Crawler-type data acquisition vehicle

Abstract

The utility model belongs to the technical field of catenary chute detection, and discloses a crawler-type data acquisition vehicle which is used for acquiring geometric parameters and state parameters of a chute in a tunnel, a vehicle frame walks in the tunnel, a high-definition camera is configured to acquire the state parameters of the chute, and a tilt angle sensor is configured to detect the tilt angle of the vehicle frame. The three-dimensional scanner is configured to collect shape parameters of the sliding groove, the laser radar is configured to collect depth parameters of the sliding groove, the controller receives collected data of the high-definition camera, the three-dimensional scanner and the laser radar, the sliding groove is accurately drawn through an image algorithm, cloud data are formed, the automation degree is high, and the detection efficiency is high. The control device receives and analyzes detection information of the tilt angle sensor, controls the leveling device to drive the three-dimensional scanner to rotate with the first direction and / or the second direction as the axis, ensures that the three-dimensional scanner is kept horizontal, and improves the accuracy of data acquisition.

Description

Technical Field

[0001] The utility model relates to the technical field of contact network chute detection, in particular to a crawler type data collection vehicle. Background Art

[0002] The contact network of electrified railways is an important component of train power generation. However, the contact network in tunnel environments requires special attention because the space inside the tunnel is limited and easily affected by various factors, such as water seepage in the tunnel wall and structural deformation. The chute (or guide trough) is a device used to guide the contact wire (or contact conductor) to ensure good contact between the pantograph and the contact wire. The chute geometry includes but is not limited to parameters such as the chute position, height, and inclination angle. These parameters are crucial to ensure that the train can draw power safely and smoothly.

[0003] Catenary tunnel chute geometry inspection typically refers to the regular inspection or maintenance of the catenary and related facilities within electrified railway tunnels. This work aims to promptly identify and repair any issues that could lead to poor contact, thereby improving the safety and reliability of railway operations. Existing methods for catenary tunnel chute geometry inspection typically involve operators carrying inspection tools to measure chute parameters on a ladder platform, covering approximately two kilometers per day. These methods suffer from numerous drawbacks, including low efficiency, high labor costs, low accuracy, the inability to perform continuous measurement, and the risk of operators falling from height. Utility Model Content

[0004] The purpose of the utility model is to provide a crawler-type data collection vehicle with a high degree of automation, high detection accuracy and high efficiency.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] A crawler-type data acquisition vehicle is used to collect geometric parameters and state parameters of a chute in a tunnel, including:

[0007] The crawler chassis includes a frame, crawler tracks, a driving wheel, an idler wheel, and a travel drive mechanism. The driving wheel and the idler wheel are mounted on the frame, the crawler transmission is wound around the driving wheel and the idler wheel, and the travel drive mechanism is configured to drive the driving wheel to rotate and drive the crawler transmission;

[0008] a collection system comprising a high-definition camera, an inclination sensor, a three-dimensional scanner, and a laser radar integrated with the vehicle frame, wherein the high-definition camera is configured to collect state parameters of the chute, the inclination sensor is configured to detect the inclination of the vehicle frame, the three-dimensional scanner is configured to collect shape parameters of the chute, and the laser radar is configured to collect depth parameters of the chute;

[0009] An execution system includes a leveling device, wherein the leveling device is configured to drive the three-dimensional scanner to rotate along a first direction and / or a second direction, wherein the first direction is parallel to the X-axis and the second direction is parallel to the Y-axis;

[0010] A controller is connected to the high-definition camera, the inclination sensor, the three-dimensional scanner, the laser radar and the leveling device, and is configured to receive the collected data from the high-definition camera, the three-dimensional scanner and the laser radar and form cloud data. It is also configured to receive and analyze the detection information of the inclination sensor, and then control the leveling device to level the three-dimensional scanner.

[0011] Preferably, a mounting cavity extending to the top of the frame is provided inside the frame, the leveling device includes a first adjustment component, a base and a second adjustment component, the three-dimensional scanner is mounted on the top of the base, the first adjustment component is rotatably mounted in the mounting cavity, the first adjustment component is configured to drive the base to rotate about a first direction as an axis, the second adjustment component is rotatably mounted on the base, and the second adjustment component is configured to drive the three-dimensional scanner to rotate about a second direction as an axis.

[0012] Preferably, the first adjustment assembly includes a first rotating shaft, a first rotating motor and a first connecting member. The first rotating shaft is rotatably arranged in the mounting cavity and is arranged along the first direction. The first rotating motor is installed in the mounting cavity and its output end is driven and connected to the end of the first rotating shaft. The first rotating motor is configured to drive the first rotating shaft to rotate. The base is connected to the first rotating shaft through the first connecting member.

[0013] Preferably, the first connecting member includes a plurality of first connecting plates, two adjacent first connecting plates are arranged at an angle, the bottom of the first connecting plate is connected to the first rotation axis along the first direction, and the top of the first connecting plate is connected to the base.

[0014] Preferably, the second adjustment assembly includes a second rotating shaft, a second rotating motor and a second connecting member. The second rotating shaft is rotatably arranged on the base and is arranged along the second direction. The second rotating motor is installed on the base and its output end is driven and connected to the end of the second rotating shaft. The second rotating motor is configured to drive the second rotating shaft to rotate. The three-dimensional scanner is connected to the second rotating shaft through the second connecting member.

[0015] Preferably, the second connecting member comprises a plurality of second connecting plates, two adjacent second connecting plates are arranged at an angle, the bottom of the second connecting plate is connected to the second rotation axis along the second direction, and the top of the second connecting plate is connected to the three-dimensional scanner.

[0016] Preferably, the leveling device further includes a carrying platform, the top of the second connecting plate is connected to the carrying platform, and the three-dimensional scanner is installed on the top of the carrying platform.

[0017] Preferably, a communication system is further included, the controller is connected to the communication system, the controller is configured to transmit the cloud data to the communication system, and the communication system is configured to wirelessly transmit the cloud data to the background.

[0018] Preferably, the execution system further includes a gimbal, which is mounted on the vehicle frame, the high-definition camera is mounted on the gimbal, the gimbal is connected to the controller, and the controller is configured to control the gimbal to adjust the imaging angle of the high-definition camera.

[0019] Preferably, a hard disk recorder is integrated inside the vehicle frame, the high-definition camera is connected to the hard disk recorder, and the hard disk recorder is configured to store imaging information of the high-definition camera.

[0020] Beneficial effects of the utility model:

[0021] The utility model provides a crawler data acquisition vehicle for collecting geometric parameters and state parameters of a chute in a tunnel. The crawler chassis includes a frame, and the crawler transmission drives the frame to move in the tunnel. The acquisition system includes a high-definition camera, an inclination sensor, a three-dimensional scanner and a laser radar integrated with the frame. The high-definition camera is configured to collect the state parameters of the chute, the inclination sensor is configured to detect the inclination of the frame, the three-dimensional scanner is configured to collect the shape parameters of the chute, and the laser radar is configured to collect the depth parameters of the chute. The execution system includes a leveling device, and the leveling device is configured to drive the three-dimensional scanner to rotate with a first direction and / or a second direction as an axis, the first direction is parallel to the X-axis, and the second direction is parallel to the X-axis. On the Y-axis, the controller is connected to the high-definition camera, the inclination sensor, the three-dimensional scanner, the laser radar and the leveling device, and is configured to receive the data collected by the high-definition camera, the three-dimensional scanner and the laser radar and form cloud data. It is also configured to receive and analyze the detection information of the inclination sensor, and then control the leveling device to level the three-dimensional scanner; after receiving the state parameters, shape parameters and depth parameters of the chute, the controller accurately draws the chute through the image algorithm to form cloud data, with a high degree of automation and fast detection efficiency. In addition, during the acquisition process, based on the detection information of the inclination sensor, the leveling device is controlled to drive the three-dimensional scanner to rotate with the first direction and / or the second direction as the axis to ensure that the three-dimensional scanner remains level and the data accuracy is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a structural diagram of a crawler-type data acquisition vehicle provided by an embodiment of the utility model;

[0023] Figure 2 It is a structural schematic diagram of the leveling device provided by an embodiment of the utility model.

[0024] In the picture:

[0025] 11. Track; 12. Frame; 13. Laser obstacle avoidance radar; 21. High-definition camera; 3. Leveling device; 31. First rotating axis; 32. First rotating motor; 33. First connecting plate; 34. Base; 35. Second rotating axis; 36. Second rotating motor; 37. Second connecting plate; 38. Carrying platform. DETAILED DESCRIPTION

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all of its components.

[0027] In the description of this utility model, unless otherwise specified or limited, the terms "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0028] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0029] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0030] This embodiment provides a crawler-type data acquisition vehicle for collecting geometric parameters and state parameters of a chute in a tunnel, with a high degree of automation, high detection accuracy and efficiency.

[0031] See also Figure 1 A crawler data acquisition vehicle includes a crawler chassis, a collection system, an execution system and a controller, wherein the collection system, the execution system and the controller are all integrated on the frame 12 of the crawler chassis. The crawler chassis moves in the tunnel. During this process, the collection system collects the geometric parameters and state parameters of the chute and transmits the data to the controller, which processes the data to form cloud data. The execution system controls the inclination angle of some structures in the collection system to ensure the accuracy of the data collected by the collection system and realize all-terrain detection.

[0032] The crawler-type data collection vehicle provided in this embodiment realizes automation of data collection by setting up a collection system and a controller, while improving detection efficiency and improving detection accuracy by setting up an execution system.

[0033] Specifically, the crawler chassis comprises a frame 12, crawler tracks 11, driving wheels, and idler wheels. Both the driving wheels and idler wheels are mounted on the frame 12, and the crawler tracks 11 are wound around them. The crawler tracks 11 have excellent obstacle-crossing and grade-climbing capabilities, making them suitable for complex tunnel conditions. Furthermore, a travel drive mechanism is located within the crawler chassis. This drive mechanism is configured to drive the driving wheels, thereby driving the crawler tracks 11, and thus the frame 12, to travel within the tunnel.

[0034] Optionally, the driving source of the travel driving mechanism is a rotating driving member such as a motor, which can realize the rotation of the driving wheel and is not specifically limited here.

[0035] Preferably, the travel drive mechanism is connected to a controller, and the controller is used to control the starting and traveling speed of the vehicle frame 12.

[0036] Further preferably, a laser obstacle avoidance radar 13 is provided at the head of the vehicle frame 12 , and the laser obstacle avoidance radar 13 is connected to a controller. The laser obstacle avoidance radar 13 can identify obstacles ahead through laser detection and transmit the information to the controller.

[0037] Specifically, the acquisition system includes a high-definition camera 21, a three-dimensional scanner and a laser radar, wherein the high-definition camera 21 is used to perform high-definition imaging of the chute and then collect the state parameters of the chute, the three-dimensional scanner is configured to collect the shape parameters of the chute, and the laser radar is configured to collect the depth parameters of the chute.

[0038] Preferably, the high-definition camera 21 is provided with a plurality of chutes on both sides for high-definition imaging. Further preferably, a hard disk recorder is integrated into the vehicle frame 12, and the high-definition camera 21 is connected to the hard disk recorder. The high-definition camera 21 transmits imaging information to the hard disk recorder, which stores the imaging information of the high-definition camera 21 for later reference.

[0039] Furthermore, the high-definition camera 21, 3D scanner, and laser radar are all connected to the controller. After receiving the state parameters, shape parameters, and depth parameters of the chute, the controller accurately draws the chute using an image algorithm, generating cloud data. Furthermore, this embodiment also includes a communication system, to which the controller is connected. The controller transmits cloud data to the communication system, which then wirelessly transmits the cloud data to the backend.

[0040] Preferably, in this embodiment, the high-definition camera 21 is installed on a pan-tilt head, which is connected to a controller. The controller controls the pan-tilt head to adjust the imaging angle of the high-definition camera 21, thereby forming a comprehensive chute image under complex tunnel conditions to ensure data integrity.

[0041] Optionally, each set of high-definition cameras 21 and pan-tilt heads are mounted on the top of the frame 12 and are relatively arranged in the edge areas on both sides to scan and image the slides on both sides. The three-dimensional scanner is mounted on the top of the frame 12 and is located in the middle area. The laser radar is mounted on the side or top of the frame 12.

[0042] Furthermore, due to the complex working conditions inside the tunnel, the inclination of the vehicle frame 12 may change during its movement, thereby causing the 3D scanner to tilt and affecting the accuracy of the data collected by the 3D scanner. Therefore, this embodiment also includes a tilt sensor configured to detect the inclination of the vehicle frame 12. The tilt sensor is further connected to a controller, which receives the detection information from the tilt sensor and calculates the output value required by the execution system to adjust the 3D scanner to a horizontal state, thereby controlling the execution system to level the 3D scanner.

[0043] Specifically, the execution system includes a leveling device 3 connected to the controller. The leveling device 3 can drive the 3D scanner to rotate about a first direction, a second direction, or both, thereby adjusting the 3D scanner to a horizontal position. Preferably, the first direction is parallel to the X-axis, and the second direction is parallel to the Y-axis.

[0044] In this embodiment, the inclination of the frame 12 is detected by an inclination sensor, and the controller calculates the rotation angle a° about the first direction and the rotation angle b° about the second direction required to adjust the three-dimensional scanner to a horizontal state. The leveling device 3 is further controlled to rotate a° about the first direction and b° about the second direction to level the three-dimensional scanner. This has a high degree of automation and improves the accuracy of data acquisition.

[0045] Specifically, the leveling device 3 includes a first adjustment component and a second adjustment component. The first adjustment component is used to drive the three-dimensional scanner to rotate about a first direction as an axis, and the second adjustment component is used to drive the three-dimensional scanner to rotate about a second direction as an axis.

[0046] Specifically, the leveling device 3 also includes a base 34 and a mounting platform 38. A mounting cavity is defined within the vehicle frame 12 and extends to the top of the vehicle frame 12. A first adjustment assembly is rotatably mounted in the mounting cavity. The first adjustment assembly is connected to the base 34, and the second adjustment assembly is rotatably mounted to the base 34. The mounting platform 38 is connected to the second adjustment assembly, and the 3D scanner is mounted on top of the mounting platform 38. The first adjustment assembly drives the base 34 to rotate about a first axis, thereby driving the 3D scanner mounted on the mounting platform 38 to rotate about the first axis. The second adjustment assembly drives the mounting platform 38 to rotate about a second axis, thereby driving the 3D scanner to rotate about the second axis.

[0047] Through the above arrangement, this embodiment can realize that the three-dimensional scanner rotates about the first direction and the second direction at the same time, thereby avoiding interference between the two states.

[0048] Preferably, the bottom of the three-dimensional scanner in this embodiment is bolted to the mounting platform 38, which has a certain connection strength and is easy to disassemble and assemble.

[0049] For example, see Figure 2 The first adjustment component includes a first rotating shaft 31, a first rotating motor 32 and a first connecting member, wherein the first rotating shaft 31 is arranged in the installation cavity to rotate along the first direction, the first rotating motor 32 is installed in the installation cavity, and the output end of the first rotating motor 32 is driven and connected to the end of the first rotating shaft 31, and the base 34 is connected to the first rotating shaft 31 through the first connecting member. The first rotating motor 32 is configured to drive the first rotating shaft 31 to rotate, thereby driving the base 34 to rotate with the first direction as the axis.

[0050] Preferably, two first rotating motors 32 are provided, and the output ends of the two first rotating motors 32 are respectively driven and connected to the two ends of the first rotating shaft 31. On the one hand, by providing two first rotating motors 32, the two first rotating motors 32 are both connected to the controller. When the controller issues an instruction to rotate a°, the two first rotating motors 32 can avoid excessive rotation of each other. On the other hand, the first rotating shaft 31 is prevented from uncontrolled free rotation.

[0051] Furthermore, the first connecting member includes multiple first connecting plates 33, each of which is arranged at an angle to each other. That is, the multiple first connecting plates 33 are shaped like an open book. The bottom of each first connecting plate 33 is connected to the first rotating shaft 31 along the first direction, and the top of each first connecting plate 33 is connected to the bottom of the base 34. The provision of multiple first connecting plates 33 increases the connection strength between the first rotating shaft 31 and the base 34, thereby improving the accuracy of torque transmission.

[0052] For example, the second adjustment component includes a second rotating shaft 35, a second rotating motor 36 and a second connecting member, wherein the second rotating shaft 35 is arranged on the base 34 to rotate along the second direction, the second rotating motor 36 is installed on the base 34, and the output end of the second rotating motor 36 is driven and connected to the end of the second rotating shaft 35, the carrying platform 38 is connected to the second rotating shaft 35 through the second connecting member, and the second rotating motor 36 is configured to drive the second rotating shaft 35 to rotate, thereby driving the carrying platform 38 and the three-dimensional scanner thereon to rotate with the second direction as the axis.

[0053] Preferably, two second rotating motors 36 are provided, and the output ends of the two second rotating motors 36 are respectively driven and connected to the two ends of the second rotating shaft 35. On the one hand, by providing two second rotating motors 36, the two second rotating motors 36 are both connected to the controller. When the controller issues an instruction to rotate b°, the two second rotating motors 36 can avoid excessive rotation of each other. On the other hand, the second rotating shaft 35 is prevented from uncontrolled free rotation.

[0054] Furthermore, the second connecting member includes multiple second connecting plates 37, each of which is arranged at an angle to each other. In other words, the multiple second connecting plates 37 are shaped like an open book. The bottom of each second connecting plate 37 is connected to the second rotating shaft 35 along the second direction, and the top of each second connecting plate 37 is connected to the bottom of the mounting platform 38. The provision of multiple second connecting plates 37 increases the connection strength between the second rotating shaft 35 and the mounting platform 38, thereby improving the accuracy of torque transmission.

[0055] The crawler data acquisition vehicle provided in this embodiment can collect the state parameters, shape parameters and depth parameters of the chute in the tunnel, and accurately draw the chute through an image algorithm to form cloud data. The data is accurate, the detection efficiency is fast, and the degree of automation is high.

[0056] Obviously, the above-described embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the manner in which the present invention is to be implemented. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A crawler data acquisition vehicle for collecting geometric parameters and state parameters of a chute in a tunnel, characterized in that: include: A crawler chassis comprises a vehicle frame (12), a crawler track (11), a driving wheel, an induction wheel and a travel drive mechanism, wherein the driving wheel and the induction wheel are mounted on the vehicle frame (12), the crawler track (11) is wound around the driving wheel and the induction wheel, and the travel drive mechanism is configured to drive the driving wheel to rotate and drive the crawler track (11) to transmit; A collection system comprising a high-definition camera (21), an inclination sensor, a three-dimensional scanner, and a laser radar integrated in the vehicle frame (12), wherein the high-definition camera (21) is configured to collect state parameters of the chute, the inclination sensor is configured to detect the inclination of the vehicle frame (12), the three-dimensional scanner is configured to collect shape parameters of the chute, and the laser radar is configured to collect depth parameters of the chute; The execution system comprises a leveling device (3), wherein the leveling device (3) is configured to drive the three-dimensional scanner to rotate along a first direction and / or a second direction, wherein the first direction is parallel to the X axis and the second direction is parallel to the Y axis; A controller is connected to the high-definition camera (21), the inclination sensor, the three-dimensional scanner, the laser radar and the leveling device (3), and is configured to receive the collected data of the high-definition camera (21), the three-dimensional scanner and the laser radar and form cloud data, and is also configured to receive and analyze the detection information of the inclination sensor, thereby controlling the leveling device (3) to level the three-dimensional scanner.

2. The crawler-type data collection vehicle according to claim 1, characterized in that: The frame (12) is provided with a mounting cavity extending to the top thereof. The leveling device (3) includes a first adjustment component, a base (34) and a second adjustment component. The three-dimensional scanner is mounted on the top of the base (34). The first adjustment component is rotatably mounted in the mounting cavity. The first adjustment component is configured to drive the base (34) to rotate with a first direction as an axis. The second adjustment component is rotatably mounted on the base (34). The second adjustment component is configured to drive the three-dimensional scanner to rotate with a second direction as an axis.

3. The crawler-type data collection vehicle according to claim 2, characterized in that: The first adjustment component includes a first rotating shaft (31), a first rotating motor (32) and a first connecting member, wherein the first rotating shaft (31) is rotatably arranged in the installation cavity and is arranged along the first direction, the first rotating motor (32) is installed in the installation cavity and its output end is driven and connected to the end of the first rotating shaft (31), the first rotating motor (32) is configured to drive the first rotating shaft (31) to rotate, and the base (34) is connected to the first rotating shaft (31) through the first connecting member.

4. The crawler-type data collection vehicle according to claim 3, characterized in that: The first connecting member comprises a plurality of first connecting plates (33), wherein two adjacent first connecting plates (33) are arranged at an angle, and the bottom of the first connecting plate (33) is connected to the first rotating shaft (31) along the first direction, and the top of the first connecting plate (33) is connected to the base (34).

5. The crawler-type data collection vehicle according to claim 2, characterized in that: The second adjustment component includes a second rotating shaft (35), a second rotating motor (36) and a second connecting member. The second rotating shaft (35) is rotatably arranged on the base (34) and is arranged along the second direction. The second rotating motor (36) is installed on the base (34) and its output end is driven and connected to the end of the second rotating shaft (35). The second rotating motor (36) is configured to drive the second rotating shaft (35) to rotate. The three-dimensional scanner is connected to the second rotating shaft (35) through the second connecting member.

6. The crawler-type data collection vehicle according to claim 5, characterized in that: The second connecting member comprises a plurality of second connecting plates (37), two adjacent second connecting plates (37) are arranged at an angle, the bottom of the second connecting plate (37) is connected to the second rotating shaft (35) along the second direction, and the top of the second connecting plate (37) is connected to the three-dimensional scanner.

7. The crawler-type data collection vehicle according to claim 6, characterized in that: The leveling device (3) further comprises a carrying platform (38), the top of the second connecting plate (37) is connected to the carrying platform (38), and the three-dimensional scanner is installed on the top of the carrying platform (38).

8. A crawler-type data collection vehicle according to any one of claims 1 to 7, characterized in that: It also includes a communication system, the controller is connected to the communication system, the controller is configured to transmit the cloud data to the communication system, and the communication system is configured to wirelessly transmit the cloud data to a background.

9. A crawler-type data collection vehicle according to any one of claims 1 to 7, characterized in that: The execution system further comprises a pan-tilt platform, the pan-tilt platform being mounted on the vehicle frame (12), the high-definition camera (21) being mounted on the pan-tilt platform, the pan-tilt platform being connected to the controller, and the controller being configured to control the pan-tilt platform to adjust the imaging angle of the high-definition camera (21).

10. The crawler-type data collection vehicle according to any one of claims 1 to 7, characterized in that: A hard disk recorder is integrated inside the vehicle frame (12), the high-definition camera (21) is connected to the hard disk recorder, and the hard disk recorder is configured to store imaging information of the high-definition camera (21).

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