CN112995583A

CN112995583A - Shooting throwing device and vehicle monitoring system

Info

Publication number: CN112995583A
Application number: CN201911312623.1A
Authority: CN
Inventors: 胡兰雄
Original assignee: Hangzhou Hikvision Digital Technology Co Ltd
Current assignee: Hangzhou Hikvision Digital Technology Co Ltd
Priority date: 2019-12-18
Filing date: 2019-12-18
Publication date: 2021-06-18
Anticipated expiration: 2039-12-18
Also published as: CN112995583B

Abstract

The application provides a device and vehicle monitored control system are got in throwing of making a video recording. The camera shooting and throwing device is used for throwing or picking up a first camera shooting device in a target vehicle, and comprises: the device comprises a moving device, a grabbing component, a second camera device and a control module. The grabbing component is arranged on the movable device and used for grabbing the first camera device. The second camera device is used for obtaining first position information of the target vehicle. The control module is connected with the movable device and the second camera device and used for acquiring first position information and second position information of the first camera device, controlling the movable device to move based on the first position information and the second position information to adjust the position of the grabbing component, so that the first camera device can be accurately thrown in or picked up by target vehicles at different positions, the first camera device can be conveniently carried on the target vehicles, and the driving condition of the target vehicles, the driving condition of surrounding vehicles and/or other road conditions and the like can be monitored in a target channel.

Description

Shooting throwing device and vehicle monitoring system

Technical Field

The application relates to the technical field of vehicle monitoring, in particular to a shooting throwing device and a vehicle monitoring system.

Background

In a target passage without a monitoring device or with a small number of monitoring devices, it is not easy to monitor road conditions such as driving conditions of vehicles such as vehicles and ships. For example, some highway monitoring devices are relatively few and generally cannot monitor vehicles all the way.

Disclosure of Invention

The application provides an improved camera shooting throwing device and a vehicle monitoring system.

One aspect of the present application provides a camera shooting and shooting device for shooting or picking up a first camera shooting device at a target vehicle, the camera shooting and shooting device comprising:

a mobile device;

the grabbing component is arranged on the movable device and used for grabbing the first camera device;

a second camera for obtaining first position information of the target vehicle; and

and the control module is connected with the movable device and the second camera device and used for acquiring the first position information and the second position information of the first camera device and controlling the movable device to move based on the first position information and the second position information so as to adjust the position of the grabbing component and release or pick up the first camera device in the target vehicle.

Another aspect of the present application provides a vehicle monitoring system for a target pathway, the vehicle monitoring system comprising:

a first image pickup device; and

the at least two camera shooting throwing-in devices mentioned above are arranged at least two intersections of the target passage, and are used for throwing the first camera shooting device to the target vehicle to be driven into the target passage and picking up the first camera shooting device from the target vehicle to be driven out of the target passage.

According to the shooting and shooting device, the control module controls the movement of the movable device based on the first position information of the target vehicle and the second position information of the first camera device, so that the position of the grabbing component is accurately adjusted, and then the first camera device is shot or picked up in the target vehicles at different positions, so that the first camera device is carried on the target vehicle, and the driving condition of the target vehicle, the driving condition of surrounding vehicles and/or other road conditions and the like are monitored in a target channel.

Drawings

FIG. 1 is a schematic diagram of a monitoring system of the present application;

fig. 2 is a schematic view illustrating the shooting pick-up device according to the present application without a first camera being picked up;

fig. 3 is a schematic view of the image capturing and shooting device in fig. 2 shooting a first image capturing device;

FIG. 4 is a schematic view of a portion of a vehicle of the present application;

FIG. 5 is a partial cross-sectional view of the camera mounting of FIG. 2 in a locked position;

FIG. 6 is a partial cross-sectional view of the imaging mount of FIG. 2 shown in an unlocked position;

FIG. 7 is a schematic view of a portion of the image capturing holder shown in FIG. 2;

fig. 8 is a schematic view of the image pickup fixing base and the grabbing component of the image pickup device in fig. 2.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The use of "first," "second," and similar terms in the description and in the claims does not indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. Unless otherwise indicated, the word "comprise" or "comprises", and the like, means that the element or item listed before "comprises" or "comprising" covers the element or item listed after "comprises" or "comprising" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

The utility model provides a device is thrown in making a video recording is used for throwing in at target vehicle or picking up first camera device, and the device is thrown in making a video recording includes: the device comprises a moving device, a grabbing component, a second camera device and a control module. The grabbing component is arranged on the movable device and used for grabbing the first camera device. The second camera device is used for obtaining first position information of the target vehicle. The control module is connected with the movable device and the second camera device and used for acquiring first position information and second position information of the first camera device and controlling the movable device to move based on the first position information and the second position information so as to adjust the position of the grabbing component and put or pick up the first camera device in the target vehicle.

According to the shooting and shooting device provided by the embodiment of the application, the control module controls the movement of the movable device based on the first position information of the target vehicle and the second position information of the first camera device, so that the position of the grabbing component is accurately adjusted, the first camera device is shot or picked up in the target vehicles at different positions, the first camera device is conveniently carried on the target vehicle, and the driving condition of the target vehicle, the driving condition of surrounding vehicles and/or other road conditions and the like are monitored in a target channel.

Fig. 1 is a schematic diagram of a monitoring system according to the present application. The vehicle monitoring system provided by the embodiment of the application is used for a target passage, and comprises a first camera device 200 and at least two camera shooting and throwing devices 300. The at least two camera shooting and throwing devices 300 are arranged at least two intersections of the target passage, and are used for throwing the first camera shooting device 200 to the target vehicle 100 to be driven into the target passage and picking up the first camera shooting device 200 from the target vehicle 100 to be driven out of the target passage. In some embodiments, the target pathway includes a first intersection 410 and a second intersection 420. At least one camera shooting and shooting device 300 is arranged at the first intersection 410 and used for shooting the first camera shooting device 200 to the target vehicle 100 to be driven into the target passage. At least one camera shooting device 300 is arranged at the second intersection 420 and used for picking up the first camera shooting device 200 from the target vehicle 100 to be driven out of the target passage. In some embodiments, the target channels include target channels where no monitoring device is provided and target channels where fewer monitoring devices are provided, the target channels including: highway, common road or river channel. In some embodiments, the target vehicle 100 comprises a patrol car, automobile, bus, truck, or the like. In other embodiments, target vehicle 100 comprises a watercraft.

Fig. 2 is a schematic diagram of the image capturing device 300 of the present application without the first image capturing device 200. Fig. 3 is a schematic diagram illustrating the image capturing apparatus 300 shown in fig. 2 capturing the first image capturing apparatus 200. The image capturing device 300 of the present application includes: the mobile device 310, the grasping assembly 340, the second camera 350 and the control module 380. The grabbing component 340 is arranged on the movable device 310 and used for grabbing the first camera device 200. The second camera 350 is used to obtain first position information of the target vehicle 100. The control module 380 is connected to the movable apparatus 310 and the second camera 350, and is configured to acquire the first position information and the second position information of the first camera 200, and control the movable apparatus 310 to move based on the first position information and the second position information, so as to adjust the position of the grasping assembly 340, so as to launch or pick up the first camera 200 in the target vehicle 100.

In some embodiments, the second camera 350 captures image information of the target vehicle 100 and determines first location information of the target vehicle 100 based on the image information, which the control module 380 acquires. In some embodiments, the second camera 350 obtains second position information of the first camera 200, and the control module 380 obtains the second position information collected by the second camera 350. In other embodiments, the second position information of the first camera 200 is directly stored in the control module 380.

In some embodiments, the control module 380 is provided separately from the second camera 350. The second camera device 350 may comprise a camera control module for processing image data, controlling the second camera device 350, etc. The control module 380 may be provided separately from the imaging control module of the second imaging device 350. In other embodiments, the control module 380 is disposed within the second camera 350. The control module 380 may be integrated with the camera control module of the second camera 350, and may share a controller.

In the camera shooting and picking-up device provided by the embodiment of the application, the control module 380 controls the movable device 310 to move based on the first position information of the target vehicle 100 and the second position information of the first camera shooting device 200, so as to accurately adjust the position of the grabbing component 340, and then the first camera shooting device 200 is thrown or picked up on the target vehicle 100 at different positions, so that the first camera shooting device 200 can be conveniently carried on the target vehicle 100, and the driving condition of the target vehicle 100, the driving condition of surrounding vehicles and/or other road conditions and the like can be monitored in a target passage.

In some embodiments, referring to fig. 2 and 3 in combination, the mobile device 310 includes a first robot 313 connected to a control module 380, the grasping element 340 is disposed on the first robot 313, and the control module 380 is configured to control the first robot 313 to move so as to adjust the position of the grasping element 340. In some embodiments, the position of the grabbing assembly 340 can be flexibly adjusted by using the first mechanical arm 313, so as to facilitate controlling the grabbing assembly 340 to accurately launch or pick up the first camera device 200 on the target vehicle 100.

In some embodiments, the first robot 313 includes a plurality of connecting rods and an actuating element disposed between the connecting rods, the actuating element is movably connected to the connecting rods, and the control module 380 controls the actuating element to drive the connecting rods to move so as to adjust the position of the grabbing assembly 340. In some embodiments, the grasping elements 340 are movably connected to the connecting rods by driving elements, and the length of at least one connecting rod near the grasping elements 340 is smaller than that of at least one connecting rod far from the grasping elements 340, so that the first robot arm 313 can adjust the positions of the grasping elements 340 more precisely and flexibly. In one embodiment, referring to fig. 3, the first robot 313 includes a third driving element 314, a first connecting rod 315, a fourth driving element 316, a second connecting rod 317, a fifth driving element 318, a third connecting rod 319, and a sixth driving element 320, which are movably connected in sequence, and the sixth driving element 320 is movably connected to the grabbing component 340.

In some embodiments, the movable apparatus 310 includes a movable base 311, the first arm 313 is disposed on the movable base 311, at least one segment of the first arm 313 can rotate around the moving direction of the movable base 311, and the control module 380 is connected to the movable base 311 for controlling the movable base 311 to move to adjust the position of the grabbing component 340. In some embodiments, by moving the movable base 311 and rotating at least one section of the first mechanical arm 313 around the moving direction of the movable base 311, the position of the grasping assembly 340 can be adjusted in a large spatial range, which is beneficial to accurately dropping or picking up the first image capturing device 200. In some embodiments, the first robot 313 is movably connected to the movable base 311 by the third driving component 314, so as to facilitate a wider range of adjustment of the position of the first robot 313.

In other embodiments, at least a segment of the first robot arm 313 may also be rotatable about a vertical direction. In other embodiments, at least one segment of the first robot arm 313 may also rotate around a direction perpendicular to both the vertical direction and the moving direction of the moving base 311.

In some embodiments, the camera shooting device 300 has a slide 130, the slide 130 has a limiting groove 131, the extending direction of the limiting groove 131 is the same as the extending direction of the slide 130, the movable base 311 is slidably disposed on the slide 130, the movable base 311 has a limiting portion 312, and the limiting portion 312 is slidably limited in the limiting groove 131. In some embodiments, the shooting-throwing device 300 is provided with the slide 130, and the slide 130 is assembled to the target passage, so that the shooting-throwing device 300 can be conveniently arranged on the target passage, the reconstruction of the target passage is small, and the cost is saved. The moving base 311 moves along the extending direction of the slide 130, so that the movable device 310 drives the grabbing assembly 340 to move along the extending direction of the slide 130, which is beneficial for the grabbing assembly 340 to throw or pick up the first camera device 200 on the target vehicle 100. In addition, the limiting part 312 is matched with the limiting groove 131, so that the movable device 310 is not easy to overturn during movement, and the stable work of the shooting, throwing and taking device 300 is ensured. In some embodiments, the number of the slide ways 130 includes at least two, and the bottom of the movable base 311 is provided with at least two sliding portions 381 matched with the slide ways 130, referring to fig. 3.

In other embodiments, the chute 130 is formed by a modification of the target pathway.

For convenience of description, referring to fig. 1 and 2, the extending direction of the slide 130 is taken as a z-axis, the vertical direction is taken as a y-axis, and the direction perpendicular to both the z-axis and the y-axis is taken as an x-axis. In some embodiments, the control module 380 controls the moving base 311 to move along the z-axis direction and to be opposite to the target vehicle 100 based on the first position information and the second position information, controls the first robot 313 to rotate around the z-axis, and controls the grabbing component 340 to throw or pick up the first camera 200 on the target vehicle 100. In some embodiments, the control module 380 may control the third driving element 314, the fourth driving element 316, the fifth driving element 318, and the sixth driving element 320 to rotate around the z-axis so as to facilitate the grabbing assembly 340 to launch or pick up the first camera device 200 on the target vehicle 100. In some embodiments, the third driving element 314, the fourth driving element 316, the fifth driving element 318, and the sixth driving element 320 are motor assemblies, cylinder assemblies, or other devices capable of realizing driving activities.

In some embodiments, the movable apparatus 310 includes a second mechanical arm 321 connected to the control module 380, the second camera 350 is disposed on the second mechanical arm 321, and the control module 380 is configured to control the second mechanical arm 321 to move to adjust the position of the second camera 350. In some embodiments, the second mechanical arm 321 is adopted to flexibly adjust the position of the second camera 350, so as to facilitate the second camera 350 to accurately acquire the first position information of the target vehicle 100. After the target vehicle 100 is in the shooting range of the second camera 350, the second camera 350 captures first position information of the target vehicle 100, and the control module 380 controls the second mechanical arm 321 to move based on the first position information to adjust the position of the second camera 350, so as to adjust the relative position of the second camera 350 and the target vehicle 100, and to accurately obtain the first position information of the target vehicle 100. The "position" of the second camera 350 includes the coordinate position and pitch angle of the x-axis, y-axis, and z-axis.

In some embodiments, the second mechanical arm 321 is disposed on the movable base 311, at least one segment of the second mechanical arm 321 can rotate around the moving direction of the movable base 311, and/or at least one segment of the second mechanical arm 321 can rotate around the vertical direction. In some embodiments, when the extension direction of the chute 130 is the z-axis direction, at least one segment of the second mechanical arm 321 may rotate around the z-axis direction, and/or at least one segment of the second mechanical arm 321 may rotate around the y-axis direction, so that the second mechanical arm 321 may rotate at any angle in the three-dimensional space, and the position and the pitch angle of the second camera 350 may be adjusted at any angle in the three-dimensional space, so as to conveniently and accurately obtain the first position information of the target vehicle 100.

In some embodiments, the second mechanical arm 321 includes a plurality of connecting rods and a driving member disposed between the connecting rods and the driving member, wherein the driving member is movably connected with the connecting rods. The control module 380 controls the driving member to drive the connecting rod to move, so as to adjust the position of the second camera 350. In one embodiment, the second mechanical arm 321 is fixedly connected to the moving base 311, and the connecting rod of the second mechanical arm 321 is movably connected to the second camera 350 through a driving member. In some embodiments, the length of the connecting rod near the second camera 350 is smaller than the length of the connecting rod far from the second camera 350, so that the second mechanical arm 321 can adjust the position of the second camera 350 accurately and flexibly.

In some embodiments, with reference to fig. 3, the second mechanical arm 321 includes a bracket 322, a seventh driving member 323, a fourth connecting rod 324, and an eighth driving member 325, which are movably connected in sequence, wherein the bracket 322 is fixedly connected to the moving base 311, and the eighth driving member 325 is movably connected to the second camera 350. In some embodiments, the control module 380 may drive the seventh drive member 323 to rotate about the z-axis and the eighth drive member 325 to rotate about the y-axis. In some embodiments, the seventh driving member 323 and the eighth driving member 325 are a motor assembly, a cylinder assembly, or some other device capable of driving movement.

In some embodiments, the second camera 350 captures image data of the target vehicle 100, the target vehicle 100 is equipped with the vehicle mount 140, and the control module 380 acquires and processes the image data captured by the second camera 350, and then determines the position information of the vehicle mount 140 as the first position information of the target vehicle 100. The control module 380 controls the moving base 311 to move closer to the target vehicle 100 based on the first position information. The control module 380 then controls the second mechanical arm 321 to adjust the position of the second camera 350, such that the second camera 350 rotates towards the target vehicle 100, and the position of the target vehicle 100 in the image captured by the second camera 350 is adjusted. The control module 380 then obtains the first position information of the target vehicle 100 and the second position information of the first camera device 200, and controls the first mechanical arm 313 to move based on the first position information and the second position information to adjust the position of the grasping assembly 340 so as to launch or pick up the first camera device 200 on the target vehicle 100.

Fig. 4 is a partial schematic view of the vehicle 100 according to the present invention. The target vehicle 100 includes a vehicle body 110 and a vehicle mount 140 provided on an outer surface of the target vehicle 100. In some embodiments, the vehicle holder 140 is provided with a limiting hole 141 to limit the first camera device 200, so that the first camera device 200 is fixed to the target vehicle 100. In some embodiments, the second camera 350 obtains the position information of the vehicle mount 140 of the target vehicle 100 as the first position information.

Fig. 5 is a partial sectional view of the photographing fixing base 360 in fig. 2 in a locked state, and fig. 6 is a partial sectional view of the photographing fixing base 360 in fig. 2 in an unlocked state. Fig. 7 is a partial schematic structural view of the image capturing fixing base 360 in fig. 2. With reference to fig. 5 to 7, the camera shooting and taking device 300 further includes a camera shooting fixing seat 360, the camera shooting fixing seat 360 includes a base 361 and a locking component 362 disposed on the base 361, the base 361 is used for carrying the first camera shooting device 200, the locking component 362 is locked or unlocked with the vehicle fixing seat 140, and the grabbing component 340 drives the locking component 362 to move, so that the locking component 362 is unlocked with the vehicle fixing seat 140. In some embodiments, the locking assembly 362 locks with the vehicle mount 140 to secure the first camera 200 to the outer surface of the target vehicle 100 while the grasping assembly 340 is releasing the first camera 200. The control module 380 controls the grabbing assembly 340 to drive the locking assembly 362 to move, so that the locking assembly 362 is unlocked from the vehicle fixing seat 140 to pick up the first camera device 200. In some embodiments, the position information of the grasping assembly 340 serves as the second position information of the first image pickup device 200. The "position information" of the grasping element 340 includes coordinate positions of the x-axis, the Y-axis, the z-axis, and the rotation angle around the Y-axis.

In some embodiments, the locking assembly 362 includes a limiting member 363, and an elastic member 364 abutting between the limiting member 363 and the base 361; when the locking assembly 362 is in the unlocking state, the grabbing assembly 340 pushes against the limiting piece 363, so that the elastic piece 364 is elastically deformed, and the limiting piece 363 and the vehicle fixing seat 140 are unlocked; when the locking assembly 362 is in the locked state, the elastic member 364 is restored to make the limiting member 363 and the vehicle fixing seat 140 engage in a limiting manner. In some embodiments, the locking component 362 can be easily locked and unlocked by the cooperation of the limiting component 363, the elastic component 364, and the base 361 under the pushing action of the grabbing component 340.

Further, in some embodiments, the vehicle mount 140 includes a retaining hole 141; the base 361 includes a fixed plate 365, the limiting member 363 includes a sliding plate 366 and a limiting post 367, the elastic member 364 abuts between the fixed plate 365 and the sliding plate 366, and the limiting post 367 is protruded on a surface of the sliding plate 366 facing away from the elastic member 364. The grasping assembly 340 drives the sliding plate 366 toward the fixed plate 365 to place the locking assembly 362 in an unlocked state; the sliding plate 366 moves away from the fixing plate 365 by the restoring force of the elastic member 364, so that the position-limiting post 367 protrudes into the position-limiting hole 141, and the locking assembly 362 is locked. In some embodiments, the limiting member 363 has a simple structure, and the sliding plate 366, the limiting post 367, the base 361 and the elastic member 364 are matched to easily achieve an unlocking state and easily automatically return to a locking state under the driving action of the grabbing assembly 340. In addition, the sliding plate 366 is matched with the limiting post 367, so that the limiting post 367 is properly limited in the limiting hole 141, and the limiting post 367 is stably supported.

Further, in some embodiments, the camera fixing base 360 includes a driving member 368, the driving member 368 includes a driving plate 369 and a driving post 370 provided on the driving plate 369, the driving plate 369 is located on a side of the limiting member 363 opposite to the elastic member 364, and the driving post 370 extends from the driving plate 369 to the limiting member 363. The grabbing component 340 pushes against the driving plate 369, so that the driving plate 369 moves towards the direction of the limiting piece 363, the driving column 370 pushes against the limiting piece 363, and the locking component 362 is in an unlocking state; the grasping assembly 340 releases the pushing of the driving plate 369, and the locking assembly 362 is in a locked state under the action of the elastic member 364. In some embodiments, the control module 380 controls the grasping assembly 340 to push against the actuating plate 369 to control the locking assembly 362 to the unlocked state. When the grabbing assembly 340 does not push against the driving plate 369, under the restoring action of the elastic member 364, the sliding plate 366 slides and pushes against the driving plate 369 in the direction away from the elastic member 364, so that the driving plate 369 restores to the original position, the limiting member 363 is limited in the limiting hole 141, and the locking assembly 362 is in a locking state. The driving mode is simple and easy to manufacture.

Fig. 8 is a schematic diagram illustrating the image capturing holder 360 and the grasping assembly 340 of the image capturing apparatus 300 in fig. 2. In some embodiments, the locking assembly 362 includes a first locking assembly 371 and a second locking assembly 372 arranged oppositely; the actuating member 368 includes a first actuating member 373 opposite the first locking assembly 371, and a second actuating member 374 opposite the second locking assembly 372; the gripper assembly 340 includes a first gripper arm 341 and a second gripper arm 342 opposite the first gripper arm 341. In the unlocking state, the first clamping arm 341 drives the first driving member 373 to push the limiting member 363 of the first locking assembly 371, and the second clamping arm 342 drives the second driving member 374 to push the limiting member 375 of the second locking assembly 372. In some embodiments, the first locking component 371 and the second locking component 372 are matched to facilitate the first camera device 200 to be firmly locked to the vehicle holder 140, and the first locking component 371 and the second locking component 372 are arranged opposite to each other to facilitate the miniaturization of the camera holder 360. In some embodiments, the gripping assembly 340 further comprises a gripping rack 345, a ninth drive 343, and a tenth drive 344. The middle part of the grasping frame 345 is movably connected with the sixth driving member 320, one end of the grasping frame 345 is movably connected with the ninth driving member 343, and the ninth driving member 343 is movably connected with the first clamping arm 341. The other end of the grip 345 is movably connected to a tenth driving member 344, and the tenth driving member 344 is movably connected to the second clamping arm 342. The ninth driving member 343 and the tenth driving member 344 are both connected to the control module 380, the control module 380 controls the ninth driving member 343 to drive the first clamping arm 341 to move, and the tenth driving member 344 drives the second clamping arm 342 to move.

In some embodiments, the driving plate 369 of the first locking assembly 371 is disposed between the fixing plate 378 and the sliding plate 379 of the second locking assembly 372, and the driving plate 377 of the second locking assembly 372 is disposed between the fixing plate 365 and the sliding plate 366 of the first locking assembly 371. So do benefit to the volume that reduces fixing base 360 of making a video recording. Further, in some embodiments, the resilient member 376 of the second locking assembly 372 slidably passes through the actuating plate 369 of the first actuating member 373. The elastic member 364 of the first locking assembly 371 slidably passes through the driving plate 377 of the second driving member 374. In some embodiments, in this way, the driving plate 369 of the first locking assembly 371 does not affect the extension and the arrangement space of the elastic member 376 of the second locking assembly 372, and the driving plate 377 of the second locking assembly 372 does not affect the extension and the arrangement space of the elastic member 364 of the first locking assembly 371, which is beneficial to miniaturizing the volume of the camera fixing base 360.

In some embodiments, after the camera fixing base 360 is connected to the vehicle fixing base 140, a portion of the bottom surface of the camera fixing base 360 abuts against the outer surface of the target vehicle 100, and a flexible layer is disposed on the bottom surface of the camera fixing base 360 facing the target vehicle 100 to avoid abrasion of the target vehicle 100. In some embodiments, the material of the flexible layer comprises rubber.

In some embodiments, when the capturing component 340 releases the first camera device 200 in the target vehicle 100, the control module 380 first controls the capturing component 340 to unlock the camera fixing seat 360, such that the position-limiting post 367 of the camera fixing seat 360 is aligned with the position-limiting hole 141 of the vehicle fixing seat 140, and then the control module 380 controls the capturing component 340 to release the camera fixing seat 360, such that the position-limiting post 367 of the camera fixing seat 360 is positioned in the position-limiting hole 141, such that the camera fixing seat 360 is locked with the vehicle fixing seat 140, and the first camera device 200 is further secured to the vehicle fixing seat 140.

When the grabbing component 340 grabs the first camera device 200 on the target vehicle 100, the control module 380 controls the grabbing component 340 to unlock the camera fixing seat 360, so that the limiting post 367 of the camera fixing seat 360 is separated from the limiting hole 141 of the vehicle fixing seat 140, and controls the grabbing component 340 to pick up the camera fixing seat 360, so that the first camera device 200 is separated from the target vehicle 100.

The above embodiments of the present application may be complementary to each other without conflict.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A camera shooting device for shooting or picking up a first camera shooting device (200) at a target vehicle (100), the camera shooting device (300) comprising:

a mobile device (310);

the grabbing component (340) is arranged on the movable device (310) and used for grabbing the first camera device (200);

a second camera (350) for obtaining first position information of the target vehicle (100); and

the control module is connected with the movable device (310) and the second camera device (350) and used for acquiring the first position information and the second position information of the first camera device (200) and controlling the movable device (310) to move based on the first position information and the second position information so as to adjust the position of the grabbing component (340) and release or pick up the first camera device (200) in the target vehicle (100).

2. The camera shooting device according to claim 1, wherein the movable device (310) comprises a first mechanical arm (313) connected to the control module, the grabbing component (340) is arranged on the first mechanical arm (313), and the control module is used for controlling the first mechanical arm (313) to move so as to adjust the position of the grabbing component (340).

3. The camera shooting device according to claim 2, wherein the movable device (310) comprises a movable base (311), the first mechanical arm (313) is arranged on the movable base (311), at least one segment of the first mechanical arm (313) can rotate around the movable direction of the movable base (311), and the control module is connected with the movable base (311) and used for controlling the movable base (311) to move so as to adjust the position of the grabbing component (340).

4. The camera shooting device according to claim 1, wherein the movable device (310) comprises a second mechanical arm (321) connected to the control module, the second camera shooting device (350) is arranged on the second mechanical arm (321), and the control module is used for controlling the second mechanical arm (321) to move so as to adjust the position of the second camera shooting device (350).

5. The image capturing and taking apparatus according to claim 4, wherein the movable device (310) includes a movable base (311), the second robot arm (321) is provided on the movable base (311), at least one segment of the second robot arm (321) is rotatable about a moving direction of the movable base (311), and/or at least one segment of the second robot arm (321) is rotatable about a vertical direction.

6. The camera shooting and throwing device according to claim 3 or 5, wherein the camera shooting and throwing device is provided with a slide way (130), the slide way (130) is provided with a limiting groove (131), the extending direction of the limiting groove (131) is consistent with the extending direction of the slide way (130), the moving base (311) is slidably arranged on the slide way (130), the moving base (311) is provided with a limiting part (312), and the limiting part (312) is slidably limited in the limiting groove (131).

7. The camera shooting device according to any one of claims 1-5, characterized in that the target vehicle (100) is provided with a vehicle holder (140);

the shooting and taking device (300) further comprises a shooting fixing seat (360), the shooting fixing seat (360) comprises a base (361) and a locking component (362) arranged on the base (361), the base (361) is used for bearing the first shooting device (200), the locking component (362) is locked or unlocked with the vehicle fixing seat (140), and the grabbing component (340) drives the locking component (362) to move, so that the locking component (362) is unlocked with the vehicle fixing seat (140).

8. The camera shooting device according to claim 7, wherein the locking component (362) comprises a limiting piece (363), and an elastic piece (364) abutted between the limiting piece (363) and the base (361); when the locking assembly (362) is in an unlocking state, the grabbing assembly (340) pushes the limiting piece (363) to enable the elastic piece (364) to be elastically deformed, and the limiting piece (363) is unlocked with the vehicle fixing seat (140); when the locking assembly (362) is in a locking state, the elastic piece (364) restores to enable the limiting piece (363) to be in limiting fit with the vehicle fixing seat (140).

9. The camera shooting and picking-up device according to claim 8, characterized in that the vehicle fixing seat (140) comprises a limiting hole (141); the base (361) comprises a fixed plate (365), the limiting piece (363) comprises a sliding plate (366) and a limiting column (367), the elastic piece (364) abuts between the fixed plate (365) and the sliding plate (366), and the limiting column (367) is convexly arranged on one surface, facing away from the elastic piece (364), of the sliding plate (366);

the grabbing assembly (340) drives the sliding plate (366) to move towards the fixed plate (365) so as to enable the locking assembly (362) to be in an unlocked state; the sliding plate (366) moves towards the direction away from the fixing plate (365) under the action of the restoring force of the elastic piece (364), so that the limiting column (367) extends into the limiting hole (141), and the locking assembly (362) is in a locking state.

10. The camera shooting device according to claim 8, wherein the camera shooting fixing seat (360) comprises a driving member (368), the driving member (368) comprises a driving plate (369) and a driving column (370) arranged on the driving plate (369), the driving plate (369) is positioned on the side of the limiting member (363) opposite to the elastic member (364), and the driving column (370) extends from the driving plate (369) to the limiting member (363);

the grabbing assembly (340) pushes against the driving plate (369) to enable the driving plate (369) to move towards the direction of the limiting piece (363), and the driving column (370) pushes against the limiting piece (363) to enable the locking assembly (362) to be in an unlocked state; the grabbing component (340) releases the pushing of the driving plate (369), and the locking component (362) is in a locking state under the action of the elastic piece (364).

11. The camera shooting device according to claim 10, wherein the locking assembly (362) comprises a first locking assembly (371) and a second locking assembly (372) which are oppositely arranged; the actuating member (368) includes a first actuating member (373) opposite the first locking assembly (371), and a second actuating member (374) opposite the second locking assembly (372); the gripping assembly (340) comprises a first clamping arm (341) and a second clamping arm (342) opposite to the first clamping arm (341);

when the locking mechanism is in an unlocking state, the first clamping arm (341) drives the first driving member (373) to push against the limiting member (363) of the first locking assembly (371), and the second clamping arm (342) drives the second driving member (374) to push against the limiting member (375) of the second locking assembly (372).

12. The camera shooting device according to claim 11, wherein the elastic member (376) of the second locking assembly (372) slidably passes through the driving plate (369) of the first driving member (373);

the elastic member (364) of the first locking assembly (371) slidably passes through the driving plate (377) of the second driving member (374).

13. A vehicle monitoring system for a target pathway, the vehicle monitoring system comprising:

a first imaging device (200); and

at least two camera shooting delivery devices (300) according to any of claims 1-12, provided at least two intersections of the target corridor, for delivering the first camera shooting device (200) to the target vehicle (100) to be driven into the target corridor, and for picking up the first camera shooting device (200) from the target vehicle (100) to be driven out of the target corridor.