Underwater shooting device, method and system

Abstract

The invention provides an underwater shooting device, method and system. The underwater shooting device comprises a shooting shell, a movable flexible mechanism, a focusing camera, a flexible soft body, a driving device and edge processing equipment, the movable flexible mechanism is arranged at the head opening of the shooting shell in a sealed mode and can stretch out, draw back and rotate in the direction away from the shooting shell, and the focusing camera is installed at the output end of the movable mechanism so as to achieve multi-directional shooting; the flexible body is arranged in the tail opening of the shooting shell; the driving device is arranged in the shooting shell and acts on the flexible soft body to push water in the flexible soft body out of the tail opening to form negative pressure; the edge processing device is arranged in the shooting shell and electrically connected with the movable flexible mechanism, the focusing camera and the driving device so as to control tracking shooting of the target object to obtain clear shooting data. Therefore, the underwater shooting device can be used for shooting in a small hole or an air attack, so that the shooting efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of underwater photography technology, and in particular to an underwater photography device, method and system. Background Art

[0002] The ocean accounts for 71% of the earth's surface area. Protecting and developing marine resources is a strategic choice with far-reaching significance. In particular, underwater imaging can advance our understanding of the ocean.

[0003] Existing machines for exploring underwater activities are usually equipped with a shooting system to facilitate shooting underwater objects. However, in the process of shooting underwater objects, the tracked objects often enter narrow holes or gaps, resulting in interruption of shooting. Either continue to squat at the exit of the narrow hole or gap, waiting for the tracked objects to come out and continue shooting, or interrupt shooting and look for new objects to be shot, which leads to low shooting efficiency. Summary of the invention

[0004] The present application provides an underwater shooting device, method and system, which can improve shooting efficiency while realizing shooting of small holes or small gaps.

[0005] The technical solutions provided in this application include: In a first aspect, an embodiment of the present application provides an underwater shooting device, the underwater shooting device comprising: The shooting shell is a shell structure imitating the appearance of a fish, wherein the head and tail of the shooting shell are unclosed opening structures; A movable flexible mechanism is sealed and arranged at the head opening of the shooting shell, and can be extended and retracted along the length direction of the shooting shell toward a direction away from the shooting shell and can be rotated along the width direction of the shooting shell; A focusing camera is installed at the output end of the movable mechanism in a manner independent of the head opening, and is driven by the movable flexible mechanism to achieve multi-directional shooting; The flexible body is a concave structure and is disposed at the rear opening of the shooting housing with the concave surface facing the rear opening; A driving device is disposed in the shooting housing in a manner close to the flexible body, so as to act on the flexible body so that the flexible body protrudes toward the tail opening, so as to push water in the flexible body out of the tail opening to form a negative pressure; The edge processing device is arranged in the shooting shell and is electrically connected to the movable flexible mechanism, the focusing camera and the driving device, and is used to control the movable flexible mechanism, the focusing camera and the driving device to track and shoot the target object to be photographed to obtain clear shooting data.

[0006] In some embodiments, controlling the movable flexible mechanism, the focusing camera, and the driving device to track and shoot the target to be photographed includes: When it is determined that shooting is required, an initial image taken by the focus camera is obtained. If it is determined that the initial image contains a target object, the driving device is controlled to move the underwater shooting device to a set position of the target object and stop. When it is detected that the target object is within a set range, the movable flexible mechanism is controlled to drive the focus camera to shoot the target object. When it is detected that the target object exceeds the set range, the driving device is controlled to move the underwater shooting device to a set range for shooting the target object, and the focus camera is controlled to shoot to obtain the required clear shooting data.

[0007] In some embodiments, the movable flexible mechanism includes a rotating disk platform, an inner shaft, an outer shaft, a camera drive mechanism, bearings, a clutch device, a rack and pinion, and a foldable hose.

[0008] The outer shaft is a hollow structure shaft, the rotating disk platform is a hollow disk structure, and the disk surface of the rotating disk platform is provided with a limit groove for the rack to move along the length direction of the rack; the plate surface of the rack is provided with a limit slider of a set length for limited sliding in the limit groove; The inner shaft is sleeved in the outer shaft through the bearing and the clutch device in an installation manner in which the output end of the inner shaft is higher than the output end of the outer shaft, the clutch device is connected to the output shaft of the camera drive mechanism, the output end of the inner shaft is sleeved with the gear, and the output end of the outer shaft is sleeved with the rotating disk platform in an installation manner in which the gear passes through the hollow part of the rotating disk platform, the rotating disk platform is installed with the rack under the cooperation connection between the limiting groove and the limiting slider, the rack is sleeved in the foldable hose and the focus camera is installed at the end of the rack tube, the rack cooperates with the gear, so that under the rotation of the gear, the rack moves along the limiting groove along the length direction of the rack through the limiting slider; under the rotation of the rotating disk platform, the rack rotates with the rotating disk platform; one end of the foldable hose is sealed and sleeved at the head opening, and the other end is sealed and installed with the focus camera, and the lens of the focus camera is exposed outside the foldable hose; The camera drive mechanism and the clutch device are both electrically connected to the edge processing device. When the edge processing device determines that the focus camera needs to be extended or retracted, the camera drive mechanism is controlled to be driven, and the clutch device is controlled to be in a disengaged state, so that the inner shaft is in rotation but the outer shaft does not rotate, so that the gear drives the rack to move along the length direction of the rack; when it is determined that the focus camera needs to be swung to a set angle, the camera drive mechanism is controlled to be driven, and the clutch device is controlled to be in a connected state, so that the inner shaft and the outer shaft are in synchronous rotation, so that the rotating disk platform and the gear synchronously drive the rack to swing at a set angle.

[0009] In some embodiments, the shooting housing is provided with a plurality of flanges, and the underwater shooting device further comprises: a side turbine and a side turbine mounting shell; The side turbines are each correspondingly installed in the side turbine mounting shell, and each side turbine mounting shell is symmetrically installed on both sides of the flange with the side turbine facing the tail of the shooting shell and tilted at a preset angle. The power sources of the side turbines are electrically connected to the edge processing equipment, and the edge processing equipment drives the shooting shell to travel underwater by controlling the side turbines and the driving device.

[0010] In some embodiments, the underwater shooting device further includes: a tail turbine and a tail turbine mounting housing; The tail turbine is installed in the tail turbine mounting shell, and the tail turbine mounting shell is installed below the tail opening of the shooting shell. The power source of the tail turbine is electrically connected to the edge processing equipment, and the edge processing equipment drives the shooting shell to travel underwater by controlling the side turbine, the tail turbine and the driving device.

[0011] In some embodiments, the underwater shooting device also includes: multiple cameras, each camera is installed at a specified position of the flange to capture the surrounding environment of the shooting shell in all directions; each camera is electrically connected to the edge processing device to send the captured video data to the edge processing device, and the edge processing device processes the video data. If it is determined that the video data contains a target object to be photographed, the position information of the target object relative to the underwater shooting device is determined, so as to control the side turbine, the tail turbine, and the driving device to drive the shooting shell toward the target object to a set shooting range suitable for the focusing camera to shoot the target object according to the position information.

[0012] In some embodiments, the underwater shooting device further comprises: a solar energy mechanism, a power controller and a battery; The solar mechanism is installed on the outer shell of the shooting shell through the flange to convert the acquired solar energy into electrical energy. The solar mechanism is electrically connected to a power controller installed in the shooting shell, and the power controller is electrically connected to a battery installed in the shooting shell. Both the power controller and the battery are electrically connected to the edge processing device. When the edge processing device determines that the remaining power of the battery is less than or equal to the set power range, the side turbine, the tail turbine and the drive device are controlled to drive the shooting shell to the water surface, so that the solar mechanism is completely exposed and suspended on the water surface, so that the power controller connects the solar mechanism and the battery to charge the battery; when it is determined that the battery is fully charged, the side turbine, the tail turbine and the drive device are controlled to drive the shooting shell to swim underwater to continue shooting.

[0013] In a second aspect, an embodiment of the present application further provides an underwater shooting method, which is applied to an edge processing device in an underwater shooting device described in any one of the above embodiments, and the underwater shooting method includes: The movable flexible mechanism, the focusing camera and the driving device are controlled to track and shoot the target object to be photographed, so as to obtain clear shooting data.

[0014] In some embodiments, controlling the movable flexible mechanism, the focusing camera, and the driving device to track and shoot the target to be photographed includes: When it is determined that shooting is required, an initial image taken by the focus camera is obtained. If it is determined that the initial image contains a target object, the driving device is controlled to move the underwater shooting device to a set position of the target object and stop. When it is detected that the target object is within a set range, the movable flexible mechanism is controlled to drive the focus camera to shoot the target object. When it is detected that the target object exceeds the set range, the driving device is controlled to move the underwater shooting device to a set range for shooting the target object, and the focus camera is controlled to shoot to obtain the required clear shooting data.

[0015] In a third aspect, an embodiment of the present application further provides an underwater shooting system, which includes the underwater shooting device, wireless communication equipment and remote monitoring equipment described in any of the above embodiments, wherein the wireless communication equipment is installed in a shooting shell of the underwater shooting device, and the edge processing equipment is electrically connected to the remote monitoring equipment through the wireless communication equipment so as to exchange communication data with the remote monitoring platform through the wireless communication equipment.

[0016] It can be seen that the present application provides an underwater shooting device, method and system, which includes: a shooting shell, a movable flexible mechanism, a focusing camera, a flexible software, a driving device and an edge processing device; the movable flexible mechanism is sealed at the head opening of the shooting shell, and can be extended and retracted along the length direction of the shooting shell in a direction away from the shooting shell and rotated along the width direction of the shooting shell, the focusing camera is installed at the output end of the movable mechanism in a manner independent of the head opening, and realizes multi-directional shooting under the drive of the movable flexible mechanism; the flexible software is arranged at the tail opening of the shooting shell with a concave surface facing the tail opening; the driving device is arranged in the shooting shell in a manner close to the flexible software, so as to act on the flexible software so that the flexible software protrudes toward the tail opening, so as to push the water in the flexible software out of the tail opening to form a negative pressure; the edge processing device is arranged in the shooting shell, and is electrically connected to the movable flexible mechanism, the focusing camera and the driving device, and is used to control the movable flexible mechanism, the focusing camera and the driving device to track and shoot the target to be photographed, so as to obtain clear shooting data. It can be seen that the underwater shooting device provided by the embodiment of the present application can use a movable flexible mechanism to drive the focusing camera to extend and retract along the length direction of the shooting shell toward the direction away from the shooting shell and rotate along the width direction of the shooting shell, thereby achieving multi-directional shooting even in narrow holes or gaps, thereby improving shooting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of an underwater shooting device provided in this application.

[0018] Figure 2 A partial structural schematic diagram of an underwater shooting device including a movable flexible mechanism provided in the present application.

[0019] Figure 3 A schematic structural diagram of an underwater shooting device provided in the present application that is provided with a solar energy mechanism.

[0020] Figure 4 A schematic diagram of a flow chart of an underwater shooting method provided in this application.

[0021] Figure 5 A schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0022] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0023] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0024] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0025] See also Figure 1 , Figure 1 This is a structural schematic diagram of an underwater shooting device provided in the present application, which includes: a shooting shell 1, a movable flexible mechanism 2, a focusing camera 3, flexible software, a driving device and an edge processing device.

[0026] The shooting shell 1 is a shell structure imitating the shape of a fish, wherein the head and tail of the shooting shell 1 are unclosed opening structures; the movable flexible mechanism 2 is sealed and arranged at the head opening of the shooting shell 1, and can be extended and retracted along the length direction of the shooting shell 1 in a direction away from the shooting shell 1 and rotated along the width direction of the shooting shell 1; the focusing camera 3 is installed at the output end of the movable mechanism in a manner independent of the head opening, and realizes multi-directional shooting under the drive of the movable flexible mechanism 2; the flexible body is a concave structure, with the concave surface facing the tail opening It is built into the tail opening of the shooting shell 1; the driving device is built into the shooting shell 1 in close proximity to the flexible software to act on the flexible software, so that the flexible software protrudes toward the tail opening, so as to push the water in the flexible software out of the tail opening to form a negative pressure; the edge processing equipment is arranged in the shooting shell 1, and is electrically connected to the movable flexible mechanism 2, the focusing camera 3 and the driving device, so as to control the movable flexible mechanism 2, the focusing camera 3 and the driving device to track and shoot the target to be photographed, so as to obtain clear shooting data.

[0027] In this embodiment, the shooting shell 1 is a shell structure that imitates the shape of a fish to reduce the resistance of swimming in water. The movable flexible mechanism 2 is arranged at the head opening of the shooting shell 1, and can shoot targets hidden in small holes or small gaps. The movable flexible mechanism 2 can enter the small hole or small gap under the control of the edge processing device. The edge processing device controls the movable flexible mechanism 2 to stretch to enter the small hole or small gap. The focusing camera 3 arranged on the movable flexible mechanism 2 can focus and shoot the target under the control of the edge processing device. At the same time, it can also track the target under the drive of the movable flexible mechanism 2, thereby overcoming the phenomenon that the target cannot be shot due to the hole being too small or the gap being too small.

[0028] The reason why the flexible body is arranged at the tail and the groove is sealed to face the tail opening is to form negative pressure after the water in the groove is squeezed, and to push the entire shooting housing 1 forward under the action of external water. As an embodiment, the driving device includes a motor, a pushing gear, a pushing rack and a push plate. The output shaft of the motor is sleeved with a pushing gear, and the pushing gear is fitted with a pushing rack. The pushing rack is slidably connected in the shooting housing. A push plate is installed at the end of the pushing rack, and the push plate is close to the back-away surface of the concave body in the flexible body. The motor is electrically connected to the edge processing device to control the motor drive through the edge processing device.

[0029] In some embodiments, the edge processing device controls the movable flexible mechanism 2, the focusing camera 3 and the driving device to track and shoot the target object to be photographed according to the following technical means, specifically including: when it is determined that shooting is required, obtaining the initial image taken by the focusing camera 3; if it is determined that the initial image contains the target object, controlling the driving device to move the underwater shooting device to the set position of the target object and stop; when it is detected that the target object is within the set range, controlling the movable flexible mechanism 2 to drive the focusing camera 3 to shoot the target object; when it is detected that the target object exceeds the set range, controlling the driving device to move the underwater shooting device to the set range for shooting the target object, and controlling the focusing camera 3 to shoot to obtain the required clear shooting data.

[0030] The set range may be determined according to the range that the target object can be considered safe and can be photographed by the focusing camera 3. In other embodiments, when it is detected that the target object exceeds the set range, the driving device is controlled to move the underwater shooting device to the set range for photographing the target object, and the focusing camera 3 is controlled to shoot and obtain the required clear shooting data. When it is detected that the target object exceeds the set range, the movable flexible mechanism 2 is controlled so that the focusing camera 3 can shoot and obtain the required clear shooting data. If the clarity of the photographed shooting data does not meet the standard due to inappropriate distance, the step of returning to execute the control of the driving device to move the underwater shooting device to the set range for photographing the target object and controlling the focusing camera 3 to shoot and obtain the required clear shooting data.

[0031] In some embodiments, Figure 2 As shown, the movable flexible mechanism 2 includes a rotating disk platform 21, an inner shaft 22, an outer shaft 23, a camera drive mechanism 24, a bearing, a clutch device 25, a rack 26 and a gear 27 and a foldable hose 28.

[0032] The outer shaft 23 is a hollow structure shaft, the rotating disk platform is a hollow disk structure, and a limit groove for the rack 26 to move along the length direction of the rack 26 is provided on the disk surface of the rotating disk platform; a limit slider 261 of a set length is provided on the plate surface of the rack 26 for limited sliding in the limit groove; The inner shaft 22 is sleeved in the outer shaft 23 through the bearing and the clutch device 25 in an installation manner in which the output end of the inner shaft 22 is higher than the output end of the outer shaft 23. The clutch device 25 is connected to the output shaft of the camera drive mechanism 24. The output end of the inner shaft 22 is sleeved with the gear 27. The output end of the outer shaft 23 is sleeved with the rotating disk platform in an installation manner in which the gear 27 passes through the hollow part of the rotating disk platform. The rotating disk platform is installed with the rack 26 under the cooperative connection between the limiting groove and the limiting slider 261. The rack 26 is sleeved in the foldable hose 28 and the focusing camera 3 is installed at the end of the rack 26. The rack 26 cooperates with the gear 27, so that when the gear 27 rotates, the rack 26 moves along the length direction of the rack 26 through the limiting slide 261 along the limiting groove; when the rotating disk platform rotates, the rack 26 rotates with the rotating disk platform; one end of the foldable hose 28 is sealed and sleeved at the head opening, and the focusing camera 3 is sealed and installed at the other end, and the lens of the focusing camera 3 is exposed outside the foldable hose 28; The camera drive mechanism 24 and the clutch device 25 are both electrically connected to the edge processing device. When the edge processing device determines that the focus camera 3 needs to be extended or retracted, the camera drive mechanism 24 is controlled to be driven, and the clutch device 25 is controlled to be in a disengaged state, so that the inner shaft 22 is in rotation but the outer shaft 23 is not rotated, so that the gear 27 drives the rack 26 to move along the length direction of the rack 26; when it is determined that the focus camera 3 needs to be swung to a set angle, the camera drive mechanism 24 is controlled to be driven, and the clutch device 25 is controlled to be in a connected state, so that the inner shaft 22 and the outer shaft 23 are in synchronous rotation, so that the rotating disk platform and the gear 27 synchronously drive the rack 26 to swing according to the set angle.

[0033] In the present embodiment, the inner shaft 22 is sleeved in the outer shaft 23 through the clutch device 25. When the clutch device 25 is in the clutch state, the inner shaft 22 and the outer shaft 23 rotate independently, that is, the rotation of the inner shaft 22 does not affect the outer shaft 23. Driven by the inner shaft 22, the gear 27 drives the rack 26 to move in the limit groove along the length direction of the rack 26 toward the outside of the head opening of the shooting shell 1. At this time, the focusing camera 3 is away from the head opening of the shooting shell 1. When the clutch device 25 is in the connected state, the inner shaft 22 and the outer shaft 23 are connected together, and the inner shaft 22 and the outer shaft 23 rotate synchronously to drive the rotating platform and the rack 26 on the rotating platform to rotate according to the set angle. At this time, the rack 26 rotates and also meshes with the gear 27 to rotate synchronously. It should be noted that the gear 27 and the rotating disk platform are isolated from each other. Based on this, the rotating disk platform can be a hollow rotating disk structure, and can also be installed with the gear 27 at a distance, and the two do not affect each other.

[0034] As an embodiment, the movable flexible mechanism 2 also includes a limiting mechanism 29, which includes a mounting sleeve 291, a connecting rod 292 and an upper limit slider 293; a plate surface of the rack 26 opposite to the limiting slider 261 of the lower limit slider is provided with a limiting groove, the mounting sleeve is fixedly mounted on the head of the inner shaft 22, one end of the connecting rod 292 is mounted on the outside of the mounting sleeve 291, and the other end is mounted on the upper limit slider 293, and the upper limit slider 293 is limitedly mounted on the limiting groove on the rack 26, which can limit the movement of the rack 26.

[0035] One end of the foldable hose 28 can be sealed and installed at the head opening of the shooting housing 1, and the other end is sealed and installed with the focusing camera 3 to seal and prevent water from entering the shooting housing 1, and can also move with the movement of the rack 26.

[0036] When the edge processing device determines that the focus camera 3 needs to be extended or retracted, the camera driving mechanism 24 is driven and the clutch device 25 is in a disengaged state, so that the inner shaft 22 is in rotation but the outer shaft 23 is not rotated, so that the gear 27 drives the rack 26 to move along the length direction of the rack 26 to achieve extension or retraction; when it is determined that the focus camera 3 needs to be swung to a set angle, the camera driving mechanism 24 is driven and the clutch device 25 is in a connected state, so that the inner shaft 22 and the outer shaft 23 are in synchronous rotation, so that the rotating disk platform and the gear 27 synchronously drive the rack 26 to swing according to the set angle, so that when there is no need to adjust the position of the shooting shell 1, the target object can be tracked and photographed, especially in small caves or small gaps, which is more conducive to tracking the target object.

[0037] In some embodiments, the shooting housing 1 is provided with a plurality of flanges 11, and the underwater shooting device further comprises: a side turbine and a side turbine mounting shell 4; the side turbines are respectively mounted in the side turbine mounting shell 4, and each of the side turbine mounting shells 4 is symmetrically mounted on both sides of the flange 11 with the side turbine facing the rear of the shooting housing 1 and tilted at a preset angle, and the power source of the side turbine is electrically connected to the edge processing device, and the edge processing device drives the shooting housing 1 to travel underwater by controlling the side turbine and the driving device. In this embodiment, the setting of the side turbine can speed up the travel of the underwater shooting device, and in addition, the side turbine mounting shell 4 is installed in a manner that the side turbine faces the rear of the shooting housing 1, and the side turbine mounting shell 4 is symmetrically mounted on both sides of the flange 11 with the side turbine facing the rear of the shooting housing 1 and tilted at a preset angle, which can avoid the resistance of water during the forward movement. The setting of the flange 11 can not only facilitate the installation and layout of components in the shooting housing 1, but also facilitate the mounting of objects outside the shooting housing 1 independently, and also facilitate disassembly.

[0038] In other embodiments, the underwater shooting device further includes: a tail turbine and a tail turbine mounting shell 5; the tail turbine is mounted in the tail turbine mounting shell 5, and the tail turbine mounting shell 5 is mounted below the tail opening; the power source of the tail turbine is electrically connected to the edge processing device, and the edge processing device drives the shooting housing 1 to travel underwater by controlling the side turbines, the tail turbine, and the driving device. The design of the tail turbine in this embodiment can further accelerate the rapid travel of the shooting device.

[0039] In some embodiments, the underwater shooting device further includes: a plurality of cameras 6, each camera 6 is installed at a designated position of the flange 11 to shoot the surrounding environment of the shooting housing in all directions; each camera 6 is electrically connected to the edge processing device to send the captured video data to the edge processing device, and the edge processing device processes the video data. If it is determined that the video data contains a target to be photographed, the position information of the target relative to the underwater shooting device is determined, so as to control the side turbine, the tail turbine, and the driving device to drive the shooting housing 1 toward the target according to the position information to a set shooting range suitable for the focusing camera 3 to shoot the target. In this embodiment, the arrangement of the plurality of cameras 6 can make it possible to shoot the environment within the set range around the shooting device without blind spots, so as to obtain the location of the target. As an embodiment, the edge processing device analyzes the shooting data captured by multiple cameras to obtain the target object and the position information of the target object in the underwater panoramic environment, and determines the position information of the target object relative to the underwater shooting device based on the position information of the shooting device in the underwater panoramic environment, and then controls the side turbine, the tail turbine, and the driving device to drive the shooting shell 1 toward the target object to a set shooting range suitable for the focusing camera 3 to shoot the target object.

[0040] In some embodiments, Figure 3As shown, the underwater shooting device also includes: a solar mechanism 7, a power controller and a battery. The solar mechanism 7 is installed on the outer shell of the shooting shell 1 through the flange 11 to convert the acquired solar energy into electrical energy. The solar mechanism 7 is electrically connected to the power controller provided in the shooting shell 1, and the power controller is electrically connected to the battery provided in the shooting shell 1. The power controller and the battery are both electrically connected to the edge processing device. When the edge processing device determines that the remaining power of the battery is less than or equal to the set power range, it controls the side turbine, the tail turbine, and the driving device to drive the shooting shell 1 to the water surface, so that the solar mechanism 7 is completely exposed and suspended on the water surface, so that the power controller connects the solar mechanism 7 with the battery to charge the battery; when it is determined that the battery is fully charged, it controls the side turbine, the tail turbine, and the driving device to drive the shooting shell 1 to swim underwater to continue shooting.

[0041] In this embodiment, when the shooting device is suspended on the water surface, the solar energy mechanism 7 is exposed on the water surface, which can absorb solar energy and convert solar energy into electric energy and store it in the battery. As an embodiment, the edge processing device can determine whether to swim to the water surface based on the remaining power and the current time. If the remaining power is less than or the set power range and the current time is daytime, the side turbine, the tail turbine, and the driving device are controlled to drive the shooting shell 1 to swim to the water surface, so that the solar energy mechanism 7 is completely exposed and suspended on the water surface. In this way, the solar energy mechanism 7 can obtain the electric energy converted from solar energy in real time and store it in the battery. As an embodiment, the edge processing device can obtain the charging instruction sent by the remote monitoring platform indicating solar charging, and according to the charging instruction, return to execute the step of controlling the side turbine, the tail turbine, and the driving device to drive the shooting shell 1 to swim to the water surface.

[0042] It can be seen that the present application provides an underwater shooting device, which includes: a shooting shell 1, a movable flexible mechanism 2, a focusing camera 3, a flexible software, a driving device and an edge processing device; the movable flexible mechanism 2 is sealed at the head opening of the shooting shell 1, and can be extended and retracted along the length direction of the shooting shell 1 in a direction away from the shooting shell 1 and rotated along the width direction of the shooting shell 1, and the focusing camera 3 is installed at the output end of the movable mechanism in a manner independent of the head opening, and is driven by the movable flexible mechanism 2 to realize multi-directional Shooting; the flexible software is arranged at the tail opening of the shooting shell 1 with the concave surface facing the tail opening; the driving device is arranged in the shooting shell 1 in a manner close to the flexible software, so as to act on the flexible software so that the flexible software protrudes toward the tail opening, so as to push the water in the flexible software out of the tail opening to form a negative pressure; the edge processing device is arranged in the shooting shell 1, and is electrically connected to the movable flexible mechanism 2, the focusing camera 3 and the driving device, and is used to control the movable flexible mechanism 2, the focusing camera 3 and the driving device to track and shoot the target object to be photographed, so as to obtain clear shooting data. It can be seen that the underwater shooting device provided by the embodiment of the present application can use the movable flexible mechanism 2 to drive the focusing camera 3 to extend and retract along the length direction of the shooting shell 1 in the direction away from the shooting shell 1 and rotate along the width direction of the shooting shell 1, so that multi-directional shooting can be achieved even in narrow holes or gaps, thereby improving shooting efficiency.

[0043] Secondly, this embodiment also applies for an underwater shooting method, which is applied to the edge processing equipment in the underwater shooting device described in any of the above embodiments. The underwater shooting method includes: controlling the movable flexible mechanism 2, the focusing camera 3 and the driving device to track and shoot the target object to be photographed to obtain clear shooting data.

[0044] As an example, Figure 4 As shown, the control of the movable flexible mechanism 2, the focusing camera 3 and the driving device to track and shoot the target to be photographed may include the following steps: Step 101 , when it is determined that shooting is required, an initial image shot by the focus camera 3 is acquired. If it is determined that the initial image contains a target object, step 102 is executed.

[0045] Step 102, controlling the driving device to move the underwater shooting device to the set position of the target object and stop. When it is detected that the target object is within the set range, step 103 is executed. When it is detected that the target object is beyond the set range, step 104 is executed.

[0046] Step 103 , controlling the movable flexible mechanism 2 to drive the focusing camera 3 to shoot the target object.

[0047] Step 104, controlling the driving device to move the underwater shooting device to a set range for shooting the target object, and controlling the focus camera to shoot and obtain the required clear shooting data.

[0048] In the third aspect, this embodiment also applies for an underwater shooting system, which includes the underwater shooting device, wireless communication equipment and remote monitoring equipment described in any of the above embodiments, the wireless communication equipment is installed in the shooting housing 1 of the underwater shooting device, and the edge processing device is electrically connected to the remote monitoring equipment through the wireless communication equipment to exchange communication data with the remote monitoring platform through the wireless communication equipment. The underwater shooting device can be remotely monitored to shoot underwater targets, and the actual situation of the underwater shooting device can also be monitored in real time to make emergency remedial measures according to emergencies.

[0049] In a fourth aspect, the present application embodiment further provides an electronic device. From a hardware perspective, the hardware architecture diagram can be found in Figure 5 The invention comprises: a machine-readable storage medium and a processor, wherein: the machine-readable storage medium stores machine-executable instructions that can be executed by the processor; and the processor is used to execute the machine-executable instructions to implement the underwater shooting operation disclosed in the above example.

[0050] The machine-readable storage medium provided in an embodiment of the present application stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the underwater shooting operation disclosed in the above example.

[0051] Here, the machine-readable storage medium may be any electronic, magnetic, optical or other physical storage device that may contain or store information, such as executable instructions, data, etc. For example, the machine-readable storage medium may be: RAM (RadomAccess Memory), volatile memory, non-volatile memory, flash memory, storage drive (such as hard disk drive), solid state drive, any type of storage disk (such as CD, DVD, etc.), or similar storage medium, or a combination thereof.

[0052] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, which may be in the form of a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email transceiver, a game console, a tablet computer, a wearable device or a combination of any of these devices.

[0053] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0054] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0055] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0056] Moreover, these computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0057] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0058] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can refer to the partial description of the method embodiments. The device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present application. A person of ordinary skill in the art may understand and implement it without creative work.

[0059] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. An underwater shooting device, characterized in that: The underwater shooting device comprises: The shooting shell is a shell structure imitating the appearance of a fish, wherein the head and tail of the shooting shell are unclosed opening structures; A movable flexible mechanism is sealed and arranged at the head opening of the shooting shell, and can be extended and retracted along the length direction of the shooting shell toward a direction away from the shooting shell and can be rotated along the width direction of the shooting shell; A focusing camera is installed at the output end of the movable mechanism in a manner independent of the head opening, and is driven by the movable flexible mechanism to achieve multi-directional shooting; The flexible body is a concave structure and is disposed at the rear opening of the shooting housing with the concave surface facing the rear opening; A driving device is disposed in the shooting housing in a manner close to the flexible body, so as to act on the flexible body, so that the flexible body protrudes toward the tail opening, so as to push water in the flexible body out of the tail opening to form a negative pressure; The edge processing device is arranged in the shooting shell and is electrically connected to the movable flexible mechanism, the focusing camera and the driving device, and is used to control the movable flexible mechanism, the focusing camera and the driving device to track and shoot the target object to be photographed to obtain clear shooting data.

2. The underwater shooting device according to claim 1, characterized in that: The controlling the movable flexible mechanism, the focusing camera and the driving device to track and shoot the target object to be photographed comprises: When it is determined that shooting is required, an initial image taken by the focus camera is obtained. If it is determined that the initial image contains a target object, the driving device is controlled to move the underwater shooting device to a set position of the target object and stop. When it is detected that the target object is within a set range, the movable flexible mechanism is controlled to drive the focus camera to shoot the target object. When it is detected that the target object exceeds the set range, the driving device is controlled to move the underwater shooting device to a set range for shooting the target object, and the focus camera is controlled to shoot to obtain the required clear shooting data.

3. The underwater shooting device according to claim 1, characterized in that: The movable flexible mechanism includes a rotating disk platform, an inner shaft, an outer shaft, a camera drive mechanism, a bearing, a clutch device, a rack and a gear, and a foldable hose The outer shaft is a hollow structure shaft, the rotating disk platform is a hollow disk structure, and the disk surface of the rotating disk platform is provided with a limit groove for the rack to move along the length direction of the rack; the plate surface of the rack is provided with a limit slider of a set length for limited sliding in the limit groove; The inner shaft is sleeved in the outer shaft through the bearing and the clutch device in an installation manner in which the output end of the inner shaft is higher than the output end of the outer shaft, the clutch device is connected to the output shaft of the camera drive mechanism, the output end of the inner shaft is sleeved with the gear, and the output end of the outer shaft is sleeved with the rotating disk platform in an installation manner in which the gear passes through the hollow part of the rotating disk platform, the rotating disk platform is installed with the rack under the cooperation connection between the limiting groove and the limiting slider, the rack is sleeved in the foldable hose and the focus camera is installed at the end of the rack tube, the rack cooperates with the gear, so that under the rotation of the gear, the rack moves along the limiting groove along the length direction of the rack through the limiting slider; under the rotation of the rotating disk platform, the rack rotates with the rotating disk platform; one end of the foldable hose is sealed and sleeved at the head opening, and the other end is sealed and installed with the focus camera, and the lens of the focus camera is exposed outside the foldable hose; The camera drive mechanism and the clutch device are both electrically connected to the edge processing device. When the edge processing device determines that the focus camera needs to be extended or retracted, the camera drive mechanism is controlled to be driven, and the clutch device is controlled to be in a disengaged state, so that the inner shaft is in rotation but the outer shaft does not rotate, so that the gear drives the rack to move along the length direction of the rack; when it is determined that the focus camera needs to be swung to a set angle, the camera drive mechanism is controlled to be driven, and the clutch device is controlled to be in a connected state, so that the inner shaft and the outer shaft are in synchronous rotation, so that the rotating disk platform and the gear synchronously drive the rack to swing at a set angle.

4. The underwater shooting device according to claim 3, characterized in that: The shooting housing is provided with a plurality of flanges, and the underwater shooting device further comprises: a side turbine and a side turbine mounting shell; The side turbines are each correspondingly installed in the side turbine mounting shell, and each side turbine mounting shell is symmetrically installed on both sides of the flange with the side turbine facing the tail of the shooting shell and tilted at a preset angle. The power sources of the side turbines are electrically connected to the edge processing equipment, and the edge processing equipment drives the shooting shell to travel underwater by controlling the side turbines and the driving device.

5. The underwater shooting device according to claim 4, characterized in that: The underwater shooting device also includes: a tail turbine and a tail turbine mounting shell; The tail turbine is installed in the tail turbine mounting shell, and the tail turbine mounting shell is installed below the tail opening of the shooting shell. The power source of the tail turbine is electrically connected to the edge processing equipment, and the edge processing equipment drives the shooting shell to travel underwater by controlling the side turbine, the tail turbine and the driving device.

6. The underwater shooting device according to any one of claims 4 to 5, characterized in that: The underwater shooting device also includes: multiple cameras, each camera is installed at a specified position of the flange to shoot the surrounding environment of the shooting shell in all directions; each camera is electrically connected to the edge processing device to send the captured video data to the edge processing device, and the edge processing device processes the video data. If it is determined that the video data contains a target object to be photographed, the position information of the target object relative to the underwater shooting device is determined, so as to control the side turbine, the tail turbine, and the driving device to drive the shooting shell toward the target object to a set shooting range suitable for the focusing camera to shoot the target object according to the position information.

7. The underwater shooting device according to claim 5, characterized in that: The underwater shooting device also includes: a solar energy mechanism, a power controller and a storage battery; The solar mechanism is installed on the outer shell of the shooting shell through the flange to convert the acquired solar energy into electrical energy. The solar mechanism is electrically connected to a power controller installed in the shooting shell, and the power controller is electrically connected to a battery installed in the shooting shell. Both the power controller and the battery are electrically connected to the edge processing device. When the edge processing device determines that the remaining power of the battery is less than or equal to the set power range, the side turbine, the tail turbine and the drive device are controlled to drive the shooting shell to the water surface, so that the solar mechanism is completely exposed and suspended on the water surface, so that the power controller connects the solar mechanism and the battery to charge the battery; when it is determined that the battery is fully charged, the side turbine, the tail turbine and the drive device are controlled to drive the shooting shell to swim underwater to continue shooting.

8. An underwater shooting method, characterized in that: The underwater shooting method is applied to the edge processing device in the underwater shooting device according to any one of claims 1 to 7, and the underwater shooting method comprises: The movable flexible mechanism, the focusing camera and the driving device are controlled to track and shoot the target object to be photographed, so as to obtain clear shooting data.

9. The underwater shooting method according to claim 8, characterized in that: The controlling the movable flexible mechanism, the focusing camera and the driving device to track and shoot the target object to be photographed includes: When it is determined that shooting is required, an initial image taken by the focus camera is obtained. If it is determined that the initial image contains a target object, the driving device is controlled to move the underwater shooting device to a set position of the target object and stop. When it is detected that the target object is within a set range, the movable flexible mechanism is controlled to drive the focus camera to shoot the target object. When it is detected that the target object exceeds the set range, the driving device is controlled to move the underwater shooting device to a set range for shooting the target object, and the focus camera is controlled to shoot to obtain the required clear shooting data.

10. An underwater shooting system, characterized in that: The underwater shooting system includes the underwater shooting device, wireless communication equipment and remote monitoring equipment as described in any one of claims 1 to 7, the wireless communication equipment is installed in the shooting shell of the underwater shooting device, and the edge processing equipment is electrically connected to the remote monitoring equipment through the wireless communication equipment so as to exchange communication data with the remote monitoring platform through the wireless communication equipment.

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