Manipulator with decagonal follow-up vision device
Patent Information
- Application Number
- CN202522619241.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-10
- Publication Date
- 2026-11-03
- Estimated Expiration
- 2035-12-10
Smart Images
Figure CN224928002U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm with a ten-directional follow-up vision device. Background Technology
[0002] Existing robotic arms use rigid linkage mechanisms for power transmission, which occupies a significant amount of internal space, leaving little room for vision devices. Therefore, existing robotic arms are limited by installation space and can only use a single camera, resulting in blind spots and the risk of missed inspections. Utility Model Content
[0003] This utility model provides a robotic arm with a ten-directional follow-up vision device to solve at least one of the above-mentioned technical problems.
[0004] This utility model provides a robotic hand with a ten-directional follow-up vision device, including a palm and a plurality of bionic fingers connected to the palm. The plurality of bionic fingers are spaced apart, and each bionic finger is connected to a flexible shaft through a corresponding connector. The flexible shaft is used to transmit power to make the bionic fingers move. The ten-directional follow-up vision device includes a first vision component, a second vision component, and a third vision component. A portion of the first vision component and a portion of the third vision component are installed on the edge side of the palm, and a portion of the second vision component and a portion of the third vision component are installed in the corresponding bionic fingers. The sum of the number of the first visual component, the second visual component, and the third visual component is at least ten, and the number of visual components that work simultaneously among the first visual component, the second visual component, and the third visual component is at most 1 / 2 of the total number of visual components.
[0005] In one embodiment, each of the bionic fingers includes at least one active joint, with a portion of the second visual component and a portion of the third visual component mounted in the first phalanx anterior to the first active joint of the respective bionic finger.
[0006] In one embodiment, the first vision component includes a first camera with a first shooting direction, a second camera with a second shooting direction, and a third camera with a third shooting direction, wherein the first shooting direction is the width direction of the palm, the second shooting direction and the third shooting direction are the length directions of the palm, and the second shooting direction and the third shooting direction are opposite.
[0007] In one embodiment, the second vision component includes a fourth camera having a fourth shooting direction and a fifth camera having a fifth shooting direction, the fourth shooting direction and the fifth shooting direction having an angle between them.
[0008] In one embodiment, the third vision component includes a sixth camera having a sixth shooting direction, the sixth shooting direction being the same as the first shooting direction and / or the sixth shooting direction being a direction perpendicular to the thickness of the bionic finger.
[0009] In one embodiment, one or more of the first camera, the second camera, the third camera, the fourth camera, the fifth camera, and the sixth camera are wide-angle cameras; or One or more of the first camera, the second camera, the third camera, the fourth camera, the fifth camera, and the sixth camera are macro cameras.
[0010] In one embodiment, the robotic arm further includes a control unit, and the first camera, the second camera, the third camera, the fourth camera, the fifth camera, and the sixth camera are respectively connected to wires, which are connected to the control unit.
[0011] In one embodiment, a laser rangefinder is also provided in the palm portion, which is connected to the control unit. The laser rangefinder is used to detect the distance between the target object and the bionic fingers. The control unit can control the movement of the palm portion and each of the bionic fingers according to the distance detected by the laser rangefinder, and increase the force of each of the bionic fingers when the target object slips.
[0012] In one embodiment, the first vision component further includes an adjustment bracket for mounting the first camera, the second camera, and the third camera, the adjustment bracket being configured such that the first camera can be deflected ±15° about the length direction of the bionic finger, and the second and third cameras can be translated or rotated in a plane perpendicular to the palm.
[0013] In one embodiment, the sum of the mounting offset angle θ4 of the fourth camera and the mounting offset angle θ5 of the fifth camera is the angle between the optical axis of the fourth camera and the optical axis of the fifth camera; The installation offset angle θ4 of the fourth camera satisfies: θ₄ = arctan(Δx₄ / L₄); The installation offset angle θ5 of the fifth camera satisfies: θ5 = arctan(Δx5 / L5); Where Δx4 is the lateral offset between the center of the target object and the optical axis of the fourth camera; Δx5 is the lateral offset between the center of the target object and the optical axis of the fourth camera; L4 is the vertical distance from the fourth camera to the target object; L5 is the vertical distance from the fifth camera to the target object.
[0014] Compared with the prior art, the present invention has the following advantages: Since the power is transmitted through a flexible shaft, the space inside the robot can be greatly saved, so that at least ten vision components can be accommodated, enabling it to perform all-area perception without blind spots; and the number of vision components working at the same time in each component is at most 1 / 2 of the total number of vision components, thus greatly reducing the computing power requirements and costs. Attached Figure Description
[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, 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.
[0016] Figure 1 This is a schematic diagram of the structure of a robotic arm with a ten-directional follow-up vision device in an embodiment of this utility model; Figure 2 yes Figure 1 The diagram shows the structure of the first visual component. Figure 3 yes Figure 1 The diagram shows the structure of the second visual component. Figure 4 yes Figure 1 The diagram shows the structure of the third visual component. Figure 5 yes Figure 1 The diagram shows the installation of the third vision component; Figure 6 This is a schematic diagram of the flexible shaft of the robotic arm with a ten-directional follow-up vision device in an embodiment of this utility model; Figure 7 This is a schematic diagram of a robotic arm with a ten-directional follow-up vision device grasping a target object in an embodiment of this utility model.
[0017] Figure Labels
[0018] 1. Palm; 2. Bionic fingers; 3. Ten-directional follow-up vision device; 4. Target object; 21. First phalanx; 211. Index finger; 212. Thumb; 213. Middle finger; 214. Ring finger; 215. Little finger; 31. First visual component; 32. Second visual component; 33. Third visual component; 34. Wire; 311. First camera; 312. Second camera; 313. Third camera; 321. Fourth camera; 322. Fifth camera; 331. The sixth camera; 100. Flexible shaft; 1001, worm gear; 1002, first worm; 1003, worm gear shaft. Detailed Implementation
[0019] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0022] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. These are merely for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component 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. Furthermore, the terms "first," "second," etc., appearing in the description of this utility model are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0023] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this utility model does not imply that the components are required to be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.
[0024] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0025] The present invention relates to a robotic hand with a ten-directional follow-up vision device, comprising a palm part 1 and a plurality of bionic fingers 2 connected to the palm part 1. The plurality of bionic fingers 2 are spaced apart, and each bionic finger 2 is connected to a flexible shaft through a corresponding connector. The flexible shaft is used to transmit power to enable the bionic fingers 2 to move.
[0026] In this invention, each bionic finger 2 of the robotic hand is driven by a flexible shaft, thus avoiding the use of drive shafts, drive motors, and other structural components at the joints in existing technologies. This saves space in the bionic fingers and palm, allowing for the inclusion of a ten-directional follow-up vision device 3. Furthermore, the flexible shaft drive of this robotic hand, compared to existing robotic hands with rigid joint connections, provides flexibility to each bionic finger. This allows for miniaturization while enabling collaborative robots to perform various complex auxiliary production operations.
[0027] like Figure 1 As shown, the ten-directional follow-up vision device 3 includes a first vision component 31, a second vision component 32 and a third vision component 33. A portion of the first vision component 31 and a portion of the third vision component 33 are installed on the edge side of the palm portion 1, and a portion of the second vision component 32 and a portion of the third vision component 33 are installed in the corresponding bionic fingers 2.
[0028] The sum of the number of the first visual component 31, the second visual component 32 and the third visual component 33 is at least ten, and the number of visual components that work simultaneously in the first visual component, the second visual component and the third visual component is at most 1 / 2 of the total number of visual components.
[0029] On the one hand, the ten-way follow-up vision device 3 of this invention is installed in the corresponding bionic finger 2 and palm 1. Therefore, compared with the prior art scheme of installing the vision device in the head of the robot, the ten-way follow-up vision device 3 of this invention has lower requirements for the computing power of the control unit. For example, in the prior art scheme of installing the vision device in the head of the robot, the vision device is installed in the head of the robot, so the working distance between the vision device and the target object during measurement is between 50cm and 100cm. Conversely, the ten-way follow-up vision device 3 of this invention is installed in the corresponding bionic finger 2 and palm 1, so the working distance between the ten-way follow-up vision device 3 and the target object during measurement is between 1cm and 20cm. Therefore, the working distance between the ten-way follow-up vision device 3 and the target object is smaller, thus reducing the difficulty of feature detection and background separation. Because when the working distance is large, ultra-high resolution is required, which increases the difficulty of feature extraction.
[0030] Specifically, each bionic finger 2 incorporates a transmission component with a cross-shaped reducer structure. In this reducer, a rigid shaft in one direction is replaced by a flexible shaft 100. The flexible shaft 100 is a flexible shaft with a flexible outer sleeve and internal wires for electrical connection. The repeatability of the flexible shaft 100 is ±0.03mm, superior to traditional linkage mechanisms. Furthermore, the flexible shaft 100 can perform error compensation calculations based on LSTM neural network deformation prediction (the training dataset contains 100,000 sets of deformation-load data).
[0031] Transmission components include worm gear assemblies, such as... Figure 6 As shown, the worm gear assembly includes a first worm 1002 and a worm wheel 1001 meshing with the first worm 1002. The worm wheel shaft 1003 of the worm wheel 1001 is connected to the corresponding bionic finger 2.
[0032] The bionic finger 2 includes a finger skeleton, which includes force sensors, at least two of which are arranged perpendicular to the extension direction of the finger skeleton. The finger skeleton also has shaft holes, which can be connected to the worm gear shaft 1003, or can be an integral structure with the worm gear shaft 1003.
[0033] The first worm gear 1002 is connected to the flexible shaft 100, which enables the worm wheel 1001 and the first worm gear 1002 to move relative to each other so that the bionic finger 2 has a degree of freedom of movement relative to the palm part 1.
[0034] Furthermore, each bionic finger 2 includes at least one active joint, and a portion of the second visual component 32 and a portion of the third visual component 33 are mounted in the first phalanx 21 anterior to the first active joint of the respective bionic finger 2.
[0035] Specifically, such as Figure 2 As shown, the first visual component 31 includes a first camera 311 with a first shooting direction, a second camera 312 with a second shooting direction, and a third camera 313 with a third shooting direction, wherein the first shooting direction is the width direction of the palm (e.g., ...). Figure 1 (As shown in the X-axis direction), the second and third shooting directions are respectively the length directions of the palm (e.g., ...). Figure 1 (as shown in the Y-axis direction), and the second shooting direction is opposite to the third shooting direction.
[0036] like Figure 3 As shown, the second vision component 32 includes a fourth camera 321 with a fourth shooting direction and a fifth camera 322 with a fifth shooting direction, the fourth shooting direction and the fifth shooting direction having an angle between them.
[0037] like Figure 4 As shown, the third vision component 33 includes a sixth camera 331 with a sixth shooting direction, the sixth shooting direction being the same as the first shooting direction and / or the sixth shooting direction being a direction perpendicular to the thickness of the bionic finger (e.g., Figure 5 (Z-axis direction shown).
[0038] One or more of the first camera 311, the second camera 312, the third camera 313, the fourth camera 321, the fifth camera 322, and the sixth camera 331 are wide-angle cameras; or one or more of the first camera 311, the second camera 312, the third camera 313, the fourth camera 321, the fifth camera 322, and the sixth camera 331 are macro cameras.
[0039] like Figure 7 As shown, when grasping the target object 4 (tool), the index finger 211 and thumb 212 of each bionic finger 2 can grasp the target object 4. The second visual component 32 / third visual component 33 in the middle finger 312, ring finger 314, and little finger 215 continuously monitor.
[0040] In one specific embodiment, each camera in the first vision component 31 may be a wide-angle camera (with a diagonal field of view of 120°-180°, for example 150°) for panoramic environmental perception and coarse object localization. Each camera has a resolution of 4K@30fps and a low-light performance of 0.1 lux.
[0041] Each camera in the first vision component 31 can be fixed in the palm part 1. The palm part 1 is provided with a frame made of titanium alloy, on which the first camera 311, the second camera 312 and the third camera 313 (horizontal viewing angle of 150°) are fixed.
[0042] In one specific embodiment, each camera in the second vision component 32 can be a macro camera (magnification of 0.5-5X) for focusing on the operation point near the joint of each bionic finger 2 and for fine motion guidance. The working distance of each camera is 5-50mm and the depth of field is <1mm.
[0043] Each camera in the second vision component 32 can be embedded in the housing of each bionic finger 1. The housing of each bionic finger 1 can be made of carbon fiber.
[0044] In one specific embodiment, each camera in the third vision component 33 may be a wide-angle camera and a macro camera, which are used for local coordinate mapping and anti-slip detection. The field of view of the wide-angle camera is 90° or 120°-140°, and the macro accuracy is 10μm.
[0045] The third vision component 33 is a detachable module, with two units installed on the palm 1 and one unit installed at the end of the first phalanx 21 of each bionic finger 2 (4-7 units in total).
[0046] In one specific embodiment, the collaborative logic of each camera is as follows: In the default mode, the cameras in one first vision component 31, one second vision component 32, and one third vision component 33 are enabled, that is, a total of 5 cameras are enabled simultaneously. In the fine mode, the wide-angle lens is turned off, and the multi-finger macro lens and the fingertip third vision component 33 are enabled, thereby focusing on local details.
[0047] The robotic arm also includes a control unit. The first camera 311, the second camera 312, the third camera 313, the fourth camera 321, the fifth camera 322, and the sixth camera 331 are respectively connected to the wire 34, which is connected to the control unit.
[0048] The palm also contains a sensor assembly, including a laser rangefinder connected to the control unit. The laser rangefinder is used to detect the distance between the target object and the bionic finger 2. The control unit can control the movement of the palm 1 and each bionic finger 2 according to the distance detected by the laser rangefinder, and increase the force of each bionic finger 2 when the target object slips.
[0049] To avoid multi-sensor conflicts, a spatiotemporal synchronization mechanism can be set up. On the hardware side, the PTPv2 protocol is used to achieve μs-level time synchronization; on the software side, extended Kalman filtering is used to fuse visual / laser data.
[0050] Taking a precision assembly scenario as an example, the workflow of this utility model is as follows: First, target recognition and localization are performed. The first component, a wide-angle camera (first camera 311, second camera 312, and third camera 313), scans the worktable to identify the target object (target part). HSV color segmentation is used to identify the target object. This process takes 0-500ms.
[0051] During this process, the laser rangefinder confirms the height and tilt angle of the target object and establishes an initial Z-map (depth map).
[0052] Next, the approach operation is performed. When the distance between the robotic arm and the target object approaches 100mm, the third component wide-angle camera (sixth camera 331) is activated to guide the robotic arm's heading angle adjustment. The flexible shaft 100 transmission system initiates flexible approach (speed 20mm / s). This process takes 500-1000ms.
[0053] Third, the fine-tuning stage. The second component macro camera (fourth camera 321, fifth camera 322) is activated to generate a local point cloud, and fingertip positioning is based on visual servo control (PID gain adaptive adjustment).
[0054] Fourth, gripping adjustments are made. The third component macro camera (sixth camera 331) in the fingertip of each bionic finger 2 detects the surface condition of the target object (such as oil stains, scratches) and the contact surface (coverage > 95%). In addition, the third component wide-angle camera monitors the surrounding environment, with an obstacle avoidance response time < 100ms. If the laser rangefinder detects Z-axis displacement (sampling rate 1kHz), indicating a risk of slippage, grip strength enhancement and vibration compensation are triggered.
[0055] Among them, the flexible shaft 100 can adaptively adjust the gripping force to avoid overpressure.
[0056] To avoid data conflicts from multiple cameras, a priority arbitration mechanism is established in the control unit. After visual data is input, the control unit determines the target distance. If the target distance is greater than a first threshold (e.g., 200mm), the first visual component 31 takes the lead. If the target distance is less than a second threshold (e.g., 20mm), the second visual component 32 takes the lead, at which point the macro camera is activated. If the target distance is at a third threshold (e.g., 20-50mm), the third visual component 33 takes the lead.
[0057] In addition, when the deviation between wide-angle and macro data is greater than 5%, the laser rangefinder is activated for arbitration.
[0058] In addition, to ensure that the control unit has sufficient computing resources, the default mode for dynamic voxel downsampling is a point cloud resolution of 1 mm. 3 Macro mode upsamples local areas to 0.05mm. 3In terms of bandwidth optimization, only the ROI area (determined by the wide-angle view of the first component camera) is transmitted.
[0059] In one embodiment, the first vision component 31 further includes an adjustment bracket for mounting the first camera 311, the second camera 312, and the third camera 313. The adjustment bracket is configured such that the first camera 311 can be deflected ±15° around the length direction of the bionic finger, and the second camera 312 and the third camera 313 can be translated or rotated in a plane perpendicular to the palm.
[0060] In one embodiment, the sum of the mounting offset angle θ4 of the fourth camera 321 and the mounting offset angle θ5 of the fifth camera 322 is the angle between the optical axis of the fourth camera 321 and the optical axis of the fifth camera 322 (e.g., 30°).
[0061] The fourth camera 321 and the fifth camera 322 can be mounted using an adjustment bracket to ensure that the intersection point O falls at the center of the finger manipulation domain of each bionic finger 2. In actual operation, the target object may deviate from the intersection point O, in which case dynamic compensation is required using θ4 and θ5. For example, rotating the fourth camera 321 around the Y-axis can adjust θ4, and rotating the fifth camera 322 around the Y-axis can adjust θ5.
[0062] The mounting offset angle θ4 of the fourth camera 321 satisfies: θ4 = arctan(Δx4 / L4). The mounting offset angle θ4 is the angle between the optical axis of the fourth camera 321 and the line of sight pointing to the center of the target object, which ensures that the optical axis of the fourth camera 321 passes precisely through the center of the target object.
[0063] For example, when gripping a 2mm wide chip (d=2mm): If L4 = 50 mm and Δx4 = 0 (ideal center position), then: θ4 = 0°; If Δx4 = 5mm (target deflected to the right), then θ4 = arctan(5 / 50) = arctan(0.1) ≈ 5.71°. Therefore, the fourth camera 321 needs to be rotated 5.71° to the left to compensate for the offset.
[0064] Similarly, the installation offset angle θ5 of the fifth camera 322 satisfies: θ5 = arctan(Δx5 / L5); Wherein, Δx4 is the lateral offset of the center of the target object from the optical axis of the fourth camera; Δx5 is the lateral offset of the center of the target object from the optical axis of the fourth camera; L4 is the vertical distance from the fourth camera to the target object; and L5 is the vertical distance from the fifth camera to the target object.
[0065] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. A robotic hand with a ten-directional follow-up vision device, characterized in that, It includes a palm and multiple bionic fingers connected to the palm. The multiple bionic fingers are spaced apart, and each bionic finger is connected to a flexible shaft through a corresponding connector. The flexible shaft is used to transmit power to make the bionic finger move. The ten-directional follow-up vision device includes a first vision component, a second vision component, and a third vision component. A portion of the first vision component and a portion of the third vision component are installed on the edge side of the palm, and a portion of the second vision component and a portion of the third vision component are installed in the corresponding bionic fingers. The sum of the number of the first visual component, the second visual component, and the third visual component is at least ten, and the number of visual components that work simultaneously among the first visual component, the second visual component, and the third visual component is at most 1 / 2 of the total number of visual components.
2. The robotic arm with a ten-directional follow-up vision device according to claim 1, characterized in that, Each of the bionic fingers includes at least one active joint, with a portion of the second visual component and a portion of the third visual component mounted in the first phalanx anterior to the first active joint of the respective bionic finger.
3. The robotic arm with a ten-directional follow-up vision device according to claim 1 or 2, characterized in that, The first visual component includes a first camera with a first shooting direction, a second camera with a second shooting direction, and a third camera with a third shooting direction, wherein the first shooting direction is the width direction of the palm, the second shooting direction and the third shooting direction are the length directions of the palm, and the second shooting direction and the third shooting direction are opposite.
4. The robotic arm with a ten-directional follow-up vision device according to claim 3, characterized in that, The second vision component includes a fourth camera with a fourth shooting direction and a fifth camera with a fifth shooting direction, the fourth shooting direction and the fifth shooting direction having an angle between them.
5. The robotic arm with a ten-directional follow-up vision device according to claim 4, characterized in that, The third vision component includes a sixth camera with a sixth shooting direction, the sixth shooting direction being the same as the first shooting direction and / or the sixth shooting direction being a direction perpendicular to the thickness of the bionic finger.
6. The robotic arm with a ten-directional follow-up vision device according to claim 5, characterized in that, One or more of the first camera, the second camera, the third camera, the fourth camera, the fifth camera, and the sixth camera are wide-angle cameras; or One or more of the first camera, the second camera, the third camera, the fourth camera, the fifth camera, and the sixth camera are macro cameras.
7. The robotic arm with a ten-directional follow-up vision device according to claim 5, characterized in that, The robotic arm also includes a control unit. The first camera, the second camera, the third camera, the fourth camera, the fifth camera, and the sixth camera are each connected to a wire, and the wire is connected to the control unit.
8. The robotic arm with a ten-directional follow-up vision device according to claim 7, characterized in that, The palm portion is also equipped with a laser rangefinder, which is connected to the control unit. The laser rangefinder is used to detect the distance between the target object and the bionic fingers. The control unit can control the movement of the palm portion and each of the bionic fingers according to the distance detected by the laser rangefinder, and increase the force of each of the bionic fingers when the target object slips.
9. The robotic arm with a ten-directional follow-up vision device according to claim 3, characterized in that, The first vision component further includes an adjustment bracket for mounting the first camera, the second camera, and the third camera. The adjustment bracket is configured such that the first camera can be deflected ±15° around the length direction of the bionic finger, and the second and third cameras can be translated or rotated in a plane perpendicular to the palm.
10. The robotic arm with a ten-directional follow-up vision device according to claim 4, characterized in that, The sum of the installation offset angle θ4 of the fourth camera and the installation offset angle θ5 of the fifth camera is the angle between the optical axis of the fourth camera and the optical axis of the fifth camera; The installation offset angle θ4 of the fourth camera satisfies: θ₄ = arctan(Δx₄ / L₄); The installation offset angle θ5 of the fifth camera satisfies: θ5 = arctan(Δx5 / L5); Where Δx4 is the lateral offset between the center of the target object and the optical axis of the fourth camera; Δx5 is the lateral offset between the center of the target object and the optical axis of the fourth camera; L4 is the vertical distance from the fourth camera to the target object; L5 is the vertical distance from the fifth camera to the target object.