Impact-resistant self-adaptive underwater camera equipment

Abstract

The invention discloses anti-impact self-adaptive underwater camera equipment, which comprises an anti-shake shell, a camera arranged in the anti-shake shell, an anti-shake module connected with the camera, and at least four groups of composite anti-shake mechanisms symmetrically arranged on two sides of the anti-shake module. Each composite anti-shake mechanism comprises a movable abutting shaft with one end abutting against the anti-shake module. The push rod is in transmission connection with the abutting shaft; the memory alloy spring is connected with the push rod and used for driving the push rod to generate displacement; a piezoelectric ceramic; and the hydraulic clutch mechanism is linked with the piezoelectric ceramics. The hydraulic clutch mechanism is driven by the piezoelectric ceramics, and transmission between driving force provided by the memory alloy spring and the abutting shaft is rapidly connected or disconnected. The design overcomes the inherent defect of low response frequency of a memory alloy spring, realizes quick and large-stroke anti-shake compensation of a camera lens, and avoids the interference of magnetic field driving on internal electronic devices of the camera at the same time.

Description

Technical Field

[0001] This invention relates to the field of camera stabilization technology, specifically to an impact-resistant adaptive underwater camera device. Background Technology

[0002] As a core component of various water-related projects (such as water conservancy projects, port terminals, and offshore platforms), the health condition of underwater structures directly affects the operational safety and service life of these projects. Source analysis of numerous water-related engineering safety incidents in China in recent years shows that early failure to detect underwater structural defects or delayed maintenance are often key contributing factors to accidents.

[0003] Currently, underwater structure inspection mainly relies on the traditional method of "diver exploration + handheld device recording," which has the following limitations: low underwater visibility and complex flow fields pose high risks to divers; handheld devices are affected by water flow impact and vortex-induced vibration, resulting in severely blurred images that cannot meet the accuracy requirements for defect identification. Existing image stabilization technologies are also ill-suited to the complex and ever-changing underwater turbulent environment: electromagnetic image stabilization has limited compensation range and cannot cope with large water flow impacts; motor-driven screw-type image stabilization structures are bulky and expensive, unsuitable for portable underwater equipment; hydraulically driven image stabilization has a slow response and cannot cope with sudden changes in water flow.

[0004] Therefore, existing technologies face the dilemma of high operational risks, poor image stabilization, and difficulty in balancing accuracy and economy, and there is an urgent need for an image stabilization camera device that can effectively cope with complex underwater environments. Summary of the Invention

[0005] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose an impact-resistant adaptive underwater camera device to solve the technical problems of high operational risk, poor image stabilization effect, and difficulty in balancing accuracy and economy in the prior art.

[0006] To achieve the above-mentioned technical objectives, this application adopts the following technical solution: This application provides an impact-resistant adaptive underwater camera device, comprising: Image-stabilized housing; A camera, specifically a camera housed within the image-stabilized housing; The image stabilization module is connected to the camera; At least four sets of composite image stabilization mechanisms are evenly distributed along the circumference of the image stabilization module, and each set of composite image stabilization mechanisms includes: An abutment shaft is movably disposed and one end of which abuts against the anti-shake module; Putter; A shape memory alloy spring is connected to the push rod and drives the push rod to generate a driving force. Piezoelectric ceramics; A hydraulic clutch mechanism, in response to the actuation of the piezoelectric ceramic, selectively establishes or disconnects the drive connection between the push rod and the abutment shaft.

[0007] In some embodiments of this application, the hydraulic clutch mechanism includes: An oil storage sleeve has an internal oil storage cavity filled with hydraulic oil, and the oil storage sleeve also has a sliding hole that communicates with the oil storage cavity. The extrusion plate, linked to the piezoelectric ceramic, can be movably extended into the oil storage cavity to pressurize the hydraulic oil inside the cavity; The friction rod is slidably disposed in the sliding hole and driven by the hydraulic oil, and its end is connected to the abutment shaft.

[0008] In some embodiments of this application, a sliding groove is provided on the outer peripheral wall of the abutment shaft, and a friction block is provided at the end of the friction rod. The friction block is driven by the hydraulic oil to make frictional contact with the inner wall of the sliding groove for transmission connection.

[0009] In some embodiments of this application, a mounting bracket is also included, which is fixedly disposed inside the anti-shake housing, the piezoelectric ceramic is fixed to one end of the push rod, and the extrusion plate is connected to the piezoelectric ceramic through a connecting rod.

[0010] In some embodiments of this application, the oil reservoir sleeve, the push rod, and the friction rod are coaxially arranged.

[0011] In some embodiments of this application, a spring mounting shaft is further included, which is fixedly disposed inside the anti-shake housing. The spring mounting shaft has a spring mounting groove that accommodates the shape memory alloy spring. One end of the push rod is connected to the shape memory alloy spring, and the other end is connected to the abutment shaft.

[0012] In some embodiments of this application, a guide sleeve is fixedly provided on the spring mounting shaft, and the inner wall of the guide sleeve slides in conjunction with the outer wall of the abutment shaft.

[0013] In some embodiments of this application, the guide sleeve is provided with a mounting hole, and the guide sleeve is fixed to the spring mounting shaft through the mounting hole.

[0014] In some embodiments of this application, the number of memory alloy springs is at least eight, and they are evenly distributed in pairs along the circumference of the anti-shake module. The memory alloy springs in each group of the composite anti-shake mechanism include elongated memory alloy springs and shortened memory alloy springs. When the elongated memory alloy springs are energized, they push the push rod, and when the shortened memory alloy springs are energized, they pull the push rod.

[0015] In some embodiments of this application, the side of the anti-shake module is provided with a mounting groove, and an abutment plate is integrally formed at one end of the abutment shaft facing the anti-shake module. The abutment plate is embedded in the mounting groove to form a bidirectional abutment.

[0016] Compared with the prior art, the beneficial technical effects of the technical solution provided in this application include: Different types of shape memory alloy springs are responsible for the extension and retraction of the lens, and multiple sets of the same type of shape memory alloy springs drive it alternately. Compared with a single type of shape memory alloy spring, the stabilization stroke is greater for the same design length. At the same time, piezoelectric ceramics combined with a micro hydraulic clutch mechanism can accelerate the power switching of different shape memory alloy spring drive components, so as to achieve the goal of rapid response and close contact between the stabilization component and the lens. This allows the lens stabilization of this patent to overcome the defect of slow response of shape memory alloy springs to shake in different vector directions, and achieve faster response of lens stabilization over long distances under the action of water flow. Furthermore, this technical solution does not use magnetic field drive, eliminating the influence of magnetic fields on the electronic components inside the camera and improving the service life of the camera. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the embodiments will be briefly described below: Figure 1 This is a schematic diagram of the overall three-dimensional structure in an embodiment of the present invention; Figure 2 This is a schematic diagram of the three-dimensional structure of the image stabilization module and the camera in an embodiment of the present invention; Figure 3 This is a schematic diagram of the exploded three-dimensional structure of the guide sleeve and the contact shaft in an embodiment of the present invention; Figure 4 This is a cross-sectional perspective view of the guide sleeve and the contact shaft in an embodiment of the present invention; Figure 5 This is a schematic diagram of the overall three-dimensional structure of the guide sleeve in an embodiment of the present invention; Figure 6 This is a schematic diagram of the overall three-dimensional structure of the spring mounting shaft and the shape memory alloy spring in an embodiment of the present invention; Figure 7 This is a frontal three-dimensional structural diagram of the push rod and mounting bracket in an embodiment of the present invention; Figure 8 This is a schematic diagram of the overall three-dimensional structure of the contact shaft in an embodiment of the present invention.

[0018] Figure label: 1-Shake-stabilized housing, 2-Shake-stabilized module, 3-Camera, 4-Spring mounting shaft, 5-Guide sleeve, 6-Memory alloy spring, 7-Push rod, 8-Friction rod, 9-Mounting bracket, 10-Abutting shaft; 401 - Spring mounting slot; 501 - Mounting hole; 701-Oil reservoir sleeve, 702-Oil reservoir cavity, 703-Sliding hole; 801-Friction Block; 901 - Piezoelectric ceramic, 902 - Connecting rod, 903 - Extruded plate; 1001 - Sliding groove, 1002 - Contact plate. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] Those skilled in the art will understand that, in this specification, the term "comprising" is an open-ended expression, meaning that the stated feature is present but other features are excluded. Directional terms such as "upper," "lower," "left," and "right" refer to exemplary directions based on the accompanying drawings. Features specified as "first" or "second" implicitly include one or more of that feature. Singular expressions can also be used in plural forms. "Multiple" means two or more. The terms "installed," "connected," and "linked" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection via an intermediate medium, and it can be a connection within two components. Furthermore, "linked" can include wireless connections.

[0021] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose an impact-resistant adaptive underwater camera device to solve the technical problems of high operational risk, poor image stabilization effect, and difficulty in balancing accuracy and economy in the prior art.

[0022] To achieve the above-mentioned technical objectives, this application adopts the following technical solution: like Figures 1-8 As shown, this invention provides an impact-resistant adaptive underwater camera device, including a stabilized housing 1, a camera 3, a stabilization module 2, and at least four sets of composite stabilization mechanisms. The camera 3 is housed within the stabilized housing 1 and is used for underwater filming. The stabilization module 2 is connected to the camera 3. The stabilization module 2 is based on existing technology, such as an electromagnetic or motor-driven lead screw stabilization module, and can provide preliminary compensation for rapid and minute vibrations experienced by the camera 3.

[0023] The core of this invention lies in the composite anti-shake mechanism disposed on at least four sides of the anti-shake module 2. In this embodiment, four sets of composite anti-shake mechanisms are disposed, evenly distributed along the circumference of the anti-shake module 2, for compensating for horizontal shaking. Each set of composite anti-shake mechanisms includes: a contact shaft 10, a push rod 7, a shape memory alloy spring 6, a piezoelectric ceramic 901, and a hydraulic clutch mechanism. The contact shaft 10 is movably disposed along its axial direction, with one end used to abut against the anti-shake module 2. The push rod 7 is drively connected to the contact shaft 10. The shape memory alloy spring 6 is connected to the push rod 7, and its extension or shortening is controlled by energizing, thereby driving the push rod 7 to generate a large-stroke driving force. The piezoelectric ceramic 901 undergoes a length change after being energized. The hydraulic clutch mechanism is linked to the piezoelectric ceramic 901, and is used to control whether the driving force of the shape memory alloy spring 6 is transmitted to the contact shaft 10 when the piezoelectric ceramic 901 is driven.

[0024] Working principle: When the built-in infrared laser displacement sensor (not shown in the figure) of camera 3 is not powered on, the piezoelectric ceramic in the composite image stabilization mechanism is not energized. If camera 3 shakes at this time, optical image stabilization cannot be activated. When camera 3 is powered on, the infrared laser displacement sensor (not shown in the figure) is energized and controls the composite image stabilization mechanism to restore camera 3 to its initial position. After the camera is powered on, at least one piezoelectric ceramic 901 in each of the four composite image stabilization mechanisms is energized, ensuring that the contact shaft 10 always has a force contact. When shaking occurs underwater due to water flow impact, the image stabilization module 2 first performs preliminary image stabilization on camera 3. When there is a large or sudden shaking that the image stabilization module 2 cannot completely suppress, for example, if camera 3 still shakes to the right after preliminary image stabilization, the composite image stabilization mechanism located on the right side of camera 3 is activated.

[0025] Specifically, when the elongated shape memory alloy spring 6 in the right-side mechanism is energized, its length changes, pushing the push rod 7 to the left. Simultaneously, while the shape memory alloy spring 6 exerts its force on the push rod 7, the controller also energizes the piezoelectric ceramic 901 on the right side, causing a slight change in its length, such as rapid extension to drive the hydraulic clutch mechanism, causing its friction block 801 to engage with the sliding groove 1001 on the contact shaft 10. Driven by the shape memory alloy spring 6, the push rod 7 moves the contact shaft 10 to the left. The contact plate 1002 on the contact shaft 10 then presses against the anti-vibration module 2, applying a compensating force opposite to the direction of vibration.

[0026] At the same time, the composite image stabilization mechanism located on the left side of the camera 3 works in concert. Its shortened shape memory alloy spring 6 is energized, and the corresponding piezoelectric ceramic 901 is also energized. The push rod 7 and the contact shaft 10 on the left side are driven by friction, thereby pulling the push rod 7 and the contact shaft 10 to the left, that is, towards the camera 3, to provide space for the compensation action on the right side, and forming a combined force to support the camera 3 with the pulling force on the left side and the pushing force on the right side.

[0027] Through the push-pull coordinated operation of the composite anti-shake mechanism on both sides, different shape memory alloy springs 6 are only responsible for extending or contracting, which doubles the range of stroke compared to using only one type of shape memory alloy spring. The piezoelectric ceramic 901 and the hydraulic clutch mechanism quickly switch responses between different shape memory alloy springs 6 to cope with fluctuations in different vector directions, jointly providing dynamic stabilization. This can quickly and accurately counteract water flow impacts and vibrations, thereby ensuring the stability of the camera 3 and obtaining clear shooting images.

[0028] The response speed of piezoelectric ceramics and hydraulic clutch mechanisms is much higher than the phase transition speed of shape memory alloys. By rapidly controlling the on / off state of the piezoelectric ceramics, the driving force of the shape memory alloy can be quickly "connected" and "disconnected," i.e., "power switching." This allows the entire system to compensate for vibrations in opposite directions at a speed much higher than the response frequency of the shape memory alloy itself, thus overcoming the slow response of shape memory alloys and achieving a faster response to large-stroke vibrations caused by underwater turbulence.

[0029] The specific structure of the hydraulic clutch mechanism is defined. For example... Figure 7 As shown, the hydraulic clutch mechanism includes an oil reservoir sleeve 701, a pressing plate 903, and a friction rod 8. The oil reservoir sleeve 701 is fixedly mounted on the push rod 7, and has an oil reservoir cavity 702 inside, which is pre-filled with hydraulic oil. The oil reservoir sleeve 701 also has a sliding hole 703 communicating with the oil reservoir cavity 702. The pressing plate 903 is connected to the piezoelectric ceramic 901 and can be movably extended into the oil reservoir cavity 702. When the piezoelectric ceramic 901 is energized and extends, the pressing plate 903 moves into the oil reservoir cavity 702, pressurizing the hydraulic oil in the cavity. The friction rod 8 is slidably mounted in the sliding hole 703, and its inner end face is subjected to the pressure of the hydraulic oil in the oil reservoir cavity 702. When the hydraulic oil is pressurized, the friction rod 8 is pushed out of the sliding hole 703, and its outer end abuts against the contact shaft 10, thereby realizing friction transmission.

[0030] This embodiment uses piezoelectric ceramics to drive hydraulic oil, converting the rapid displacement of the piezoelectric ceramics into the mechanical action of the friction rod, thus forming a high-speed hydraulic clutch with rapid response and reliable structure, providing a physical basis for realizing rapid power switching.

[0031] The mating structure between the friction rod 8 and the contact shaft 10 is further defined. For example... Figure 4 and Figure 8As shown, a sliding groove 1001 extending axially is formed on the outer peripheral wall of the contact shaft 10. A friction block 801 is provided at the outer end of the friction rod 8. When the friction rod 8 is driven to slide outward by hydraulic oil, the friction block 801 at its end will make frictional contact with the inner wall of the sliding groove 1001, thereby firmly coupling the push rod 7 and the contact shaft 10 together and transmitting the driving force. Preferably, the friction block 801 is made of resin or rubber as the matrix, which has the advantages of high friction and long service life. When the piezoelectric ceramic 901 is not energized, the outer side of the friction block 801 and the inner side of the sliding groove 1001 are not in contact, and the contact shaft 10 can move freely.

[0032] This embodiment utilizes the cooperation between the friction block and the sliding groove to form a stable and reliable friction transmission contact surface, ensuring that the hydraulic clutch mechanism can effectively transmit power in the engaged state and completely decouple in the disengaged state, thus guaranteeing the accuracy and reliability of power switching.

[0033] The mounting structure of the piezoelectric ceramic 901 is further defined. For example... Figure 7 As shown, the device also includes a mounting bracket 9, which is fixedly mounted on one end of the push rod 7. One end of the piezoelectric ceramic 901 is fixed to the mounting bracket 9, and the other end is connected to the extrusion plate 903 via a connecting rod 902. This structure provides the piezoelectric ceramic with an independent, rigid mounting base.

[0034] This embodiment provides a stable mounting base for the piezoelectric ceramic, ensuring that the displacement it generates can be quickly transmitted to the hydraulic clutch mechanism, thus guaranteeing the accuracy and stability of the clutch action.

[0035] Optimize the relative positions of each component. For example... Figure 7 As shown, the oil reservoir sleeve 701, push rod 7, and friction rod 8 are preferably coaxially arranged. That is, the push rod 7 is arranged along the central axis, the oil reservoir sleeve 701 is sleeved on the outside of the push rod 7, and the friction rod 8 and the sliding hole 703 thereon are radially arranged on the oil reservoir sleeve 701.

[0036] This embodiment adopts a coaxial compact design, which effectively optimizes the spatial layout, makes the structure simpler, reduces transmission errors and unbalanced torque, and improves the overall performance of the system.

[0037] The mounting structure of the shape memory alloy spring 6 is defined. For example... Figure 6 As shown, the device also includes a spring mounting shaft 4, which is fixedly installed inside the anti-shake housing 1. The spring mounting shaft 4 has a spring mounting groove 401 for accommodating the shape memory alloy spring 6. One end of the push rod 7 is connected to the shape memory alloy spring 6 accommodated in the spring mounting groove 401, and the other end is connected to the abutment shaft 10.

[0038] This embodiment provides a stable mounting reference and motion guide for the shape memory alloy spring and related transmission components through the spring mounting shaft, ensuring the accurate transmission of driving force and the reliability of mechanism operation.

[0039] Further enhance the guidance structure. For example... Figures 3-5 As shown, a guide sleeve 5 is fixedly mounted on the spring mounting shaft 4. The inner wall of the guide sleeve 5 slides in contact with the outer wall of the abutment shaft 10. This design provides precise guidance and support for the reciprocating linear motion of the abutment shaft 10.

[0040] This embodiment ensures the linearity and stability of the contact shaft movement through the precise guidance of the guide sleeve, avoiding deflection or jamming during the movement, thereby significantly improving the accuracy of the compensation action.

[0041] The method of fixing the guide sleeve 5 is specified. For example... Figure 5 As shown, the guide sleeve 5 is provided with a mounting hole 501. By passing fasteners such as bolts through the mounting hole 501, the guide sleeve 5 can be reliably fixed to the spring mounting shaft 4.

[0042] This embodiment provides a simple and reliable fixing method, which facilitates the assembly and maintenance of the equipment, while ensuring the relative positional accuracy of the guide sleeve and the mounting shaft.

[0043] The specific configuration of the shape memory alloy springs 6 is described below. In this embodiment, there are at least eight shape memory alloy springs 6, arranged in pairs and evenly distributed along the circumference of the anti-shake module 2. Each set of composite anti-shake mechanisms includes one elongated shape memory alloy spring and one shortened shape memory alloy spring. When the push rod 7 needs to be pushed outward, the elongated shape memory alloy spring is energized; when the push rod 7 needs to be pulled inward, the shortened shape memory alloy spring is energized.

[0044] This embodiment adopts a push-pull drive structure. Through the coordinated work of elongated and shortened shape memory alloy springs, bidirectional, active, and rapid control of the contact shaft is achieved, improving the system's response speed and control range.

[0045] The end structure of the contact shaft 10 is optimized. For example... Figure 8 As shown, the side of the anti-shake module 2 is provided with an installation groove, and the end of the abutment shaft 10 facing the anti-shake module 2 is integrally formed with an abutment plate 1002, which is embedded in the installation groove to form a bidirectional abutment.

[0046] This embodiment uses a contact plate that contacts the anti-shake module in both the direction of thrust and pull, increasing the area of ​​the compensation force and making the force distribution more uniform. This avoids stress concentration and localized damage to the anti-shake module, protecting the internal precision components.

[0047] Compared with the prior art, the beneficial technical effects of the technical solution provided in this application include: By using an innovative composite anti-shake mechanism, especially by utilizing a piezoelectric ceramic-driven hydraulic system as a high-speed clutch to quickly switch and control the powerful driving force provided by the memory alloy spring, high-precision, high-dynamic, and highly intelligent anti-shake compensation is achieved for complex underwater turbulent environments. This effectively solves the problems of poor anti-shake effect, weak adaptability, and low reliability of existing technologies, and has significant technological progress and broad application prospects.

[0048] Those skilled in the art will understand that the steps, measures, and schemes in the various operations, methods, processes, and procedures discussed in this application can be alternated, modified, rearranged, decomposed, combined, or deleted.

[0049] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Any other corresponding changes and modifications made based on the technical concept of this application should be included within the scope of protection of the claims of this application.

Claims

1. An impact-resistant adaptive underwater camera device, characterized in that, include: Image-stabilized housing; A camera, specifically a camera housed within the image-stabilized housing; The image stabilization module is connected to the camera; At least four sets of composite image stabilization mechanisms are evenly distributed along the circumference of the image stabilization module, and each set of composite image stabilization mechanisms includes: An abutment shaft is movably disposed and one end of which abuts against the anti-shake module; Putter; A shape memory alloy spring is connected to the push rod and drives the push rod to generate a driving force. Piezoelectric ceramics; A hydraulic clutch mechanism, in response to the actuation of the piezoelectric ceramic, selectively establishes or disconnects the drive connection between the push rod and the abutment shaft.

2. The shock-resistant adaptive underwater camera device according to claim 1, characterized in that, The hydraulic clutch mechanism includes: An oil storage sleeve has an internal oil storage cavity filled with hydraulic oil, and the oil storage sleeve also has a sliding hole that communicates with the oil storage cavity. The extrusion plate, linked to the piezoelectric ceramic, can be movably extended into the oil storage cavity to pressurize the hydraulic oil inside the cavity; The friction rod is slidably disposed in the sliding hole and driven by the hydraulic oil, and its end is connected to the abutment shaft.

3. The shock-resistant adaptive underwater camera device according to claim 2, characterized in that, A sliding groove is provided on the outer peripheral wall of the contact shaft, and a friction block is provided at the end of the friction rod. The friction block is in frictional contact with the inner wall of the sliding groove under the drive of the hydraulic oil to achieve transmission connection.

4. The shock-resistant adaptive underwater camera device according to claim 2, characterized in that, It also includes a mounting bracket, which is fixedly mounted on one end of the push rod. The piezoelectric ceramic is fixed on the mounting bracket, and the extrusion plate is connected to the piezoelectric ceramic via a connecting rod.

5. The shock-resistant adaptive underwater camera device according to claim 2, characterized in that, The oil storage sleeve, the push rod, and the friction rod are coaxially arranged.

6. The shock-resistant adaptive underwater camera device according to claim 1, characterized in that, It also includes a spring mounting shaft, which is fixedly installed inside the anti-shake housing. The spring mounting shaft has a spring mounting groove that accommodates the memory alloy spring. One end of the push rod is connected to the memory alloy spring, and the other end is connected to the abutment shaft.

7. The shock-resistant adaptive underwater camera device according to claim 6, characterized in that, A guide sleeve is fixedly installed on the spring mounting shaft, and the inner wall of the guide sleeve slides in conjunction with the outer wall of the abutting shaft.

8. The shock-resistant adaptive underwater camera device according to claim 7, characterized in that, The guide sleeve is provided with a mounting hole, and the guide sleeve is fixed to the spring mounting shaft through the mounting hole.

9. The shock-resistant adaptive underwater camera device according to claim 1, characterized in that, The number of memory alloy springs is at least eight, and they are evenly distributed in pairs along the circumference of the anti-shake module. Each set of memory alloy springs in the composite anti-shake mechanism includes an elongated memory alloy spring and a shortened memory alloy spring. When the elongated memory alloy spring is energized, it pushes the push rod, and when the shortened memory alloy spring is energized, it pulls the push rod.

10. The shock-resistant adaptive underwater camera device according to claim 1, characterized in that, The anti-shake module has a mounting groove on its side, and an abutment plate is integrally formed on one end of the abutment shaft facing the anti-shake module. The abutment plate is embedded in the mounting groove to form a bidirectional abutment.

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