CN107433623B

CN107433623B - Four-degree-of-freedom bionic mechanical holder based on flexible cable driving

Info

Publication number: CN107433623B
Application number: CN201710704107.8A
Authority: CN
Inventors: 韩超; 李恒宇; 宋韬; 彭艳; 谢少荣; 罗均
Original assignee: Beijing Transpacific Technology Development Ltd
Current assignee: Beijing Transpacific Technology Development Ltd
Priority date: 2017-08-17
Filing date: 2017-08-17
Publication date: 2020-04-03
Anticipated expiration: 2037-08-17
Also published as: CN107433623A

Abstract

The invention discloses a four-degree-of-freedom bionic mechanical holder based on flexible cable driving. Three flexible cables between the bottom platform and the middle platform are always kept tensioned through an air spring, and the camera indirectly obtains a telescopic degree of freedom by driving three motors on the bottom platform. Through four motors on the drive middle platform, four wires between tensile camera platform and the middle platform, if tensile homonymy wire for the camera has two degrees of freedom, if tensile diagonal wire, makes the camera rotate around the articulated center of bracing piece and camera platform, thereby makes the camera have four degrees of freedom. The invention has simple mechanism, adopts flexible cable drive and reduces the whole quality and noise. In addition, the hinge joint position of the camera platform and the support rod is fixed, so that the camera is controlled more accurately. The telescopic degree of freedom can enable the holder to be applied to more extensive occasions, especially the aspect of environment detection.

Description

Four-degree-of-freedom bionic mechanical holder based on flexible cable driving

Technical Field

The invention relates to the field of bionic mechanical holders, in particular to a four-degree-of-freedom bionic mechanical holder based on flexible cable driving.

Background

Nowadays, robots are increasingly popularized, and some special robots have advanced into the aspects of our lives, for example, cooking robots, traffic police robots, detection robots, unmanned boats and the like have started to be used in the market. The vision is the main way for people to acquire information, and is also a non-negligible item for robots to acquire information. Through some mechanical holders, the robot can obtain the capability similar to human eyes, and the popularization of the robot can be greatly promoted.

At present, cameras are installed on a plurality of robots, but the movement of the cameras is very stiff and inflexible, which causes the deficiency of the robots in acquiring information and further influences the movement of the robots. If the camera can be as flexible as human eyes, the information quantity acquired by the robot can be greatly increased, and the motion of the robot is improved.

At present, most of common bionic mechanical holders have two degrees of freedom and three degrees of freedom, are difficult to meet requirements or have unsatisfactory effects in some special application occasions, and have complicated mechanical structures and large weight, so that the mechanical holder which is light in weight, simple in structure and applicable to various environments is necessary to research. In complex terrain environments such as disaster areas and mining areas, a rescue robot with a bionic mechanical holder with telescopic freedom degree is very important, and the rescue probability can be greatly increased.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a four-degree-of-freedom bionic mechanical holder based on flexible cable driving, which adopts double-layer flexible cable driving, greatly reduces noise and weight, and ensures that the camera is more accurately controlled due to the fixation of the hinge point positions of a support rod and a camera platform; due to the realization of the telescopic freedom degree of the camera, the bionic mechanical holder can be applied more flexibly and changeably, particularly in the aspect of unknown environment detection.

In order to achieve the purpose, the invention has the following conception:

first, a bottom platform and a middle platform are connected through a gas spring, three circular rings are cast on the lower surface of the middle platform, and flexible cables connected to the three circular rings are driven by three motors arranged on the bottom platform, so that the middle platform has a degree of freedom of moving back and forth. Then, the middle platform is connected with the camera platform through a rigid support rod, the support rod is fixedly connected with the middle platform through threads, and the support rod is hinged with the camera platform through a ball. Four circular rings are cast on the lower surface of the camera platform, and two circular rings are symmetrically distributed along the diameter. The connecting line of the corresponding earrings at the two sides of the center of the camera platform is vertical to the connecting line of the guide wheel frame on the middle platform. One of the two pairs of circular rings on the same side is taken, and the circular rings are connected to the corresponding winding drums through guide wheels of the middle platform guide wheel frame by flexible cables. The four motors on the middle platform are matched to drive the four flexible cables, so that the camera platform has three degrees of freedom, and the camera has four degrees of freedom. The rotating speed and the rotating angle of the corresponding motor can be obtained through the encoder corresponding to each motor, so that the pose of the camera can be calculated and fed back to the control system, and the closed-loop control of the camera is realized.

According to the inventive concept, the invention adopts the following technical scheme:

a four-degree-of-freedom bionic mechanical holder based on flexible cable driving comprises a support group, a transmission group and a power group; the length of the three flexible cables between the bottom platform and the middle platform is changed by driving the three motors arranged on the bottom platform, and the air springs between the three flexible cables stretch along with the length of the three flexible cables, so that the three flexible cables are always in a tensioning state, and the middle platform has a degree of freedom of moving back and forth; the lengths of four flexible cables between the middle platform and the camera platform are changed by driving four motors arranged on the middle platform, and the camera platform rotates around a spherical hinge connected with the supporting rod; if two flexible cables on the same side are respectively driven, the camera platform has two degrees of freedom, if two pairs of flexible cables which form opposite angles are respectively driven, one pair of flexible cables is simultaneously shortened, and the other pair of flexible cables is simultaneously lengthened, the camera platform can rotate for a certain angle around a spherical hinge connected with the supporting rod, so that the camera platform has four degrees of freedom; the camera is fixedly connected to the camera platform through screws.

The supporting group comprises three single motor frames, a bottom platform, three single guide wheel brackets, two double guide wheel brackets, seven guide wheels, seven cylindrical pins and a supporting rod; the transmission set comprises an air spring piston, an air spring cylinder barrel, seven flexible cables, a camera platform and a camera; the power unit comprises three motors, three winding drums and three corresponding encoders which are arranged on a bottom platform, and four motors, four winding drums and four corresponding encoders which are arranged on a middle platform; three motors on the bottom platform are arranged on the bottom platform through three single motor supports and are distributed in an angle of 120 degrees, and motor shafts of the three motors are provided with winding drums and are connected with corresponding encoders in parallel; the four motors, the four winding drums and the four corresponding encoders on the middle platform are arranged on the middle platform through two double-motor supports, and the two double-motor supports are distributed in a group of 180 degrees; the three single guide wheel brackets are respectively arranged in the grooves of the bottom platform, and the three guide wheels are respectively arranged on the three single guide wheel brackets through three cylindrical pins; the two double-guide-wheel brackets are respectively arranged in the grooves of the middle platform, and the four guide wheels are respectively arranged on the two double-guide-wheel brackets through four cylindrical pins; the supporting rod is fixedly connected with the middle platform through threads and is hinged with the camera platform through a spherical hinge; the gas spring consists of a gas spring piston and a gas spring cylinder barrel, and one end of the gas spring piston and one end of the gas spring cylinder barrel are respectively connected with the bottom platform and the middle platform through screws; three of the seven flexible cables are parallel to each other and are wound on three winding drums on the bottom end platform through three circular rings on the middle platform through three guide wheels; one end of the first flexible cable is fixed on the upper right circular ring on the camera platform, and the other end of the first flexible cable is connected to a winding drum of an upper right motor fixed on the right view of the middle platform through a guide wheel on a double-guide-wheel bracket fixed in a groove on the left side of the left view of the middle platform; one end of a second flexible cable is fixed on the right lower ring on the camera platform, and the other end of the second flexible cable is connected to a winding drum fixed on a right lower motor of the right view of the middle platform through another guide wheel on a double-guide-wheel bracket fixed in a groove on the left side of the left view of the middle platform; one end of a third flexible cable is fixed on the upper left circular ring on the camera platform, and the other end of the third flexible cable is connected to a winding drum fixed on a left upper motor of a right view of the middle platform through a guide wheel on a double-guide-wheel bracket fixed in a groove on the right side of the left view of the middle platform; one end of a fourth flexible cable is fixed on the left lower ring on the camera platform, and the other end of the fourth flexible cable is connected to a winding drum fixed on a left lower motor of a right view of the middle platform through another guide wheel on a double-guide-wheel bracket fixed in a groove on the right side of the left view of the middle platform.

Three circular rings are cast at the lower part of the middle platform and are distributed at 120 degrees; four circular rings are cast at the lower part of the camera platform, two circular rings are a pair, two pairs of circular rings are distributed at two sides of the diameter of the lower part of the camera platform in 180 degrees, and the diameter of the circular rings is vertical to a connecting line of the centers of the two double-guide-wheel supports on the middle platform.

The rotating angles and rotating speeds of the seven motors are measured by the seven encoders and fed back to the control system, the pose of the camera is calculated, and closed-loop control of the camera is realized.

Compared with the prior art, the invention has the obvious characteristics and advantages that:

the device of the invention has relatively simple mechanical structure, adopts the flexible cable and reduces the noise and the weight of the system. The invention makes the control of the tripod head more accurate and easier because the spherical hinge center is fixed, and makes the application range of the tripod head wider because of the telescopic freedom degree, especially the detection under some special environments.

Drawings

FIG. 1 is an overall view of one embodiment of the present invention.

Fig. 2 is a position of the cord of fig. 1 in extension.

Fig. 3 is a left side view of a portion a in fig. 1.

Fig. 4 is a right side view of a portion a of fig. 1.

Fig. 5 is a partially enlarged view of a portion B in fig. 2.

Fig. 6 is a partially enlarged view of a portion C in fig. 2.

Fig. 7 is an explosion attempt of one embodiment of the present invention.

Fig. 8 is a front view of the camera platform of fig. 1.

Fig. 9 is an oblique view of the intermediate platform of fig. 1.

Detailed Description

A preferred embodiment of the present invention is further described below with reference to the accompanying drawings:

referring to fig. 1 to 9, a four-degree-of-freedom bionic mechanical holder based on flexible cable driving comprises a support group i, a transmission group ii and a power group iii; three motors III-1-1, III-2-1, III-3-1 arranged on a bottom end platform I-2 are driven to enable the lengths of three flexible cables II-3-1, II-3-2, II-3-3 between the bottom end platform I-2 and a middle platform I-6 to be changed, and air springs between the three flexible cables II-3-1, II-3-2 and II-3-3 are stretched accordingly, so that the three flexible cables II-3-1, II-3-2 and II-3-3 are always in a tensioning state, and the middle platform I-6 has a degree of freedom of moving back and forth; the length of four flexible cables II-4-1, II-4-2, II-4-3 and II-4-4 between the middle platform I-6 and the camera platform II-5 is changed by driving four motors III-4-1, III-5-1, III-6-1 and III-7-1 arranged on the middle platform I-6, and the camera platform II-5 rotates around a spherical hinge connected with a supporting rod I-10; if two flexible cables on the same side are respectively driven, the camera platform II-5 has two degrees of freedom, if two pairs of flexible cables which form opposite angles are respectively driven, one pair of flexible cables is simultaneously shortened, and the other pair of flexible cables is simultaneously lengthened, the camera platform II-5 can rotate for a certain angle around a spherical hinge connected with the supporting rod I-10, so that the camera platform II-5 has four degrees of freedom; the camera II-6 is fixedly connected to the camera platform II-5 through a screw.

The support group I comprises three single motor frames I-1-1, I-1-2, I-1-3, a bottom platform I-2, three single guide wheel supports I-3-1, I-3-2, I-3-3, two double guide wheel supports I-7-1, I-7-2, seven guide wheels I-4-1, I-4-2, I-4-3, I-8-1, I-8-2, I-8-3, I-8-4, seven cylindrical pins I-5-1, I-5-2, I-5-3, I-9-1, I-9-2 and I-9-3, i-9-4, an intermediate platform I-6 and a support rod I-10; the transmission group II comprises an air spring piston II-1, an air spring cylinder II-2, seven flexible cables II-3-1, II-3-2, II-3-3, II-4-1, II-4-2, II-4-3 and II-4-4, a camera platform II-5 and a camera II-6; the power unit III comprises three motors III-1-1, III-2-1 and III-3-1 arranged on a bottom end platform I-2, three winding drums III-1-3, III-2-3 and III-3-3, three corresponding encoders III-1-2, III-2-2 and III-3-2, four motors III-4-1, III-5-1, III-6-1, III-7-1, four winding drums III-4-3, III-5-3, III-6-3 and III-7-3 and four corresponding encoders III-4-2 and III-5-2 arranged on a middle platform I-6, III-6-2, III-7-2; three motors III-1-1, III-2-1 and III-3-1 on the bottom platform I-2 are arranged on the bottom platform I-2 through three single motor supports I-1-1, I-1-2 and I-1-3 and distributed at 120 degrees, and motor shafts of the three motors III-1-1, III-2-1 and III-3-1 are provided with reels III-1-3, III-2-3 and III-3-3 and are connected with corresponding encoders III-1-2, III-2-2 and III-3-2 in parallel; four motors III-4-1, III-5-1, III-6-1, III-7-1, four winding drums III-4-3, III-5-3, III-6-3, III-7-3 and four corresponding encoders III-4-2, III-5-2, III-6-2, III-7-2 on the intermediate platform I-6 are arranged on the intermediate platform I-6 through two double-motor supports I-11-1 and I-11-2 and are distributed in a 180-degree manner in pairs; three single guide wheel brackets I-3-1, I-3-2 and I-3-3 are respectively arranged in a groove of a bottom end platform I-2, and three guide wheels I-4-1, I-4-2 and I-4-3 are respectively arranged on the three single guide wheel brackets I-3-1, I-3-2 and I-3-3 through three cylindrical pins I-5-1, I-5-2 and I-5-3; two double-guide-wheel brackets I-7-1 and I-7-2 are respectively arranged in a groove of a middle platform I-6, and four guide wheels I-8-1, I-8-2, I-8-3 and I-8-4 are respectively arranged on the two double-guide-wheel brackets I-7-1 and I-7-2 through four cylindrical pins I-9-1, I-9-2, I-9-3 and I-9-4; the supporting rod I-10 is fixedly connected with the middle platform I-6 through threads and hinged with the camera platform II-5 through a spherical hinge; the air spring consists of an air spring piston II-1 and an air spring cylinder II-2, and one end of the air spring piston II-1 and one end of the air spring cylinder II-2 are respectively connected with the bottom end platform I-2 and the middle platform I-6 through screws; three of the seven flexible cables II-3-1, II-3-2, II-3-3, II-4-1, II-4-2, II-4-3 and II-4-4 are parallel to each other, and are wound on three winding drums III-1-3, III-2-3 and III-3-3 on the bottom end platform I-2 through three circular rings I-6-A, I-6-B and I-6-C on the middle platform I-6 and three guide wheels I-4-1, I-4-2 and I-4-3 on the bottom end platform I-2; the other four flexible cables II-4-1, II-4-2, II-4-3 and II-4-4, wherein one end of the first flexible cable II-4-1 is fixed on the upper right circular ring II-5-B on the camera platform II-5, and the other end of the first flexible cable II-4-1 is connected to the upper surface of a winding drum III-4-3 fixed on the motor III-4-1 through a guide wheel I-8-1 on a double-guide-wheel support I-7-1 fixed in a groove of the middle platform I-6; one end of a second flexible cable II-4-3 is fixed on a lower right circular ring II-5-D on the camera platform II-5, and the other end of the second flexible cable II-4-3 is connected to a winding drum III-5-3 fixed on the motor III-5-1 through a guide wheel I-8-2 on a double-guide-wheel bracket I-7-1 fixed in a groove of the middle platform I-6; one end of a third flexible cable II-4-2 is fixed on the upper left circular ring II-5-A on the camera platform II-5, and the other end is connected to a winding drum III-6-3 fixed on the motor III-6-1 through a guide wheel I-8-3 on a double-guide-wheel bracket I-7-2 fixed in a groove of the middle platform I-6; one end of a fourth flexible cable II-4-4 is fixed on a lower left circular ring II-5-C on the camera platform II-5, and the other end is connected to a winding drum III-7-3 fixed on the motor III-7-1 through a guide wheel I-8-4 on a double guide wheel bracket I-7-2 fixed in a groove of a middle platform I-6, and the connection can be compared with the drawing 1, the drawing 3 and the drawing 4.

The lower part of the middle platform I-6 is cast with three circular rings I-6-A, I-6-B and I-6-C which are distributed at 120 degrees; four circular rings II-5-A, II-5-B, II-5-C and II-5-D are cast at the lower part of the camera platform II-5, two circular rings are a pair of II-5-A and II-5-B, and two circular rings are a pair of II-5-C and II-5-D, two pairs of circular rings are distributed at two sides of the diameter of the lower part of the camera platform II-5 at an angle of 180 degrees, and the diameter of the circular rings is perpendicular to a connecting line of the centers of two double guide wheel supports I-7-1 and I-7-2 on the middle platform I-6.

The rotating angles and rotating speeds of seven motors III-1-1, III-2-1, III-3-1, III-4-1, III-5-1, III-6-1 and III-7-1 are measured by seven encoders III-1-2, III-2-2, III-3-2, III-6-2 and III-7-2, and are fed back to a control system to calculate the pose of the camera II-6, so that the closed-loop control of the camera II-6 is realized.

The above detailed description is intended to illustrate rather than limit the invention, and any modifications and variations of the invention within the spirit and scope of the claims fall within the scope of the invention.

Claims

1. A four-degree-of-freedom bionic mechanical holder based on flexible cable driving comprises a support group (I), a transmission group (II) and a power group (III); the method is characterized in that: three motors (III-1-1, III-2-1, III-3-1) arranged on a bottom platform (I-2) are driven to change the lengths of three flexible cables (II-3-1, II-3-2, II-3-3) between the bottom platform (I-2) and a middle platform (I-6), and air springs between the three flexible cables stretch along with the length of the three flexible cables (II-3-1, II-3-2, II-3-3) so that the three flexible cables (II-3-1, II-3-2, II-3-3) are always in a tensioning state and the middle platform (I-6) has a degree of freedom of moving back and forth; the length of four flexible cables (II-4-1, II-4-2, II-4-3, II-4-4) between the middle platform (I-6) and the camera platform (II-5) is changed by driving four motors (III-4-1, III-5-1, III-6-1, III-7-1) arranged on the middle platform (I-6), and the camera platform (II-5) rotates around a spherical hinge connected with a support rod (I-10); if two flexible cables on the same side are respectively driven, the camera platform (II-5) has two degrees of freedom, if two pairs of flexible cables which form opposite angles are respectively driven, one pair of flexible cables is simultaneously shortened, and the other pair of flexible cables is simultaneously lengthened, the camera platform (II-5) can rotate for a certain angle around a spherical hinge connected with the supporting rod (I-10), so that the camera platform (II-5) has four degrees of freedom; the camera (II-6) is fixedly connected to the camera platform (II-5) through a screw.

2. The four-degree-of-freedom bionic mechanical holder based on flexible cable driving as claimed in claim 1, wherein: the support group (I) comprises three single motor frames (I-1-1, I-1-2, I-1-3), a bottom end platform (I-2), three single guide wheel supports (I-3-1, I-3-2, I-3-3), two double guide wheel supports (I-7-1, I-7-2), seven guide wheels (I-4-1, I-4-2, I-4-3, I-8-1, I-8-2, I-8-3, I-8-4), seven cylindrical pins (I-5-1, I-5-2, I-5-3, I-9-1, I-9-2, i-9-3, I-9-4) and a support rod (I-10); the transmission set (II) comprises an air spring piston (II-1), an air spring cylinder barrel (II-2), seven flexible cables (II-3-1, II-3-2, II-3-3, II-4-1, II-4-2, II-4-3, II-4-4), a camera platform (II-5) and a camera (II-6); the power unit (III) comprises three motors (III-1-1, III-2-1 and III-3-1) arranged on a bottom end platform (I-2), three winding drums (III-1-3, III-2-3 and III-3-3) and three corresponding encoders (III-1-2, III-2-2 and III-3-2), four motors (III-4-1, III-5-1, III-6-1, III-7-1), four winding drums (III-4-3, III-5-3, III-6-3 and III-7-3) and four corresponding encoders (III-4-2), III-5-2, III-6-2, III-7-2); three motors (III-1-1, III-2-1 and III-3-1) on the bottom platform (I-2) are arranged on the bottom platform (I-2) through three single motor supports (I-1-1, I-1-2 and I-1-3) and are distributed at 120 degrees, and motor shafts of the three motors (III-1-1, III-2-1 and III-3-1) are provided with winding drums (III-1-3, III-2-3 and III-3-3) and are connected with corresponding encoders (III-1-2, III-2-2 and III-3-2); four motors (III-4-1, III-5-1, III-6-1, III-7-1), four winding drums (III-4-3, III-5-3, III-6-3, III-7-3) and four corresponding encoders (III-4-2, III-5-2, III-6-2, III-7-2) on the middle platform (I-6) are arranged on the middle platform (I-6) through two double-motor supports, and the two motors are distributed at 180 degrees; three single guide wheel brackets (I-3-1, I-3-2 and I-3-3) are respectively arranged in a groove of a bottom platform (I-2), and three guide wheels (I-4-1, I-4-2 and I-4-3) are respectively arranged on the three single guide wheel brackets (I-3-1, I-3-2 and I-3-3) through three cylindrical pins (I-5-1, I-5-2 and I-5-3); two double-guide-wheel brackets (I-7-1, I-7-2) are respectively arranged in a groove of the middle platform (I-6), and four guide wheels (I-8-1, I-8-2, I-8-3, I-8-4) are respectively arranged on the two double-guide-wheel brackets (I-7-1, I-7-2) through four cylindrical pins (I-9-1, I-9-2, I-9-3, I-9-4); the support rod (I-10) is fixedly connected with the middle platform (I-6) through threads and is hinged with the camera platform (II-5) through a spherical hinge; the air spring consists of an air spring piston (II-1) and an air spring cylinder barrel (II-2), wherein one end of the air spring piston (II-1) and one end of the air spring cylinder barrel (II-2) are respectively connected with the bottom end platform (I-2) and the middle platform (I-6) through screws; three of the seven flexible cables (II-3-1, II-3-2, II-3-3, II-4-1, II-4-2, II-4-3, II-4-4) are parallel to each other, and are wound on three winding drums (III-1-3, III-2-3, III-3-3) on the bottom end platform (I-2) through three guide wheels (I-4-1, I-4-2, I-4-3) through three circular rings (I-6-A, I-6-B, I-6-C) on the middle platform (I-6);

the camera comprises a camera platform (II-5), four flexible cables (II-4-1, II-4-2, II-4-3 and II-4-4), wherein one end of the first flexible cable (II-4-1) is fixed on an upper right circular ring (II-5-B) on the camera platform (II-5), and the other end of the first flexible cable (II-4-1) is connected to a winding drum (III-4-3) fixed on a motor (III-4-1) through a guide wheel (I-8-1) on a double guide wheel bracket (I-7-1) fixed in a groove of a middle platform (I-6); one end of a second flexible cable (II-4-3) is fixed on a lower right circular ring (II-5-D) on the camera platform (II-5), and the other end of the second flexible cable is connected to a winding drum (III-5-3) fixed on the motor (III-5-1) through a guide wheel (I-8-2) on a double guide wheel bracket (I-7-1) fixed in a groove of the middle platform (I-6); one end of a third flexible cable (II-4-2) is fixed on the upper left circular ring (II-5-A) on the camera platform (II-5), and the other end is connected to the upper surface of a winding drum (III-6-3) fixed on the motor (III-6-1) through a guide wheel (I-8-3) on a double guide wheel bracket (I-7-2) fixed in a groove of the middle platform (I-6); one end of a fourth flexible cable (II-4-4) is fixed on a left lower circular ring (II-5-C) on the camera platform (II-5), and the other end of the fourth flexible cable is connected to a winding drum (III-7-3) fixed on the motor (III-7-1) through a guide wheel (I-8-4) on a double guide wheel bracket (I-7-2) fixed in a groove of the middle platform (I-6).

3. The four-degree-of-freedom bionic mechanical holder based on flexible cable driving according to claim 1 or 2, characterized in that: the lower part of the middle platform (I-6) is cast with three circular rings (I-6-A, I-6-B and I-6-C) which are distributed at 120 degrees; four circular rings (II-5-A, II-5-B, II-5-C and II-5-D) are cast at the lower part of the camera platform (II-5), two circular rings are a pair (II-5-A and II-5-B, II-5-C and II-5-D), two circular rings are distributed at two sides of the diameter of the lower part of the camera platform (II-5) in a 180-degree mode, and the diameter of the circular rings is perpendicular to a connecting line of the centers of the two double guide wheel supports (I-7-1 and I-7-2) on the middle platform (I-6).

4. The four-degree-of-freedom bionic mechanical holder based on flexible cable driving according to claim 1 or 2, characterized in that: the rotating angles and rotating speeds of seven motors (III-1-1, III-2-1, III-3-1, III-4-1, III-5-1, III-6-2 and III-7-1) are measured by seven encoders (III-1-2, III-2-2, III-3-2, III-6-2 and III-7-2) and fed back to a control system to calculate the pose of the camera (II-6) and realize the closed-loop control of the camera (II-6).