Camera ranging system

Abstract

This invention provides a camera ranging system, including a base assembly and a rotating assembly. The base assembly includes a base body, a drive mechanism, a camera mechanism, and a controller. The drive mechanism has a rotating component capable of outputting rotational motion, and the rotation axis of the rotating component coincides with the optical axis of the camera mechanism. The rotating assembly includes a rotating seat, a reflector, and a lens structure. The rotating seat is driven to rotate by the rotating component. The lens structure is used to receive and adjust light, and the reflector is used to reflect the light incident through the lens structure to the camera mechanism. The camera ranging system provided by this invention only requires one camera mechanism to measure the distance to the object under test. Moreover, the rotating assembly can rotate 360 ​​degrees to detect the object under test at different circumferential positions, achieving 360-degree panoramic ranging. Furthermore, the rotating assembly has no electrical components and no internal cables, preventing cable entanglement during rotation.

Description

Technical Field

[0001] This utility model belongs to the field of ranging technology, and more specifically, relates to a camera ranging system. Background Technology

[0002] Binocular cameras, based on biomimetic principles, simulate human parallax by using two horizontally arranged cameras to simultaneously capture scene images from different perspectives. Due to the fixed distance between the left and right cameras (baseline distance), the same object appears differently in the two images (parallax), with the magnitude of parallax inversely proportional to the distance from the object to the camera. Stereo matching algorithms are used to analyze the differences between corresponding pixels, and triangulation principles are combined to calculate depth information, ultimately generating 3D spatial data. This data is widely used in fields such as robot navigation, 3D reconstruction, and virtual reality. Specifically, when two cameras capture the same scene, the captured images will differ due to their positional differences. By comparing corresponding points in these images, the parallax between them can be calculated. Then, combined with camera parameters (such as focal length and baseline distance), triangulation principles can be used to calculate the 3D coordinates of the object.

[0003] However, current ranging systems require at least two cameras, and the distance between the two cameras is fixed (baseline distance is fixed), which limits the detection range and the applicable scenarios. Utility Model Content

[0004] The purpose of this utility model embodiment is to provide a camera ranging system to solve the technical problems of existing technologies that require at least two cameras and have a limited detection range.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: to provide a camera ranging system, comprising:

[0006] A base assembly includes a base body, a drive mechanism disposed within the base body, a camera mechanism disposed within the base body, and a controller for controlling the drive mechanism. The drive mechanism has a rotating component capable of outputting rotational motion, the rotation axis of the rotating component coinciding with the optical axis of the camera mechanism.

[0007] A rotating assembly includes a rotating base, a reflector fixed to the rotating base, and a lens structure fixed to the rotating base. The rotating base is driven to rotate by the rotating member. The lens structure is used to receive and adjust light. The reflector is used to reflect light incident through the lens structure to the camera mechanism.

[0008] Optionally, the side of the rotating base where the lens structure is located is the first side, and the side opposite to the first side is the second side;

[0009] The density of the rotating seat on the first side is less than the density of the rotating seat on the second side; or, the rotating seat is provided with a counterweight on the second side.

[0010] Optionally, the optical axis of the lens structure is perpendicular to the optical axis of the camera structure, the reflector has a reflective surface, and the reflective surface is set at an acute angle to the optical axis of the lens structure and the optical axis of the camera structure.

[0011] Optionally, the orthographic projection of the field of view of the camera setup along the optical axis of the camera setup is located within the orthographic projection of the reflective surface along the optical axis of the camera setup.

[0012] Optionally, the rotating component is cylindrical, the camera mechanism is disposed inside the rotating component, and the camera mechanism and the inner peripheral wall of the rotating component are spaced apart from each other.

[0013] Optionally, a rotating bearing is provided between the outer peripheral wall of the rotating component and the inner peripheral wall of the base body.

[0014] Optionally, the driving mechanism includes a driver, a first transmission wheel, and a second transmission wheel. The driver is fixed to the base body, and the motion output end of the driver is connected to the first transmission wheel and is used to drive the first transmission wheel to rotate. The second transmission wheel is driven to rotate by the first transmission wheel, and the rotating component is fixedly connected to the second transmission wheel.

[0015] Optionally, the first transmission wheel and the second transmission wheel are gears, and the first transmission wheel and the second transmission wheel mesh with each other; or,

[0016] Both the first and second transmission wheels are belt pulleys, and they are connected by a belt drive; or,

[0017] Both the first drive wheel and the second drive wheel are sprockets, and the first drive wheel and the second drive wheel are connected by a chain drive.

[0018] Optionally, the base body has a first circumferential structure, the rotating seat has a second circumferential structure, and the first circumferential structure and the second circumferential structure are fixedly connected.

[0019] Optionally, the base body is further provided with an inertial measurement unit, which includes a sensor. The sensor is used to collect motion state data of the rotating component and transmit the motion state data to the controller. The controller calculates the deviation based on preset data and the collected motion state data, and adjusts the drive signal of the drive mechanism.

[0020] The advantages of the camera ranging system provided by this utility model are as follows: Compared with the prior art, the camera ranging system of this utility model includes a base assembly and a rotating assembly. The base assembly includes a base body, a drive mechanism, a camera mechanism, and a controller. The rotating assembly includes a rotating base, a reflector, and a lens structure. Light from the object to be measured enters the rotating assembly through the lens structure and is reflected to the camera mechanism by the reflector. The camera mechanism takes a picture of the object to be measured. The rotating component of the drive mechanism rotates, thereby driving the rotating assembly to rotate. When it is necessary to measure the distance of the object to be measured, the drive mechanism drives the rotating assembly to rotate to different positions, taking pictures of the object to be measured at different positions. Then, the three-dimensional coordinates of the object to be measured are calculated using principles such as triangulation. Therefore, the camera ranging system provided by this utility model only requires one camera mechanism to measure the distance of the object to be measured. Moreover, the rotating assembly can rotate 360 ​​degrees to detect the object to be measured at different circumferential positions, achieving 360-degree panoramic ranging. Furthermore, the rotating assembly has no electrical components and no internal cables, preventing cable entanglement during rotation. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A three-dimensional structural diagram of the camera ranging system provided in an embodiment of this utility model;

[0023] Figure 2 A cross-sectional view of the camera ranging system provided in an embodiment of this utility model;

[0024] Figure 3 An exploded view of the camera ranging system provided in an embodiment of this utility model.

[0025] The following are the labeling elements in the figure:

[0026] 10-Base assembly; 11-Base body; 111-Base plate; 112-Side plate; 113-Top plate; 114-Mounting boss; 115-First circumferential structure; 12-Drive mechanism; 121-Driver; 122-First transmission wheel; 123-Second transmission wheel; 124-Rotating component; 13-Camera mechanism; 14-Circuit board; 15-Rotating bearing; 20-Rotating assembly; 21-Rotating seat; 211-Second circumferential structure; 22-Reflector; 23-Lens structure. Detailed Implementation

[0027] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0028] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0029] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0031] The ranging principle of a binocular camera is as follows: When two cameras capture the same scene, the images they capture will differ due to their different positions. By comparing corresponding points in these images, the parallax between them can be calculated. Then, combined with camera parameters (such as focal length, baseline distance, etc.), the three-dimensional coordinates of the object can be calculated using the principle of triangulation. Currently used ranging systems are all binocular cameras, requiring at least two cameras, and the distance between the two cameras is fixed (baseline distance is fixed), limiting the detection range and the range of applicable scenarios.

[0032] To alleviate or solve the above technical problems, this utility model proposes a camera ranging system, including a base assembly 10 and a rotating assembly 20. The base assembly 10 includes a base body 11, a drive mechanism 12, a camera assembly 13, and a controller. The drive mechanism 12 has a rotatable rotating component 124, which can drive the rotating assembly 20 to rotate. The rotating assembly 20 includes a rotating base 21, a reflector 22, and a lens structure 23. When the circumferential position of the rotating assembly 20 changes, the camera assembly 13 can photograph the object under test from different angles, which is equivalent to a binocular camera taking pictures of the object under test from different angles. Therefore, the camera ranging system proposed in this utility model can also measure the distance of the object under test through a single camera assembly 13. Moreover, when the object under test is located at different circumferential positions, or when there are objects under test at various circumferential positions, the coordinates of the object under test can be detected regardless of its circumferential position.

[0033] The camera ranging system provided in the embodiments of this utility model will now be described.

[0034] Please refer to the following: Figures 1 to 3 The camera ranging system includes:

[0035] The base assembly 10 includes a base body 11, a drive mechanism 12 disposed within the base body 11, a camera mechanism 13 disposed within the base body 11, and a controller for controlling the drive mechanism 12. The drive mechanism 12 has a rotating member 124 capable of outputting rotational motion, and the rotation axis of the rotating member 124 coincides with the optical axis of the camera mechanism 13.

[0036] The rotating assembly 20 includes a rotating base 21, a reflector 22 fixed to the rotating base 21, and a lens structure 23 fixed to the rotating base 21. The lens structure 23 is used to receive and adjust light, and the reflector 22 is used to reflect the light incident through the lens structure 23 to the camera assembly 13.

[0037] The base assembly 10 is the main structure of the camera ranging system. When the base assembly 10 is fixed on the worktable, it remains stationary. When the base assembly 10 is mounted on a moving component, it can move with the moving component. The base assembly 10 includes a base body 11, a drive mechanism 12, a camera mechanism 13, and a controller. The base body 11 is a structural component, and the drive mechanism 12, camera mechanism 13, controller, etc., can be directly or indirectly mounted on the base body 11. The drive mechanism 12 is generally an electrically driven component capable of outputting power. Specifically, the drive mechanism 12 has a rotating component 124, which is the motion output end of the drive mechanism 12 and can output rotational motion. The camera mechanism 13 has an image acquisition function. The camera mechanism 13 can be a CMOS image sensor, especially a global shutter image sensor, or other components that can convert light signals into electrical signals. Its specific type and structure are not limited here. The controller is used to control the start and stop of the drive mechanism 12, and can also control the rotation speed of the drive mechanism 12, etc. The rotation axis of the rotating component 124 coincides with the optical axis of the camera mechanism 13. When the drive mechanism 12 is working, the controller, camera mechanism 13, etc. remain stationary and do not move with the rotating component 124.

[0038] The rotating component 20 can move along with the rotating member 124. Therefore, the operation of the drive mechanism 12 can drive the rotating component 20 to rotate around the optical axis of the camera assembly 13, changing the circumferential position of the rotating component 20. The rotating component 20 includes a rotating base 21, a reflector 22, and a lens structure 23. Light entering the rotating base 21 through the lens structure 23 is reflected by the reflector 22 and enters the camera assembly 13. In this way, the camera assembly 13 can capture images of the object to be measured, which is directly opposite the lens structure 23. Furthermore, when the rotating component 20 rotates, since the rotation axis of the rotating member 124 coincides with the optical axis of the camera assembly 13, the optical axis position of the camera assembly 13 remains unchanged, and light can always enter the camera assembly 13 through the lens structure 23 and the reflector 22.

[0039] When distance measurement of the object to be measured is required, the controller controls the drive mechanism 12 to rotate the rotating component 20 to the first position. The camera mechanism 13 captures a first image of the object and stores it in the host computer. Then, the controller controls the drive mechanism 12 to rotate the rotating component 20 to the second position. The camera mechanism 13 captures a second image of the object and stores it in the host computer. The controller and host computer perform algorithmic analysis on the first and second images to obtain the distance between the object and the camera ranging system. The algorithmic analysis of the first and second images can employ principles such as triangulation. Triangulation is a distance calculation method based on geometric relationships. Its core is to form a triangle with the position of the object by two known observation points (such as the two lenses of a binocular camera, such as the first and second positions) and the position of the object. The target distance is calculated using the baseline length (distance between the two observation points) and the parallax angle (the angle difference between the target point and the two ends of the baseline).

[0040] The camera ranging system in the above embodiment includes a base assembly 10 and a rotating assembly 20. The base assembly 10 includes a base body 11, a drive mechanism 12, a camera assembly 13, and a controller. The rotating assembly 20 includes a rotating base 21, a reflector 22, and a lens structure 23. Light from the object being measured enters the rotating assembly 20 through the lens structure 23 and is reflected by the reflector 22 to the camera assembly 13. The camera assembly 13 then takes a picture of the object. The rotating component 124 of the drive mechanism 12 rotates, thereby causing the rotating assembly 20 to rotate. When it is necessary to measure the distance to the object, the drive mechanism 12 drives the rotating assembly 20 to rotate to different positions, taking pictures of the object at different positions. Then, the three-dimensional coordinates of the object are calculated using principles such as triangulation. Therefore, the camera ranging system provided by this utility model only requires one camera assembly 13 to measure the distance to the object, and the rotating assembly 20 can rotate 360 ​​degrees to detect the object at different circumferential positions, achieving 360-degree panoramic ranging. Furthermore, the rotating assembly 20 contains no electrical components and no internal cables, so no cable entanglement or other issues will occur when the rotating assembly 20 rotates.

[0041] Please refer to some embodiments of this utility model. Figure 2 The side of the rotating base 21 with the lens structure 23 is designated as the first side, and the side opposite the first side is designated as the second side. The first and second sides of the rotating base 21 can be opposite ends in one of its radial directions; that is, the circumferential angle difference between the first and second sides is 180 degrees. The circumferential angle difference between the first and second sides of the rotating base 21 may not be 180 degrees, such as being between 120 and 240 degrees. In all these cases, the first and second sides of the rotating base 21 can be considered to be opposite each other.

[0042] In some embodiments, the density of the rotating base 21 on the first side is less than the density of the rotating base 21 on the second side. That is, the density of the rotating base 21 on the side where the lens structure 23 is provided is less than the density of the rotating base 21 on the side where the lens structure 23 is not provided. The lens structure 23 is generally composed of multiple lenses. The lens structure 23 is relatively heavy, and its density is much greater than that of the rotating base 21. Therefore, setting a larger density on the side of the rotating base 21 where the lens structure 23 is not provided can ensure the balance of the counterweight, make the rotation of the rotating assembly 20 more stable, and reduce the vibration and noise of the rotating assembly 20 during rotation.

[0043] In some embodiments, a counterweight is provided on the second side of the rotating base 21. That is, a counterweight is provided on the side of the rotating base 21 where the lens structure 23 is not located, and the density of the counterweight is greater than the density of the rotating base 21 on the second side. The lens structure 23 is generally composed of multiple lenses, and the lens structure 23 is relatively heavy, with a density much greater than that of the rotating base 21. Therefore, providing a counterweight on the second side of the rotating base 21 can increase the mass of the second side of the rotating base 21, thereby ensuring the balance of the counterweight, making the rotation of the rotating assembly 20 more stable, and reducing the vibration and noise of the rotating assembly 20 during rotation.

[0044] In some embodiments of this utility model, the reflector 22 can be a reflector plate, the side of the reflector plate used to reflect light is the reflective surface, and a high reflectivity material can be coated on the reflective surface to form a reflective layer.

[0045] Please refer to some embodiments of this utility model. Figures 1 to 3 The optical axis of lens structure 23 is perpendicular to the optical axis of camera structure 13. Reflector 22 has a reflective surface, which is set at an acute angle to both the optical axis of lens structure 23 and camera structure 13. The reflective surface of reflector 22 faces both lens structure 23 and camera structure 13. Light entering from lens structure 23 is reflected by the reflective surface, changing its direction of propagation and allowing it to reach camera structure 13. The angle between the reflective surface and the optical axis of lens structure 23 is A, and the angle between the reflective surface and the optical axis of camera structure 13 is B. The sum of A and B is 90 degrees.

[0046] The optical axis of the lens structure 23 is perpendicular to the optical axis of the camera structure 13, making the optical path easier to predict and calculate, and also making it easier to set up the reflector 22.

[0047] In some embodiments, the optical axis of the lens structure 23 is set horizontally, and the optical axis of the camera structure 13 is set vertically. When the drive mechanism 12 drives the rotating component 20 to rotate, the optical axis of the lens structure 23 changes, but the optical axis of the lens structure 23 is always horizontal. In this way, the object to be measured at various positions in the circumference can be detected.

[0048] In other embodiments, the optical axis of the lens structure 23 and the optical axis of the camera structure 13 may also be set at an acute angle or an obtuse angle.

[0049] Please refer to some embodiments of this utility model. Figure 2 The angle between the reflective surface and the optical axis of the lens structure 23 is 45 degrees, and the angle between the reflective surface and the optical axis of the camera structure 13 is also 45 degrees. Based on the properties of light reflection, the angles between the reflective surface and the optical axis of the lens structure 23, and between the reflective surface and the optical axis of the camera structure 13, are always equal. When both of these angles are 90 degrees, the angle between the optical axis of the lens structure 23 and the optical axis of the camera structure 13 is 90 degrees.

[0050] By setting the angle between the reflective surface and the optical axis of the lens structure 23 to 45 degrees, and the angle between the reflective surface and the optical axis of the camera structure 13 to 45 degrees, the angle between the optical axis of the lens structure 23 and the optical axis of the camera structure 13 can be 90 degrees. When the optical axis of the camera structure 13 is set vertically, the optical axis of the lens structure 23 is set horizontally, so that the lens structure 23 can be rotated to face the object to be measured in each direction.

[0051] In other embodiments, the angle between the reflective surface and the optical axis of the lens structure 23 can be 30 degrees, 35 degrees, 40 degrees, etc., and different angles can be selected according to the usage requirements.

[0052] In some embodiments of this utility model, the reflective surface completely covers the shooting area of ​​the camera mechanism 13, and the optical axis of the camera mechanism 13 is set through the center point of the reflective surface. The reflective surface completely covering the shooting area of ​​the camera mechanism 13 can also be understood as setting the surface passing through the center point of the reflective surface and perpendicular to the optical axis of the camera mechanism 13 as the projection plane, and the orthographic projection of the field of view of the camera mechanism 13 along the optical axis of the camera mechanism 13 onto the projection plane lies within the orthographic projection of the reflective surface along the optical axis of the camera mechanism 13 onto the projection plane.

[0053] When camera mechanism 13 is shooting, its shooting area is completely covered by the reflective surface, which avoids camera mechanism 13 capturing light other than that reflected by the reflective surface, ensuring that all light captured by camera mechanism 13 is light reflected through the reflective surface. When the optical axis of camera mechanism 13 is set to pass through the center point of the reflective surface, the reflective surface can be set to a smaller size accordingly. With the area of ​​the reflective surface remaining unchanged, when the optical axis of camera mechanism 13 passes through the center point of the reflective surface, it can cover a larger shooting area.

[0054] Please refer to some embodiments of this utility model. Figure 2 and Figure 3The rotating component 124 is cylindrical, and the camera mechanism 13 is disposed inside the rotating component 124, with the camera mechanism 13 and the inner peripheral wall of the rotating component 124 spaced apart from each other. The cylindrical shape of the rotating component 124 means that its interior has a receiving space within which the camera mechanism 13 can be disposed. Furthermore, the camera mechanism 13 and the inner peripheral wall of the rotating component 124 are spaced apart, ensuring that the rotating component 124 will not collide with the camera mechanism 13 when it rotates around its axis of rotation. It should be noted that the axis of rotation of the rotating component 124 is its central axis; that is, the rotating component 124 rotates on its own axis when the drive mechanism 12 is operating.

[0055] By setting the rotating component 124 to a cylindrical shape, installation space can be provided for the camera assembly 13, making the internal structural layout of the base assembly 10 more compact, while not affecting the rotation of the rotating component 124, and the rotating component 124 will not interfere with the camera assembly 13 when rotating.

[0056] In some embodiments, the rotating member 124 is a square tube, and the camera mechanism 13 is disposed inside the rotating member 124. When the rotating member 124 rotates, there is always a gap between the inner wall of the rotating member 124 and the camera mechanism 13, so as not to affect the rotation of the rotating member 124 and to make full use of the internal space of the rotating member 124.

[0057] In some embodiments, please refer to Figure 2 The base body 11 extends inward toward the rotating component 124 to form a mounting boss 114, and the camera mechanism 13 is fixed to the mounting boss 114. Figure 2 The mounting boss 114 extends upward from the bottom of the base body 11. The mounting boss 114 is located inside the rotating member 124, and the camera mechanism 13 is correspondingly fixed to the top of the mounting boss 114.

[0058] By setting the mounting boss 114, the mounting position of the camera mechanism 13 can be changed, allowing for flexible installation and improving optical path efficiency. Specifically, the mounting boss 114 can change the height of the camera mechanism 13, thereby shortening the distance between the camera mechanism 13 and the reflector 22, and thus shortening the optical path. This is especially convenient when the camera mechanism 13 is small, as it allows for easier installation.

[0059] In some embodiments, the cross-section of the mounting boss 114 is circular, and the cross-section of the inner peripheral wall of the rotating member 124 is also circular, making the structures of the mounting boss 114 and the rotating member 124 more compatible and facilitating the installation of structures such as bearings.

[0060] Optionally, a bearing structure is provided between the outer peripheral wall of the mounting boss 114 and the inner peripheral wall of the rotating component 124, which can support and guide the rotation of the rotating component 124, thereby making the rotation of the rotating component 124 more stable, the position of the rotating assembly 20 after rotation more accurate, and the shooting accuracy correspondingly higher.

[0061] Optionally, there are multiple bearing structures, which are arranged sequentially at intervals along the axial direction of the rotating component 124.

[0062] Please refer to some embodiments of this utility model. Figure 2 and Figure 3 A rotary bearing 15 is provided between the outer peripheral wall of the rotating component 124 and the inner peripheral wall of the base body 11. The outer peripheral wall of the rotating component 124 has a circular cross-section, and the inner peripheral wall of the base body 11 can be understood as the surface surrounding the outer side of the outer peripheral wall of the rotating component 124. The outer ring of the rotary bearing 15 is fixed to the inner peripheral wall of the base body 11, and the inner ring of the rotary bearing 15 is fixed to the outer peripheral wall of the rotating component 124. Thus, when the rotating component 124 rotates, the inner ring of the rotary bearing 15 rotates with the rotating component 124, while the inner ring of the rotary bearing 15 and the base body 11 remain unchanged.

[0063] By setting a rotating bearing 15 between the outer peripheral wall of the rotating component 124 and the inner peripheral wall of the base body 11, the rotation of the rotating component 124 can be made more stable, the position of the rotating component 20 after rotation is more accurate, and the shooting accuracy is correspondingly higher.

[0064] Please refer to some embodiments of this utility model. Figure 2 The base body 11 includes a bottom plate 111, a side plate 112 and a top plate 113. One end of the side plate 112 is connected to the bottom plate 111 and the other end of the side plate 112 is connected to the top plate 113. The bottom plate 111, the side plate 112 and the top plate 113 are connected to each other to form an accommodating space. The drive mechanism 12, the camera mechanism 13 and the controller are all located inside the accommodating space.

[0065] In some embodiments, the base plate 111 and the side plate 112 are integrally formed, or the side plate 112 and the top plate 113 are integrally formed, which can reduce the installation steps of the base body 11.

[0066] In some embodiments, the mounting boss 114 extends upward from the upper surface of the base plate 111.

[0067] Please refer to some embodiments of this utility model. Figure 2 and Figure 3The drive mechanism 12 includes a driver 121, a first transmission wheel 122, and a second transmission wheel 123. The driver 121 is fixed to the base body 11. The motion output end of the driver 121 is connected to the first transmission wheel 122 and is used to drive the first transmission wheel 122 to rotate. The second transmission wheel 123 is driven to rotate by the first transmission wheel 122. The rotating component 124 is fixedly connected to the second transmission wheel 123. The driver 121 can be a structure such as a motor. The driver 121 can output rotational motion, that is, the motion output end of the driver 121 outputs rotational motion, driving the first transmission wheel 122 to rotate. The first transmission wheel 122 can be regarded as the driving wheel, and the second transmission wheel 123 can be regarded as the driven wheel. The first transmission wheel 122 drives the second transmission wheel 123 to rotate.

[0068] By setting the first transmission wheel 122 and the second transmission wheel 123, the rotating part 124 can rotate more stably, and the position of the driver 121 can be changed. The axis of the motion output end of the driver 121 does not need to pass through the reflector, making the position design of the driver 121 more flexible and the internal structural layout of the base assembly 10 more flexible.

[0069] In some embodiments, the rotating member 124 and the second transmission wheel 123 are integrally formed, so that there is no need to install and fix the rotating member 124 and the second transmission wheel 123.

[0070] In some embodiments, the rotating member 124 is the second transmission wheel 123, and the two can be regarded as the same component.

[0071] In some embodiments, the first transmission wheel 122 and the second transmission wheel 123 are gears, and the first transmission wheel 122 and the second transmission wheel 123 mesh with each other. Through the meshing of the first transmission wheel 122 and the second transmission wheel 123, the first transmission wheel 122 can drive the second transmission wheel 123 to move. The first transmission wheel 122 is equivalent to a driving gear, and the second transmission wheel 123 is equivalent to a driven gear. When both the first transmission wheel 122 and the second driven wheel are gears, the transmission between the first transmission wheel 122 and the second transmission wheel 123 is very stable, and the rotation of the gears is stable, preventing the rotating component 124 and the rotating assembly 20 from shaking during rotation.

[0072] In some embodiments, both the first transmission wheel 122 and the second transmission wheel 123 are belt pulleys, and the first transmission wheel 122 and the second transmission wheel 123 are connected by a belt drive. The first transmission wheel 122 is equivalent to the driving belt pulley, and the second transmission wheel 123 is equivalent to the driven belt pulley.

[0073] In some embodiments, both the first drive wheel 122 and the second drive wheel 123 are sprockets, and the first drive wheel 122 and the second drive wheel 123 are connected by a chain drive. The first drive wheel 122 is equivalent to a driving sprocket, and the second drive wheel 123 is equivalent to a driven sprocket.

[0074] Please refer to some embodiments of this utility model. Figure 2 and Figure 3 The base body 11 has a first circumferential structure 115, and the rotating seat 21 has a second circumferential structure 211. The first circumferential structure 115 and the second circumferential structure 211 are fixedly connected. The first circumferential structure 115 and the second circumferential structure 211 are both arranged around the rotation axis of the rotating seat 21. The fixed connection between the base body 11 and the rotating seat 21 is achieved through the arrangement of the first circumferential structure 115 and the second circumferential structure 211.

[0075] In some embodiments, the first circumferential structure 115 is the side of the rotating seat 21 facing the rotating assembly 20, and the second circumferential structure 211 is the side of the rotating seat 21 facing the base assembly 10.

[0076] In some embodiments, the first circumferential structure 115 and the second circumferential structure 211 are connected and fixed by a connecting structure such as screws.

[0077] In some embodiments, the first circumferential structure 115 and the second circumferential structure 211 are both annular structural members, with the first circumferential structure 115 extending into the interior of the second circumferential structure 211, or the second circumferential structure 211 extending into the interior of the first circumferential structure 115.

[0078] Optionally, the first circumferential structure 115 and the second circumferential structure 211 are connected by an interference fit.

[0079] In some embodiments of this utility model, an angle sensor is provided at the motion output end of the driver 121, and the angle sensor is electrically connected to the controller. The angle sensor is used to detect the angular displacement of the motion output end of the driver 121, so the number of rotations of the driver 121 and the position of the motion output end of the driver 121 can be detected, and then the position of the rotating component 20 can be calculated. Images are acquired in real time, and the rotation speed and angle of the driver 121 are dynamically controlled through a ranging algorithm.

[0080] Please refer to some embodiments of this utility model. Figure 2A circuit board 14 is fixed on the base body 11. The controller is fixed and electrically connected to the circuit board 14, and the drive mechanism 12 is electrically connected to the circuit board 14. The circuit board 14 has wiring, and the controller can be fixed to the circuit board 14 by soldering, thus achieving a fixed connection between the controller and the circuit board 14. The controller transmits commands through the circuit board 14 to start and stop the drive mechanism 12.

[0081] In some embodiments, the circuit board 14 is fixed to the bottom of the base body 11.

[0082] In some embodiments of this invention, an inertial measurement unit (IMU) is also provided on the base body 11. The IMU includes sensors that collect motion state data of the rotating component 20 and transmit the motion state data to the controller. The controller calculates the deviation based on preset data and the collected motion state data, and adjusts the drive signal of the drive mechanism 12. An inertial measurement unit (IMU) is a key sensor for detecting the motion state of an object. It typically includes multiple sensors, generally including accelerometers and gyroscopes; some sensors also include magnetometers.

[0083] By setting up an inertial measurement unit, motion state data of the rotating component 20 can be collected. The controller compares the motion state data with the preset data of the rotating component 20 and adjusts the drive signal of the drive mechanism 12 to form a closed-loop control of the rotating component 20. When the rotating component 20 is affected by external disturbances (such as wind, collisions, etc.) and deflects, the inertial measurement unit can detect the external disturbances and compensate by dynamically adjusting the drive signal of the drive mechanism 12 through the controller.

[0084] In some embodiments, the motion state data detected by the sensor includes attitude angle, three-dimensional linear acceleration, angular velocity, and direction change, etc.

[0085] In some embodiments, the preset data includes the preset balance posture and initial rotation angle of the rotating component 20.

[0086] In some embodiments, the drive signal of the drive mechanism 12 includes PWM duty cycle, etc., and changing the drive signal of the drive mechanism 12 can adjust the torque or speed of the driver 121.

[0087] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A camera ranging system, characterized in that, include: A base assembly includes a base body, a drive mechanism disposed within the base body, a camera mechanism disposed within the base body, and a controller for controlling the drive mechanism. The drive mechanism has a rotating component capable of outputting rotational motion, and the rotation axis of the rotating component coincides with the optical axis of the camera mechanism. as well as A rotating assembly includes a rotating base, a reflector fixed to the rotating base, and a lens structure fixed to the rotating base. The rotating base is driven to rotate by the rotating member. The lens structure is used to receive and adjust light. The reflector is used to reflect light incident through the lens structure to the camera mechanism.

2. The camera ranging system as described in claim 1, characterized in that: The side of the rotating base where the lens structure is located is the first side, and the side opposite to the first side is the second side. The density of the rotating seat on the first side is less than the density of the rotating seat on the second side; or, the rotating seat is provided with a counterweight on the second side.

3. The camera ranging system as described in claim 1, characterized in that: The optical axis of the lens structure is perpendicular to the optical axis of the camera structure. The reflector has a reflective surface, which is set at an acute angle to the optical axis of the lens structure and the optical axis of the camera structure.

4. The camera ranging system as described in claim 3, characterized in that: The reflective surface completely covers the shooting area of ​​the camera mechanism, and the optical axis of the camera mechanism is set through the center point of the reflective surface.

5. The camera ranging system as described in claim 1, characterized in that: The rotating component is cylindrical, and the camera mechanism is disposed inside the rotating component, with the camera mechanism and the inner peripheral wall of the rotating component spaced apart from each other.

6. The camera ranging system as described in claim 5, characterized in that: A rotating bearing is provided between the outer peripheral wall of the rotating component and the inner peripheral wall of the base body.

7. The camera ranging system as described in claim 1, characterized in that: The driving mechanism includes a driver, a first transmission wheel, and a second transmission wheel. The driver is fixed to the base body. The motion output end of the driver is connected to the first transmission wheel and is used to drive the first transmission wheel to rotate. The second transmission wheel is driven to rotate by the first transmission wheel. The rotating component is fixedly connected to the second transmission wheel.

8. The camera ranging system as described in claim 7, characterized in that: The first transmission wheel and the second transmission wheel are gears, and the first transmission wheel and the second transmission wheel mesh with each other; or... Both the first and second transmission wheels are belt pulleys, and they are connected by a belt drive; or, Both the first drive wheel and the second drive wheel are sprockets, and the first drive wheel and the second drive wheel are connected by a chain drive.

9. The camera ranging system as described in claim 7, characterized in that: The base body has a first circumferential structure, and the rotating seat has a second circumferential structure, with the first circumferential structure and the second circumferential structure fixedly connected.

10. The camera ranging system according to any one of claims 1-9, characterized in that: An inertial measurement unit is also provided on the base body. The inertial measurement unit includes a sensor. The sensor is used to collect motion state data of the rotating component and transmit the motion state data to the controller. The controller calculates the deviation based on preset data and the collected motion state data, and adjusts the drive signal of the drive mechanism.

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