Multifunctional intelligent underwater electric holder based on underwater shooting and surveying

Abstract

The invention discloses a multifunctional intelligent underwater electric cradle head based on underwater shooting and surveying, relates to the technical field of underwater shooting, and provides the following scheme aiming at the problems that a shaking phenomenon is easy to generate due to flowing of water, a cradle head carries a camera, intelligent following cannot be realized, control lagging exists, and an imaging effect is poor in the background technology. Comprising a mounting mechanism connected to a submersible through bolts, the mounting mechanism comprises a fixed base, a mounting cylinder and four water flow sensors, four mounting holes are formed in the outer wall of the fixed base, the mounting cylinder is connected to the outer wall of the top of the fixed base through bolts, the four water flow sensors are embedded in the four mounting holes respectively, a heat dissipation assembly is arranged in the mounting cylinder, and the heat dissipation assembly comprises a heat conduction cover. According to the method, water flow disturbance can be counteracted in advance, a camera is prevented from shaking during underwater shooting and surveying, meanwhile, a moving target can be intelligently locked in the center of a picture all the time, collaborative optimization of dual targets of anti-interference and tracking is achieved, and the imaging effect is improved.

Description

Technical Field

[0001] This invention relates to the field of underwater photography technology, and in particular to a multifunctional intelligent underwater electric gimbal based on underwater photography and mapping. Background Technology

[0002] Underwater photography is a special photography technique that uses professional photographic equipment to record images underwater. It is mainly used in scientific research, military technology, underwater archaeology, sports competitions, and educational demonstrations.

[0003] Most current underwater filming operations use underwater gimbals to assist in filming. Traditional underwater gimbals typically consist of a control system, a drive system, and a working system. The operator issues control commands to the camera's movement direction, speed, and angle through the control system. The drive system converts the received control signals into electrical signals, which drive the transmission device via a motor to operate the rotating axis, allowing the camera to reach the specified posture.

[0004] When underwater submersibles perform exploration, detection, and scientific research tasks, their onboard observation camera pan-tilt units are crucial for acquiring high-quality visual information. However, the complex and harsh underwater environment poses significant challenges to the stability and observation accuracy of these pan-tilt units. These challenges primarily manifest in two ways: First, water flow disturbance: underwater, especially near the seabed or structures, complex turbulence and unpredictable currents generate random, high-frequency disturbance torques on the pan-tilt unit, causing the onboard camera to shake and rotate. This results in blurred and jittery images, severely impacting observation quality and subsequent image analysis. Second, control lag issues. Traditional gimbal stabilization control often employs feedback control (such as PID control) based on inertial sensors like gyroscopes. This control method is a form of "hysteresis compensation," meaning that the sensor can only detect the deviation and make corrections after the device has already shaken. For media like water, which have high density and rapid disturbances, this hysteresis leads to poor control performance and makes it difficult to completely offset disturbances, especially when dealing with sudden turbulent impacts. In summary, existing gimbal technologies are prone to shaking due to water flow, and when a camera is mounted on the gimbal, intelligent tracking is not possible, control exhibits hysteresis, and imaging quality is poor. Summary of the Invention

[0005] This invention provides a multifunctional intelligent underwater electric gimbal for underwater photography and mapping, which solves the problems of existing gimbals being prone to shaking due to water flow, the inability of the gimbal to achieve intelligent tracking when equipped with a camera, the lag in control, and poor imaging effects.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A multifunctional intelligent underwater electric gimbal for underwater photography and mapping includes a mounting mechanism bolted to a submersible. The mounting mechanism includes a fixed base with four mounting holes on its outer wall, a mounting cylinder bolted to the top outer wall of the fixed base, and four water flow sensors embedded in the four mounting holes. The mounting cylinder contains a heat dissipation assembly, which includes a heat-conducting cover adhered to the top inner wall of the mounting cylinder, four arc-shaped heat dissipation plates, and several heat-conducting plates fixed to the outer walls of the four heat dissipation plates. The top of the fixed base has a first anti-turbulence component, which includes a first adjusting motor with an integrated first angle sensor, a first conductor rotor bolted to the top of the output shaft of the first adjusting motor, a first permanent magnet rotor, a mounting bracket bolted to the top of the first permanent magnet motor, and a fixing ring welded to the inner wall of one side of the mounting bracket. A second anti-turbulence component is located on one side of the mounting bracket, which includes a second adjusting motor and a... A second conductor rotor is bolted to one end of the output shaft of the second regulating motor. A connecting assembly is provided within the mounting frame. The connecting assembly includes a fixed frame, a second permanent magnet rotor bolted to the outer wall of one side of the fixed frame, and a connecting ring welded to the outer wall of the same side. A fixing assembly is provided within the fixed frame. The fixing assembly includes a mounting plate and four magnetorheological dampers. A main control circuit board is bolted to the top of the mounting plate, and a deep learning coprocessor is integrated on the main control circuit board. A gyroscope sensor is encapsulated on the top outer wall of the main control circuit board. The deep learning coprocessor is a deep learning model. Real-time and historical data from the four water flow sensors and gyroscope sensor data are respectively sent to the deep learning coprocessor. The deep learning coprocessor predicts the disturbance torque and angle changes caused by the water flow on the gimbal within the next few hundred milliseconds. Based on this prediction, the main control circuit board issues compensation commands to the first and second regulating motors in advance, achieving proactive and stable control.

[0007] Preferably, four inverted conical connecting braces are fixed on the bottom outer wall of the fixed base, and an installation opening is opened on the top outer wall of the mounting cylinder, with a plastic sealing cap embedded in the installation opening.

[0008] Preferably, four arc-shaped grooves are formed on the upper outer wall of the mounting cylinder, and four heat dissipation plates are respectively embedded in the four arc-shaped grooves through thermal conductive gel. Each of the four arc-shaped grooves has several fixing holes, and several heat-conducting plates are respectively embedded in the fixing holes. Several heat-conducting plates are respectively welded to the outer wall of the heat-conducting cover.

[0009] Preferably, the first permanent magnet rotor is disposed above the mounting cylinder, and a through hole is opened on one side of the outer wall of the mounting frame, and a waterproof cover is embedded in the through hole.

[0010] Preferably, a mounting cover is bolted to the top outer wall of the mounting cylinder, and the upper part of the first permanent magnet rotor is connected to the mounting cover by a bearing.

[0011] Preferably, a fixing cover is bolted to one side of the outer wall of the mounting bracket, and an end cap is bolted to one side of the outer wall of the fixing cover. The second adjusting motor is bolted to one side of the outer wall of the end cap.

[0012] Preferably, the connecting ring is connected to the fixed ring through a bearing, and a fixed shaft is welded to one side of the outer wall of the fixed frame, with one end of the fixed shaft passing through and connected to the outer wall of the mounting frame through a bearing.

[0013] Preferably, the mounting plate is bolted to the bottom outer wall of the four magnetorheological dampers, and the four magnetorheological dampers are bolted to the top inner wall of the fixing frame.

[0014] Preferably, a sealing cover is bolted to the top outer wall of the mounting plate, and the main control circuit board is located inside the sealing cover.

[0015] The beneficial effects of this invention are as follows: 1. Four water flow sensors can detect the flow velocity and direction from any direction in real time and from all directions, providing a feedforward signal source for predictive control. The gyroscope sensor can perceive the actual attitude change of the camera most directly and accurately, eliminating the measurement error caused by mechanical structure transmission. The first adjustment motor drives the mounting bracket, and the second adjustment motor drives the fixing bracket, realizing high-precision motion control in the horizontal and pitch directions.

[0016] 2. By using a deep learning coprocessor and running specific prediction algorithms, the feedforward signal from the water flow sensor and the feedback signal from the gyroscope are deeply fused to predict the disturbance torque and motion trend of the gimbal caused by the water flow in the near future. Based on this, the system issues advance compensation commands to the drive motor. Before the disturbance actually affects the camera's attitude, the control system has already begun the reverse cancellation action, improving the ability to resist flow disturbances. The deep learning model can learn the hydrodynamic characteristics under different flow velocities, different depths (expandable to depth sensors), and different gimbal attitudes, and automatically adjust the parameters of the control system (such as gain, integral time constant, etc.) so that the gimbal can maintain optimal control performance in various complex and variable underwater environments. On top of simple stability control, the deep learning coprocessor can simultaneously process image information to achieve intelligent target recognition and tracking. The system can intelligently lock the moving target in the center of the frame while resisting water flow disturbances and smoothly predict its motion trajectory, achieving synergistic optimization of the dual objectives of "disturbance resistance" and "tracking", which greatly improves observation efficiency.

[0017] In summary, this invention can proactively counteract water flow disturbances, preventing camera shake during underwater surveying and mapping. Simultaneously, it can intelligently lock moving targets in the center of the image, achieving synergistic optimization of both "interference resistance" and "tracking" objectives, thus improving imaging performance. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall main structure of the multifunctional intelligent underwater electric gimbal based on underwater photography and mapping proposed in this invention.

[0019] Figure 2 This is a schematic diagram of the front view cross-sectional structure of the multifunctional intelligent underwater electric gimbal based on underwater photography and mapping proposed in this invention.

[0020] Figure 3 This is a front view cross-sectional structural diagram of the installation mechanism of the multifunctional intelligent underwater electric gimbal based on underwater photography and mapping proposed in this invention.

[0021] Figure 4 This is a top-view structural diagram of the heat dissipation component of the multifunctional intelligent underwater electric gimbal based on underwater photography and mapping proposed in this invention.

[0022] Figure 5 This is a schematic diagram of the main anti-turbulence component of the multifunctional intelligent underwater electric gimbal based on underwater photography and mapping proposed in this invention.

[0023] Figure 6 This is a schematic diagram of the main structure of the second anti-turbulence component of the multifunctional intelligent underwater electric gimbal based on underwater photography and mapping proposed in this invention.

[0024] Figure 7 This is a schematic diagram of the main view cross-sectional structure of the connecting components of the multifunctional intelligent underwater electric gimbal based on underwater photography and mapping proposed in this invention.

[0025] Figure 8 This is a schematic diagram of the main structure of the fixed components of the multifunctional intelligent underwater electric gimbal based on underwater photography and mapping proposed in this invention.

[0026] Figure 9 The present invention proposes Figure 2 Enlarged structural diagram at point A in the middle.

[0027] In the diagram: 1. Mounting mechanism; 101. Fixed base; 102. Connecting bracket; 103. Mounting cylinder; 104. Sealing cover; 105. Water flow sensor; 2. Heat dissipation assembly; 201. Heat conduction cover; 202. Heat dissipation plate; 203. Heat conduction plate; 3. First anti-turbulence assembly; 301. First regulating motor; 302. First conductor rotor; 303. First permanent magnet rotor; 304. Mounting bracket; 305. Waterproof cover; 306. Fixed... 4. Fixed ring; 5. Mounting cover; 6. Second anti-turbulence assembly; 7. Fixed cover; 8. End cap; 9. Second regulating motor; 10. Second conductor rotor; 11. Connecting assembly; 12. Fixing bracket; 13. Second permanent magnet rotor; 14. Connecting ring; 15. Fixed shaft; 16. Fixing assembly; 17. Mounting plate; 18. Magnetorheological damper; 19. Sealing cover; 20. Main control circuit board; 10. Gyroscope sensor. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0029] Example 1, referring to Figure 1-4 A multi-functional intelligent underwater electric gimbal for underwater photography and mapping includes a mounting mechanism 1 bolted to a submersible. The mounting mechanism 1 includes a fixed base 101 with four mounting holes on its outer wall, a mounting cylinder 103 bolted to the top outer wall of the fixed base 101, and four water flow sensors 105 each embedded in one of the four mounting holes. Four inverted conical connecting brackets 102 are fixed to the bottom outer wall of the fixed base 101. The top outer wall of the mounting cylinder 103 has a mounting opening, into which a plastic sealing cap 104 is embedded. A heat dissipation assembly 2 is located inside the mounting cylinder 103. The heat dissipation assembly 2 includes a heat-conducting cover 201 adhered to the top inner wall of the mounting cylinder 103, and four arc-shaped connecting brackets 102. The device consists of a heat sink 202 with a three-dimensional structure and several heat-conducting plates 203 fixed to the outer walls of the four heat sinks 202. The upper outer wall of the mounting cylinder 103 has four arc-shaped grooves. The four heat sinks 202 are respectively embedded in the four arc-shaped grooves by thermal conductive gel. Several fixing holes are opened in each of the four arc-shaped grooves. Several heat-conducting plates 203 are respectively embedded in the fixing holes. Several heat-conducting plates 203 are respectively welded to the outer wall of the heat-conducting cover 201. When the first regulating motor 301 is running, the heat rises and exchanges heat with the heat-conducting cover 201. The heat-conducting cover 201 transfers heat to the heat sinks 202 through the multiple heat-conducting plates 203. The heat sinks 202 come into contact with the water flow to exchange heat, thereby dissipating heat from the first regulating motor 301.

[0030] Example 2, refer to Figure 5-7The multi-functional intelligent underwater electric gimbal based on underwater photography and mapping also includes a first anti-turbulence component 3. The first anti-turbulence component 3 includes a first adjusting motor 301 with a first angle sensor integrated inside, a first conductor rotor 302 bolted to the top of the output shaft of the first adjusting motor 301, a first permanent magnet rotor 303, a mounting bracket 304 bolted to the top of the first permanent magnet motor 303, and a fixing ring 306 welded to the inner wall of one side of the mounting bracket 304. The first permanent magnet rotor 303 is positioned above the mounting cylinder 103. A through hole is opened on one side of the outer wall of the mounting bracket 304, and a waterproof cover 305 is embedded in the through hole. A mounting cover 4 is bolted to the top outer wall of the mounting cylinder 103. The upper part of the first permanent magnet rotor 303 is connected to the mounting cover 4 via a bearing. A second anti-turbulence component 5 is provided on one side of the mounting bracket 304. The second anti-turbulence component 5 includes a second regulating motor 503 and a second conductor rotor 504 bolted to one end of the output shaft of the second regulating motor 503. A fixing cover 501 is bolted to one side of the outer wall of the mounting frame 304, and an end cover 502 is bolted to one side of the outer wall of the fixing cover 501. The second regulating motor 503 is bolted to one side of the outer wall of the end cover 502. A connecting component 6 is provided inside the mounting frame 304. The connecting component 6 includes a fixing frame 601, a second permanent magnet rotor 602 bolted to one side of the outer wall of the fixing frame 601, and a connecting ring 603 welded to one side of the outer wall of the fixing frame 601. The connecting ring 603 is connected to the fixing ring 306 through a bearing. A fixing shaft 604 is welded to one side of the outer wall of the fixing frame 601. One end of the fixing shaft 604 passes through and is connected to the outer wall of the mounting frame 304 through a bearing.

[0031] Example 3, referring to Figure 8 The multifunctional intelligent underwater electric gimbal based on underwater photography and mapping also includes a fixing component 7, which includes a mounting plate 701 and four magnetorheological dampers 702. The mounting plate 701 is bolted to the bottom outer wall of the four magnetorheological dampers 702, and the four magnetorheological dampers 702 are bolted to the top inner wall of the fixing frame 601.

[0032] Example 4, refer to Figure 1-2 and Figure 9The multifunctional intelligent underwater electric gimbal based on underwater photography and mapping has a sealing cover 8 bolted to the top outer wall of the mounting plate 701. The main control circuit board 9 is bolted to the top of the mounting plate 701 and is located inside the sealing cover 8. The main control circuit board 9 integrates a deep learning coprocessor and a gyroscope sensor 10 is encapsulated on the top outer wall of the main control circuit board 9. The deep learning coprocessor is a deep learning model. The real-time and historical data of the four water flow sensors 105 and the data of the gyroscope sensor 10 are respectively sent to the deep learning coprocessor. The deep learning coprocessor predicts the disturbance torque and angle changes of the water flow on the gimbal in the next few hundred milliseconds. Based on this prediction, the main control circuit board 9 sends compensation commands to the first adjustment motor 301 and the second adjustment motor 503 in advance to achieve proactive and stable control.

[0033] The deep learning coprocessor runs a specific prediction algorithm to deeply fuse the feedforward signal from the water flow sensor 105 with the feedback signal from the gyroscope sensor 10. It predicts the disturbance torque and motion trend of the gimbal generated by the water flow in the near future and issues advance compensation commands to the first adjustment motor 301 and the second adjustment motor 503 accordingly. Before the disturbance actually affects the camera's attitude, the control system has already begun the reverse cancellation action, improving the ability to resist flow disturbances. The deep learning model can learn the hydrodynamic characteristics under different flow velocities, different depths (expandable to depth sensors), and different gimbal attitudes, and automatically adjust the parameters of the control system (such as gain, integral time constant, etc.) so that the gimbal can maintain optimal control performance in various complex and changeable underwater environments. On top of simple stability control, the deep learning coprocessor can simultaneously process image information to achieve intelligent target recognition and tracking. The system can intelligently lock the moving target in the center of the image while resisting water flow disturbances and smoothly predict its motion trajectory.

[0034] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multifunctional intelligent underwater electric gimbal based on underwater photography and mapping, comprising a mounting mechanism (1) bolted to a submersible, characterized in that, The installation mechanism (1) includes a fixed base (101) with four mounting holes on its outer wall, a mounting cylinder (103) connected to the top outer wall of the fixed base (101) by bolts, and four water flow sensors (105) respectively embedded in the four mounting holes. The mounting cylinder (103) is provided with a heat dissipation assembly (2), which includes a heat-conducting cover (201) bonded to the inner wall of the top of the mounting cylinder (103), four arc-shaped heat dissipation plates (202), and several heat-conducting plates (203) respectively fixed to the outer wall of the four heat dissipation plates (202). The top of the fixed base (101) is provided with a first anti-turbulence component (3). The first anti-turbulence component (3) includes a first adjusting motor (301) with a first angle sensor integrated inside, a first conductor rotor (302) connected to the top of the output shaft of the first adjusting motor (301) by bolts, a first permanent magnet rotor (303), a mounting bracket (304) connected to the top of the first permanent magnet motor (303) by bolts, and a fixing ring (306) welded to the inner wall of one side of the mounting bracket (304). The mounting bracket (304) is provided with a second anti-turbulence component (5) on one side. The second anti-turbulence component (5) includes a second regulating motor (503) and a second conductor rotor (504) that is bolted to one end of the output shaft of the second regulating motor (503). The mounting frame (304) is provided with a connecting assembly (6), which includes a fixed frame (601), a second permanent magnet rotor (602) bolted to the outer wall of one side of the fixed frame (601), and a connecting ring (603) welded to the outer wall of one side of the fixed frame (601). The fixing frame (601) is provided with a fixing component (7), which includes a mounting plate (701) and four magnetorheological dampers (702). The mounting plate (701) is connected to the main control circuit board (9) by bolts. The main control circuit board (9) integrates a deep learning coprocessor. A gyroscope sensor (10) is encapsulated on the outer wall of the top of the main control circuit board (9). The deep learning coprocessor is a deep learning model. The real-time and historical data of the four water flow sensors (105) and the data of the gyroscope sensor (10) are respectively sent to the deep learning coprocessor. The deep learning coprocessor predicts the disturbance torque and angle changes of the water flow on the gimbal in the next few hundred milliseconds. Based on this prediction result, the main control circuit board (9) sends compensation commands to the first regulating motor (301) and the second regulating motor (503) in advance to achieve advanced and active stable control.

2. The multifunctional intelligent underwater electric gimbal based on underwater photography and mapping as described in claim 1, characterized in that, The fixed base (101) has four inverted conical connecting brackets (102) fixed on the bottom outer wall. The mounting cylinder (103) has an installation opening on the top outer wall, and a plastic sealing cap (104) is embedded in the installation opening.

3. The multifunctional intelligent underwater electric gimbal based on underwater photography and mapping as described in claim 1, characterized in that, The upper outer wall of the mounting cylinder (103) has four arc-shaped grooves, and four heat dissipation plates (202) are respectively embedded in the four arc-shaped grooves by thermal conductive gel. Each of the four arc-shaped grooves has several fixing holes, and several heat-conducting plates (203) are respectively embedded in the fixing holes. Several heat-conducting plates (203) are respectively welded to the outer wall of the heat-conducting cover (201).

4. The multifunctional intelligent underwater electric gimbal based on underwater photography and mapping as described in claim 1, characterized in that, The first permanent magnet rotor (303) is disposed above the mounting cylinder (103), and a through hole is opened on one side of the outer wall of the mounting bracket (304), and a waterproof cover (305) is embedded in the through hole.

5. The multifunctional intelligent underwater electric gimbal based on underwater photography and mapping as described in claim 1, characterized in that, The mounting sleeve (103) is bolted to the top outer wall of the mounting sleeve (103), and the upper part of the first permanent magnet rotor (303) is connected to the mounting sleeve (4) through a bearing.

6. The multifunctional intelligent underwater electric gimbal based on underwater photography and mapping as described in claim 1, characterized in that, A fixing cover (501) is bolted to one side of the outer wall of the mounting bracket (304), and an end cover (502) is bolted to one side of the outer wall of the fixing cover (501). The second adjusting motor (503) is bolted to one side of the outer wall of the end cover (502).

7. The multifunctional intelligent underwater electric gimbal based on underwater photography and mapping as described in claim 1, characterized in that, The connecting ring (603) is connected to the fixed ring (306) through a bearing. A fixed shaft (604) is welded to the outer wall of one side of the fixed frame (601), and one end of the fixed shaft (604) passes through and is connected to the outer wall of the mounting frame (304) through a bearing.

8. The multifunctional intelligent underwater electric gimbal based on underwater photography and mapping as described in claim 1, characterized in that, The mounting plate (701) is bolted to the bottom outer wall of the four magnetorheological dampers (702), and the four magnetorheological dampers (702) are bolted to the top inner wall of the fixing frame (601).

9. The multifunctional intelligent underwater electric gimbal based on underwater photography and mapping as described in claim 1, characterized in that, A sealing cover (8) is bolted to the top outer wall of the mounting plate (701), and the main control circuit board (9) is located inside the sealing cover (8).

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