Two-degree-of-freedom underwater camera system

Abstract

The application discloses a two-degree-of-freedom underwater camera system, which is characterized in that the bottom of the camera system is fixed with a connecting limiting plate on the left side and a connecting limiting plate on the right side; a dust cover is arranged between the two connecting limiting plates; the two ends of a rotating shaft are fixed on the two connecting limiting plates after penetrating through the through holes on the left side and the right side of the dust cover; a driving part is fixed in a sealed cabin; a rotating table is arranged above the sealed cabin; the output shaft of the driving part is connected with the bottom of a connecting shaft; the connecting shaft penetrates through the through holes of an end cover and the middle part of the rotating table in sequence; the outer wall of the lower part of the connecting shaft is sealingly and rotatably connected with the upper part of the sealed cabin; a horizontal bevel gear is fixed on the upper part of the connecting shaft; a vertical bevel gear is fixed on the rotating shaft; the vertical bevel gear is engaged with the horizontal bevel gear and arranged in the dust cover; the bottom of the dust cover is connected with the rotating table; a fixed cover is fixed on the upper part of the sealed cabin to form a clamping groove for accommodating the rotation of the rotating table; the rotating table is embedded in the clamping groove and can rotate around the connecting shaft; and the pitching movement and the horizontal rotation are realized by using one driving part.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater equipment, in particular to a two-degree-of-freedom underwater camera system. BACKGROUND

[0002] With the progress of technology, we are also more and more in-depth observation of the ocean, the most intuitive way of observation for video monitoring. Underwater camera driven by the drive department to pitch and horizontal rotation, complete the observation under the large angle. The existing underwater camera generally adopts two motors to realize pitch and horizontal rotation, resulting in a large volume of the whole system. For example, patent 202010353667.5 discloses an underwater holder, the bottom of the rotating shaft shell is movably sleeved on the fixed shaft seat and is water-tightly connected with the fixed shaft seat, and the top of the rotating shaft shell is water-tightly connected with the pitching shaft shell; the pitching shaft is horizontally installed in the pitching shaft shell and can rotate, the rotating reduction motor and the pitching reduction motor are arranged in the rotating shaft shell, the rotating reduction motor is fixed to the rotating shaft shell, and the main shaft of the rotating reduction motor is in transmission connection with the fixed shaft seat; the pitching reduction motor is fixed to the rotating shaft shell, the main shaft of the pitching reduction motor extends into the pitching shaft shell and is in transmission connection with the pitching shaft; the two ends of the pitching shaft are water-tightly connected with the pitching shaft shell and extend out of the pitching shaft shell for connecting underwater instruments and equipment. Therefore, the present application designs an underwater camera system which realizes two-degree-of-freedom rotation by one motor. SUMMARY

[0003] In order to overcome the shortcomings of the prior art, the present application provides a two-degree-of-freedom underwater camera system, which solves the problem that the existing underwater camera system cannot realize two-degree-of-freedom motion by one motor.

[0004] To achieve the above purpose, the two-degree-of-freedom underwater camera system according to the present application comprises a camera system, a rotating system, a fixed cover and a sealed cabin. The rotating system comprises a vertical bevel gear, a rotating shaft, a dust cover, a rotating table, a horizontal bevel gear, a connecting shaft and a drive part. The camera system is fixed with a connecting limiting plate on the left and right sides of the bottom, and the dust cover is arranged between the two connecting limiting plates. The rotating shaft passes through the through holes on the left and right sides of the dust cover and is fixed on the left and right connecting limiting plates. There is a certain rotation gap between the rotating shaft and the through holes on the left and right sides of the dust cover. The drive part is fixed in the sealed cabin, and the rotating table is arranged above the sealed cabin. The output shaft of the drive part is connected with the bottom of the connecting shaft. The connecting shaft passes through the through holes in the end cover and the middle of the rotating table in sequence. The outer wall of the lower part of the connecting shaft is sealingly and rotatably connected with the upper part of the sealed cabin. The horizontal bevel gear is fixed on the upper part of the connecting shaft, and the vertical bevel gear is fixed on the rotating shaft. The vertical bevel gear is engaged with the horizontal bevel gear and arranged in the dust cover. The bottom of the dust cover is connected with the rotating table. The fixed cover is fixed on the upper part of the sealed cabin to form a clamping groove for accommodating the rotating table. The rotating table is embedded in the clamping groove and can rotate around the connecting shaft.

[0005] Specifically, when moving forward, the front end of the bottom of the connecting limiting plate abuts against the rotating table to prevent continuous forward movement, and when moving backward, the rear end of the bottom of the connecting limiting plate abuts against the rotating table to prevent continuous backward movement.

[0006] Specifically, the sealing cabin comprises an end cover, a barrel and a tail cover, the end cover and the tail cover are respectively sealed and fixed at the upper and lower openings of the barrel, the rotating table is arranged above the end cover, the outer wall of the lower part of the connecting shaft is sealingly and rotatably connected with the upper part of the through hole in the middle of the end cover, the fixing cover is fixed on the upper part of the end cover to form a clamping groove for accommodating the rotation of the rotating table, and the rotating table is embedded in the clamping groove.

[0007] Specifically, the upper surface of the end cover is inwardly recessed to form a cavity for accommodating the fixing cover, the dust cover, the rotating table and the connecting shaft.

[0008] As an implementation manner, the end cover comprises a first annular fixed part, a first annular embedded part and a circular bottom plate arranged on the same axis, the outer wall of the upper part of the first annular embedded part is connected with the inner wall of the lower part of the first annular fixed part, the upper and lower parts of the connecting part form a first annular groove and a second annular groove respectively, and the outer wall of the circular bottom plate is connected with the inner wall of the lower part of the first annular embedded part to form a circular groove between the outer wall of the circular bottom plate and the first annular embedded part; correspondingly, the fixing cover comprises a second annular fixed part and a second annular embedded part arranged on the same axis, the inner wall of the second annular fixed part is fixedly connected with the outer wall of the upper part of the second annular embedded part, and an annular groove is formed below the second annular fixed part; the rotating table is arranged in the circular groove and closely arranged against the circular bottom plate, the second annular fixed part is arranged in the first annular groove and fixed by screws, the outer wall of the second annular embedded part closely abuts against the inner wall of the first annular embedded part, and a clamping groove capable of accommodating the rotation of the rotating table is left between the bottom of the second annular embedded part and the circular bottom plate; the edge of the rotating table is arranged in the clamping groove; the first annular embedded part is embedded in the upper opening of the barrel, the outer wall of the first annular embedded part abuts against the inner wall of the barrel, and the first annular fixed part is fixed on the barrel by screws.

[0009] Specifically, the dust cover is an arch-shaped box with an open bottom, and the top of the dust cover is coated with lubricating oil.

[0010] Specifically, the two-degree-of-freedom underwater camera system further comprises a control panel fixed in the sealing cabin, the control panel is connected with the driving part and the camera system to control the operation of the camera system.

[0011] Specifically, a partition plate for fixing the driving part is arranged in the middle of the barrel, a plurality of mounting holes are arranged on one side of the barrel, one end of the umbilical cable is connected with the camera system, and the other end is fixed on the mounting hole and connected with the control panel, so that the control panel controls the camera system.

[0012] Compared with the prior art, the present invention has the following advantages: (1) by designing a rotation system, a single drive unit can realize vertical pitch motion and horizontal rotation motion; (2) the upper surface of the end cover is recessed inward to form a cavity for accommodating structures such as a fixed cover, a dust cover, a rotating table and a connecting shaft, thereby reducing the size of the equipment and facilitating installation and deployment; (3) the entire device has a compact structure and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a three-dimensional structural diagram of the two-degree-of-freedom underwater camera system involved in Example 1.

[0014] Figure 2 This is a side view of the two-degree-of-freedom underwater camera system involved in Example 1.

[0015] Figure 3 for Figure 2 AA cross-section diagram.

[0016] Figure 4 for Figure 3 Enlarged view of the rotating system part.

[0017] Figure 5 This is a state diagram of the camera system involved in Example 1 when the pitch angle (tilt) reaches the extreme position (mechanical limit).

[0018] Figure 6 1. The sectional view (left) and stereoscopic view (right) of the fixing cover involved in Example 1.

[0019] Figure 7 1. The cross-sectional view (left) and stereoscopic view (right) of the end cover involved in Example 1.

[0020] Figure 8 This is a three-dimensional diagram of the dust cover involved in Example 1.

[0021] Figure 9 This is a three-dimensional diagram of the turntable involved in Example 1.

[0022] Figure 10 This is a three-dimensional diagram of the cylinder involved in Example 1. DETAILED DESCRIPTION

[0023] The present invention will be further described below through specific examples.

[0024] Example 1

[0025] The first, second, third, etc. involved in this embodiment are only for distinguishing and explaining the components and do not constitute a limitation on the scope of protection. Directional words such as left, right, front, and back are for explaining the relative positions between components and do not constitute a limitation on the scope of protection.

[0026] like Figure 1-4 As shown, the two-degree-of-freedom underwater camera system involved in this embodiment includes a camera system 1, a rotating system 2, a fixed cover 3 and a sealed cabin;

[0027] Among them, the rotating system 2 includes a vertical bevel gear 201, a rotating shaft 202, a dust cover 203, a rotating platform 204, a horizontal bevel gear 205, a connecting shaft 206 and a driving part 207; a connecting limit plate 101 is fixed on the left and right sides of the bottom of the camera system 1, and the dust cover 203 is placed between the two connecting limit plates 101. The two ends of the rotating shaft 202 pass through the through holes on the left and right sides of the dust cover 203 and are fixed on the left and right connecting limit plates 101. There is a certain rotation gap between the rotating shaft 202 and the through holes on the left and right sides of the dust cover 203. The driving part 207 is fixed in the sealed cabin, and the rotating platform 204 is placed above the sealed cabin. The output shaft of the moving part 207 is connected to the bottom of the connecting shaft 206. The connecting shaft 206 passes through the through holes in the middle of the end cover 4 and the rotating table 204 in sequence. The outer wall of the lower part of the connecting shaft 206 is sealed and rotatably connected to the upper part of the sealed cabin. The horizontal bevel gear 205 is fixed to the upper part of the connecting shaft 206. The vertical bevel gear 201 is fixed on the rotating shaft 202. The vertical bevel gear 201 is meshed with the horizontal bevel gear 205 and is placed in the dust cover 203. The bottom of the dust cover 203 is connected to the rotating table 204. The fixed cover 3 is fixed to the upper part of the sealed cabin to form a card slot to accommodate the rotation of the rotating table 204. The rotating table 204 is embedded in the card slot on all sides and can rotate around the connecting shaft 206.

[0028] Specifically, the driving unit 207 is a motor.

[0029] Specifically, in order to achieve a sealed connection, the connecting shaft 206 is fixed to the through hole in the middle of the circular bottom plate 403 through a retaining ring 209 , and the outer wall of the connecting shaft 206 is sealed and rotatably connected to the through hole through a sealing ring 208 .

[0030] like Figure 3 and 4 As shown, the motor 207 rotates in the forward direction, driving the connecting shaft 206 and the horizontal bevel gear 205 to rotate, and then driving the vertical bevel gear 201 and the rotating shaft 202 to rotate, and the camera system 1 performs a pitch motion (rotates in the vertical direction). When the pitch angle of the camera system 1 reaches the limit position (mechanical limit) ( Figure 5 As shown), the rotating shaft 202 and the connecting shaft 206 are combined into a whole. The motor 207 continues to rotate, which will drive the camera system 1 to rotate in the horizontal direction through the connecting shaft 206, and then complete the pitch movement and horizontal rotation through one motor.

[0031] The connection limiting plate 101 involved in this embodiment can not only realize the connection between the camera system 1 and the rotation system 2, but also limit the pitch motion of the camera system 1. Figure 5As shown, the connecting limit plate 101 is a square structure. When moving forward, the front end corner of the bottom of the connecting limit plate 101 abuts against the rotating table 204 to prevent further forward movement. When moving backward, the rear end corner of the bottom of the connecting limit plate 101 abuts against the rotating table 204 to prevent further backward movement. Of course, it can also be other structures that can achieve limiting.

[0032] The dust cover 203 of this embodiment not only supports the entire camera system 1, but also prevents mud and sand from entering the interior and affecting the meshing of the gears. The rotating platform 204 not only fixes the dust cover, but also cooperates with the connecting limit plate 101 to serve as a mechanical limit for the pitch movement.

[0033] Specifically, the sealed chamber comprises an end cap 4, a barrel 5, and a tail cap 7. The end cap 4 and tail cap 7 are respectively sealed and fixed to the upper and lower openings of the barrel 5. A rotating platform 204 is positioned above the end cap 4. The lower outer wall of the connecting shaft 206 is sealingly and rotatably connected to the upper portion of the central through-hole in the end cap 4. The fixed cap 3 is fixed to the upper portion of the end cap to form a slot that accommodates the rotation of the rotating platform 204. The rotating platform 204 is embedded in the slot on all sides, allowing it to rotate around the connecting shaft 206.

[0034] like Figure 4 As shown, in order to reduce the volume of the entire device, the upper surface of the end cover 4 is recessed inward to form a cavity for accommodating the fixed cover 3, the dust cover 203, the rotating platform 204 and the connecting shaft 206.

[0035] like Figure 6 and 7 As shown, as an implementation method, the end cover 4 includes a first annular fixing portion 401, a first annular embedded portion 402 and a circular bottom plate 403 arranged coaxially. The upper portion of the outer wall of the first annular embedded portion 402 is connected to the lower portion of the inner wall of the first annular fixing portion 401, and a first annular groove 404 and a second annular groove 405 are formed in the upper and lower directions of the connection. The outer wall of the circular bottom plate 403 is connected to the lower portion of the inner wall of the first annular embedded portion 402, and a circular groove 406 is formed between the outer wall of the circular bottom plate 403 and the first annular embedded portion 402.

[0036] Correspondingly, the fixing cover 3 includes a second annular fixing portion 301 and a second annular embedded portion 302 arranged coaxially. The inner wall of the second annular fixing portion 301 is fixedly connected to the upper portion of the outer wall of the second annular embedded portion 302, and an annular groove 303 is formed below the second annular fixing portion 301.

[0037] The rotating platform 204 is placed in the circular groove 406 and close to the circular bottom plate 403. The second annular fixing portion 301 is placed in the first annular groove 404 and the two are fixed by screws. The outer wall of the second annular embedded portion 302 is close to the inner wall of the first annular embedded portion 402. A slot is left between the bottom of the second annular embedded portion 302 and the circular bottom plate 403 to accommodate the rotation of the rotating platform 204. The edge of the rotating platform 204 is placed in the slot.

[0038] The first annular embedded portion 402 is embedded in the upper opening of the cylinder 5 , the outer wall of the first annular embedded portion 402 abuts against the inner wall of the cylinder 5 , and the first annular fixing portion 401 is fixed to the cylinder 5 by screws.

[0039] Specifically, in order to achieve better sealing, the end cover 4 and the fixed cover 3 are both integrated structures.

[0040] Specifically, if Figure 8 As shown, the dust cover 203 of this embodiment is an arched box with an opening at the bottom. Since the dust cover 203 is connected to the base of the camera system 1, in order to improve the flexibility of the rotation process, the top of the dust cover 203 is coated with lubricating oil.

[0041] Specifically, the two-degree-of-freedom underwater camera system involved in this embodiment further includes a control board 6 fixed in the sealed cabin. The control board 6 is connected to the driving unit 207 and the camera system 1 to control their operations.

[0042] Specifically, if Figure 10 As shown, a partition 501 for fixing the driving part 207 is provided in the middle of the cylinder 5 involved in this embodiment, and a plurality of mounting holes 502 are opened on one side of the cylinder 5. One end of the umbilical cable 8 is connected to the camera system 1, and the other end is fixed on the mounting hole 502 and connected to the control board 6, thereby realizing the control of the camera system 1 by the control board 6.

[0043] The underwater camera system 1 includes a camera unit and a lighting unit, and may also include a cleaning brush unit.

[0044] The specific method of using the two-degree-of-freedom underwater camera involved in this embodiment is as follows:

[0045] After the camera is installed, motor 207 is started. The rotation of motor 207 drives connecting shaft 206 and bevel gear 205 to begin rotating. Bevel gear 205 then drives bevel gear 201 to rotate. Driven by bevel gear 201, rotating shaft 202 drives camera system 1 to pitch. When the pitch angle of camera system 1 reaches its limit, motor 207 continues to rotate, driving the entire rotating system 2 and camera system 1 to rotate. After reaching the limit, if the camera system 1 needs to rotate in the opposite direction horizontally, motor 207 can be rotated in the reverse direction. When the pitch angle of camera system 1 reaches the other limit, the rotating system 2 and camera system 1 will rotate in the opposite direction. Therefore, when observing a target, it is necessary to first use motor 207 to drive camera system 1 to its limit in pitch angle, then observe the target by rotating horizontally, and then reverse the rotation of motor 207 to make camera system 1 reach the appropriate vertical angle.

[0046] Example 2

[0047] This embodiment is the same as embodiment 1 except for the following structures.

[0048] When the upper surface of the end cover 4 involved in this embodiment does not have a groove, the fixed cover 3 is fixed to the upper surface of the end cover 4 to form a groove for fixing and limiting the rotating platform 204.

Claims

1. A two-degree-of-freedom underwater camera system, characterized in that: The cam is fixed on the upper part of the airbag, and the cam is fixed on the lower part of the airbag, and the cam is fixed on the upper part of the airbag.

2. The two-degree-of-freedom underwater camera system according to claim 1, characterized in that: When moving forward, the front end of the bottom of the connection limit plate abuts against the rotating table to prevent further forward movement. When moving backward, the rear end of the bottom of the connection limit plate abuts against the rotating table to prevent further backward movement.

3. The two-degree-of-freedom underwater camera system according to claim 1, characterized in that: The sealed cabin includes an end cover, a cylinder and a tail cover. The end cover and the tail cover are sealed and fixed at the upper and lower openings of the cylinder respectively. The rotating table is placed above the end cover. The lower outer wall of the connecting shaft is sealed and rotatably connected to the upper part of the middle through hole of the end cover. The fixed cover is fixed to the upper part of the end cover to form a slot to accommodate the rotation of the rotating table. The rotating table is embedded in the slot around the four sides and can rotate around the connecting shaft.

4. The two-degree-of-freedom underwater camera system according to claim 3, characterized in that: The upper surface of the end cover is concave inward to form a cavity for accommodating the fixed cover, the dust cover, the rotating platform and the connecting shaft.

5. The two-degree-of-freedom underwater camera system according to claim 3, characterized in that: The end cover includes a first annular fixing portion, a first annular embedded portion and a circular bottom plate arranged coaxially, the upper portion of the outer wall of the first annular embedded portion is connected to the lower portion of the inner wall of the first annular fixing portion, and a first annular groove and a second annular groove are formed in the upper and lower directions of the connection, the outer wall of the circular bottom plate is connected to the lower portion of the inner wall of the first annular embedded portion, and a circular groove is formed between the outer wall of the circular bottom plate and the first annular embedded portion; correspondingly, the fixing cover includes a second annular fixing portion and a second annular embedded portion arranged coaxially, the inner wall of the second annular fixing portion is fixedly connected to the upper portion of the outer wall of the second annular embedded portion, and an annular groove is formed below the second annular fixing portion; the rotating table is placed in the circular groove and close to the circular bottom plate, the second annular fixing portion is placed in the first annular groove and the two are fixed by screws, the outer wall of the second annular embedded portion is close to the inner wall of the first annular embedded portion, and a slot that can accommodate the rotation of the rotating table is left between the bottom of the second annular embedded portion and the circular bottom plate; the edge of the rotating table is placed in the slot; the first annular embedded portion is embedded in the upper opening of the cylinder body, the outer wall of the first annular embedded portion is against the inner wall of the cylinder body, and the first annular fixing portion is fixed to the cylinder body by screws.

6. The two-degree-of-freedom underwater camera system according to claim 5, characterized in that: The two-degree-of-freedom underwater camera system also includes a control panel fixed in the sealed cabin, which is connected to the driving part and the camera system to control their operation.

7. The two-degree-of-freedom underwater camera system according to claim 6, characterized in that: A partition for fixing the driving part is set in the middle of the cylinder, and several mounting holes are opened on one side of the cylinder. One end of the umbilical cable is connected to the camera system, and the other end is fixed on the mounting hole and connected to the control board.

8. The two-degree-of-freedom underwater camera system according to claim 1, characterized in that: The dust cover is an arched box with an opening at the bottom, and lubricating oil is applied to the top of the dust cover.

Images