] Relative to the helmet main body 1, the bracket assembly is mainly arranged on the front and / or the left and right sides of the helmet main body 1. Among them, the front and / or the left and right sides refer to the front and / or the left and right sides on the outer layer of the helmet main body 1.

[0061] Among them, the motion data acquisition module 5 is arranged on the back of the helmet main body 1, which means it is arranged on the back on the outer layer of the helmet main body 1; the sound acquisition module 6 is arranged on the top of the helmet main body 1, which can refer to being arranged at the middle position on the top on the outer layer of the helmet main body 1.

[0062] Optionally, multiple image capture devices can be connected to the industrial control computer by wire, and the motion data acquisition module 5 and the sound acquisition module 6 are also connected to the industrial control computer by wire. Exemplarily, the image capture devices, the motion data acquisition module 5 and the sound acquisition module 6 are connected to the industrial control computer through a USB cable. Among them, after multiple image capture devices capture image data, the motion data acquisition module 5 acquires motion data, and the sound acquisition module 6 acquires sound data, they will be uploaded to the industrial control computer. Since the upload delay is short and can be ignored, after the industrial control computer receives various data, it processes the data and uses its system timestamp to perform time synchronization for various data. Therefore, it can be realized that the multi-modal data collected in the embodiments of the present application is consistent in time.

[0063] Through the above embodiments, in the helmet device disclosed in the embodiments of the present application, multiple image capture devices, a motion data acquisition module 5 and a sound acquisition module 6 can be reasonably arranged on the helmet main body 1, multi-modal data can be collected, the consistency of the collected data in time can be realized, and the integrity of data collection can be improved.

[0064] Optionally, the helmet main body 1 can be made of lightweight materials, which can reduce the overall weight of the helmet device and make the helmet device have good wearing comfort. Optionally, the helmet main body 1 includes an external rigid protective layer and an internal lining layer. The lining layer is a flexible cushion that directly contacts the head. The above-mentioned bracket assembly, motion data acquisition module 5, sound acquisition module 6, etc. are arranged on the outer surface of the rigid protective layer.

[0065] Optionally, the helmet device further includes a counterweight. Considering the installation positions of the multiple image capture devices, motion data acquisition module 5, and sound acquisition module 6, counterweights are arranged at corresponding positions of the helmet main body to ensure uniform force on the wearer's cervical vertebrae and eliminate the need for additional effort to maintain the balance of the helmet device. Preferably, in the embodiment of the present application, the counterweight can be fixed at the rear end of the helmet main body 1, that is, inside the external rigid protective layer, which can be used to adjust the center of gravity of the entire helmet main body 1 so that the center of gravity is located at the geometric center of the helmet main body 1.

[0066] Optionally, the helmet device further includes a head circumference adjustment system. The head circumference adjustment system is installed below the inner part of the helmet main body 1, that is, below the inner protective layer. The head circumference adjustment system includes a head circumference adjustment gear, which faces the rear of the helmet main body 1. By rotating the head circumference adjustment gear, the tightness of the head space obtained by the helmet main body can be adjusted, so that the helmet device disclosed in the embodiment of the present application is suitable for a head circumference of 55 - 60 cm, meeting the needs of most wearers.

[0067] Further combined with Figures 1 - 7 , the above-mentioned bracket assembly includes:

[0068] The first bracket body, which includes a first base 201, a first bracket 202, and a second bracket 203. The first base 201 is fixedly connected to the front of the helmet main body 1. The first bracket 202 and the second bracket 203 are connected to the first base 201. There is a first mounting position on the first bracket 202, and two first mounting positions are provided on the second bracket 203;

[0069] The second bracket body, which includes two sets of sliding components 301 and two third brackets. The two sets of sliding components 301 are respectively arranged on the two side surfaces of the helmet main body (the left and right side surfaces of the helmet main body). One third bracket is installed on one sliding component 301 and slides relative to the sliding component 301. Each of the two third brackets is provided with a second mounting position;

[0070] The third bracket body, which includes a second base 401 and a fourth bracket 402. The second base 401 is fixedly connected to the front of the helmet main body 1. The fourth bracket 402 is connected to the second base 401. There is a third mounting position on the fourth bracket 402.

[0071] The above-mentioned bracket assembly includes a first bracket body, a second bracket body, and a third bracket body for installing different image capture devices. Among them, the first bracket body is fixedly connected to the front of the helmet body 1 through a first base 201. First mounting positions are provided at the ends of the first bracket 202 and the second bracket 203, and a depth image capture device for capturing color images is installed at the first mounting positions. The depth image capture device can move and / or rotate based on the first bracket (202) or the second bracket (203) to obtain different capture angles.

[0072] Optionally, both the first bracket 202 and the second bracket 203 are three-axis gimbals, which can rotate up and down, enabling the depth image capture devices mounted on the first bracket 202 and the second bracket 203 to obtain different capture angles during up and down rotation.

[0073] Optionally, the second bracket 203 is a transverse bracket, and the first mounting position on the second bracket 203 can move horizontally along the second bracket 203. Through horizontal movement, the two depth image capture devices on the second bracket 203 can be arranged on both sides of the helmet body 1, that is, near the left and right eyes, so as to obtain a wider field of view coverage and capture more comprehensive depth color image data at different angles.

[0074] Optionally, the depth image capture device can be an RGBD camera 2. In the embodiment of the present application, 3 RGBD cameras 2 can be installed through the first bracket body, which can cover the main field of view of the human eye and improve the integrity of data collection.

[0075] Furthermore, in an implementable manner, the above-mentioned sliding component 301 includes a slot track, and the third bracket includes a slot slide rail 3021, a third base 3022, a column 3023, and a fourth base 3024; the slot slide rail 3021 is connected to the third base 3022, a hole is provided on the third base 3022, a hole is provided on the fourth base 3024, the column 3023 passes through the hole of the third base 3022 and the hole of the fourth base 3024, and a second mounting position is provided at one end of the column 3023 that protrudes from the fourth base 3024; the slot slide rail 3021 slides relative to the slot track.

[0076] In the above-mentioned implementation manner, the third bracket provided with the second mounting position is slidably connected to the slot track through the included slot slide rail 3021. The slot track is provided on the outer surfaces of the two sides of the helmet body 1, that is, on the outer layer of the outer hard protective layer, so as to arrange image capture devices near the left and right eyes of the wearer.

[0077] Optionally, a two-dimensional image capture device for capturing two-dimensional color images is installed at the second installation position. The two-dimensional image capture device obtains different capture angles when the third bracket slides along the sliding component 301, so as to be able to obtain a wider capture angle.

[0078] Optionally, the two-dimensional image capture device can be a monocular RGB camera 3 for capturing two-dimensional color image data.

[0079] Further optionally, the fourth base 3024 includes a first housing and a second housing. Installation holes are provided on the first housing and the second housing, and the first housing and the second housing are fixed by screws using the installation holes.

[0080] Please refer to Figure 7 , in Figure 7 , the third bracket body includes a second base 401 and a fourth bracket 402. The second base 401 is fixedly connected to the front of the helmet body 1 and can be above the first base 201. The fourth bracket 402 is connected to the second base 401, and a third installation position is provided on the fourth bracket 402. A wide-angle image capture device for capturing wide-angle images is installed at the third installation position.

[0081] Optionally, the wide-angle image capture device is a fish-eye RGB camera 4 for capturing ultra-wide-angle image data and can provide a field of view of 180 degrees or more.

[0082] Optionally, the motion data acquisition module 5 can include an IMU, which is arranged at the back of the helmet body and can be connected to the industrial computer through a USB cable. It can collect the linear acceleration and angular velocity of the head, and then obtain the position and attitude of the head after being processed by the industrial computer, meeting the demand for comprehensive environmental data.

[0083] Optionally, the sound acquisition module 6 includes a microphone array, which is arranged at the center of the top of the helmet body 1 and is connected to the industrial computer through a USB cable. It can collect external environmental sound data and upload it to the industrial computer, meeting the demand for comprehensive environmental data.

[0084] The sound acquisition module 6 further includes a fifth base, which is fixedly connected to the center of the top of the helmet body 1, and the microphone array is arranged on the fifth base.

[0085] The microphone array is provided with:

[0086] UAC interface: audio output interface;

[0087] Independent power interface: power input interface;

[0088] Microphone interface: microphone pickup board 40 cable interface;

[0089] Reference signal interface: power amplifier / echo cancellation reference signal;

[0090] Serial port interface: communication interface with industrial control computer.

[0091] In addition, it should be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. To avoid unnecessary repetition, this application does not separately describe various possible combination methods.

[0092] In addition, any combination can be made between various different embodiments of this application, as long as it does not violate the idea of this application, it should also be regarded as the scope protected by this application.

Claims

1. A helmet device for modal data acquisition, characterized in that: include: Helmet body (1); A bracket assembly, the bracket assembly being fixedly connected to the helmet body (1), the bracket assembly comprising a plurality of mounting positions for mounting an image capture device, the mounting positions being movable and / or rotatable based on the bracket assembly; A plurality of image capture devices, one of the image capture devices is mounted on one of the mounting positions of the bracket assembly, and the image capture device moves and / or rotates based on the bracket assembly through the corresponding mounting position to obtain different capture angles, for capturing image data and uploading it to the industrial computer; A motion data collection module (5), arranged at the back of the helmet body (1), for collecting motion data of the head and uploading it to the industrial computer; A sound collection module (6) is arranged on the top of the helmet body (1) and is used to collect external sound data and upload it to the industrial computer.

2. The helmet device according to claim 1, characterized in that: The bracket assembly comprises: A first bracket body, the first bracket body comprising a first base (201), a first bracket (202) and a second bracket (203), the first base (201) being fixedly connected to the front of the helmet body (1), the first bracket (202) and the second bracket (203) being connected to the first base (201), the first bracket (202) being provided with a first mounting position, and the second bracket (203) being provided with two first mounting positions; A second bracket body, the second bracket body comprising two groups of sliding components (301) and two third brackets, the two groups of sliding components (301) are respectively arranged on two side surfaces of the helmet body (1), one third bracket is installed on one sliding component (301) and slides relatively along the sliding component (301), and each of the two third brackets is provided with a second mounting position; The third bracket body comprises a second base (401) and a fourth bracket (402), wherein the second base (401) is fixedly connected to the front of the helmet body (1), and the fourth bracket (402) is connected to the second base (401), and a third mounting position is provided on the fourth bracket (402).

3. The helmet device according to claim 2, characterized in that: The sliding assembly (301) comprises a slot rail, and the third bracket comprises a slot rail (3021), a third base (3022), a column (3023) and a fourth base (3024); The card slot slide rail (3021) is connected to the third base (3022), a hole is formed on the third base (3022), a hole is formed on the fourth base (3024), the column (3023) crosses the hole of the third base (3022) and the hole of the fourth base (3024), and the second installation position is provided at one end of the column (3023) that crosses out of the fourth base (3024); The card slot slide rail (3021) slides relatively along the card slot track.

4. The helmet device according to claim 3, characterized in that: The fourth base (3024) includes a first shell and a second shell. The first shell and the second shell are provided with mounting holes, and the first shell and the second shell are fixed by screws through the mounting holes.

5. The helmet device according to claim 2, characterized in that: The first bracket (202) and the second bracket (203) are both three-axis gimbals; The second bracket (203) is a transverse bracket, and the first mounting position on the second bracket (203) is movable horizontally along the second bracket (203).

6. The helmet device according to claim 2, characterized in that: A depth image capture device for capturing color images is mounted on the first mounting position, and the depth image capture device can be moved and / or rotated based on the first bracket (202) or the second bracket (203) to obtain different capture angles; A two-dimensional image capturing device for capturing a two-dimensional color image is mounted on the second mounting position, and the two-dimensional image capturing device obtains different capturing angles when the third bracket slides along the sliding assembly (301); A wide-angle image capturing device for capturing wide-angle images is installed on the third installation position.

7. The helmet device according to claim 6, characterized in that: The depth image capturing device is an RGBD camera (2) for capturing color image data and depth image data; The two-dimensional image capturing device is a monocular RGB camera (3) for capturing two-dimensional color image data; The wide-angle image capturing device is a fisheye RGB camera (4) for capturing ultra-wide-angle image data.

8. The helmet device according to claim 1, characterized in that: The helmet device also includes: A counterweight is fixed at the rear end of the helmet body (1) and is used to adjust the center of gravity of the entire helmet body (1) so that it is located at the geometric center of the helmet body (1).

9. The helmet device according to claim 1, characterized in that: The helmet device also includes: A head circumference adjustment system is arranged on the inner side of the helmet body (1) and is used to adjust the tightness of the head space formed by the helmet body (1).

10. The helmet device according to claim 1, characterized in that: The motion data acquisition module (5) comprises an inertial measurement unit (IMU) for collecting linear acceleration and angular velocity of the head; The sound collection module (6) comprises a microphone array, which is arranged at the center of the top of the helmet body (1).

Images