Underwater electronic holder and underwater robot device

Abstract

The utility model relates to an underwater electronic holder and an underwater robot device. The underwater electronic holder comprises a shell, a camera element and a plurality of light-emitting parts. The camera element is installed on the shell and used for generating electronic image data according to the optical image. The light-emitting part is installed on the shell. The at least three light-emitting members are distributed along the outer peripheral side of the image pickup element. The included angle alpha between the center emitting direction F1 of the light-emitting part and the center line L1 of the camera element is 10-30 degrees. The light supplementing light rays emitted by all the light emitting parts can cover different circumferential angles of the camera shooting element, so that the camera shooting element can obtain sufficient illumination at any shooting angle, the situation that images shot by the underwater electronic pan-tilt in the deepwater environment are dark is avoided, and the requirement of shooting personnel for the image effect is met. The included angle alpha between the central emergent direction F1 of the light-emitting part and the central line L1 of the camera shooting element is 10-30 degrees, so that the interference between the supplementary light rays and the light-transmitting devices at the periphery of the camera shooting element is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of electronic pan / tilt platforms, and in particular to an underwater electronic pan / tilt platform and an underwater robot device. Background Art

[0002] Electronic PTZ, also known as EPTZ, is a new type of integrated PTZ compared to ordinary PTZ. Electronic PTZ has no visible mechanical moving parts and is commonly found in high-end network cameras. Through its program settings, the viewing angle and zoom of the lens are controlled inside the camera, but its viewing angle is not as large as that of a conventional PTZ.

[0003] Traditional electronic gimbals are generally used in places with relatively sufficient light. When the electronic gimbal is taken to a deeper underwater environment for shooting, the light in the underwater environment is very limited, resulting in the image taken by the electronic gimbal appearing darker at some angles, which is difficult to meet the photographer's requirements for image effects. Utility Model Content

[0004] Based on this, the utility model provides an underwater electronic pan / tilt platform and an underwater robot device that can solve or at least alleviate the above-mentioned technical problems.

[0005] The utility model provides an underwater electronic pan / tilt platform, comprising:

[0006] case;

[0007] An imaging element installed in the housing; the imaging element is used to generate electronic image data according to the optical image; and

[0008] A plurality of light emitting elements are mounted on the housing; at least three of the light emitting elements are distributed along the outer periphery of the imaging element; and the angle between the central emission direction of the light emitting element and the center line of the imaging element is 10° to 30°.

[0009] The underwater electronic pan / tilt head, the imaging element and the plurality of light-emitting elements are respectively installed on the housing, so that the positions of the plurality of light-emitting elements relative to the imaging element remain stable. When the underwater electronic pan / tilt head is used for shooting in a deeper underwater environment, since at least three light-emitting elements are distributed along the outer peripheral side of the imaging element, the fill-in light emitted by all the light-emitting elements can cover different circumferential angles of the imaging element, so that the imaging element can obtain sufficient illumination at any shooting angle, thereby avoiding the dark images taken by the underwater electronic pan / tilt head in a deep water environment, and ensuring that the requirements of the photographer for the image effect are met. At the same time, since the angle α between the central emission direction F1 of the light-emitting element and the center line L1 of the imaging element is 10° to 30°, the central emission direction F1 of the light-emitting element deviates from the center line L1 of the imaging element in the radial direction, and the fill-in light of all the light-emitting elements radiates toward the periphery of the imaging element in a nearly hemispherical manner, so that the fill-in light has a larger illumination range for the underwater environment. The angle α between the central emission direction F1 of the light emitting element and the center line L1 of the imaging element is 10° to 30°, which increases the distance of the fill light irradiation range relative to the imaging element, avoids interference between the fill light and the light-transmitting devices around the imaging element, and prevents the refraction of the fill light from affecting the shooting effect.

[0010] In one of the embodiments, the angle between the central emission direction of the light emitting element and the center line of the imaging element is 13°, 15°, 20° or 25°.

[0011] In one of the embodiments, the light emitting element is spaced apart from the imaging element in the radial direction; and six light emitting elements are evenly distributed along the outer circumference of the imaging element.

[0012] In one of the embodiments, it also includes a lamp holder connected to the shell; the lamp holder and the light-emitting component are arranged one-to-one; a limit fit is formed between the lamp holder and the shell; the lamp holder is provided with a supporting surface, and the angle between the normal of the supporting surface and the center line of the camera element is 10° to 30°; the supporting surface is abutted against the bottom surface of the light-emitting component.

[0013] In one of the embodiments, the housing includes a base shell and a light-transmitting plate connected to the base shell; a space for accommodating the light-emitting element and the lamp holder is formed between the base shell and the light-transmitting plate.

[0014] In one of the embodiments, it also includes a lamp cup; the shell also includes a surface shell connected to the base shell; the light-transmitting plate, the lamp cup and the lamp holder are supported between the base shell and the surface shell; the lamp cup is positioned and matched with the light-emitting component and the lamp holder respectively.

[0015] In one embodiment, the lamp cup is provided with a concave portion and a supporting portion; one side of the concave portion forms a reflective concave surface; the supporting portion is connected to the other side of the concave portion; the concave portion is connected to at least two supporting portions; and a plurality of the supporting portions surround the outer side of the lamp holder.

[0016] In one of the embodiments, the shell includes a light-transmitting plate and an outer shell; the light-transmitting plate and the outer shell are enclosed to form a space for accommodating the light-emitting component; the outer shell is arranged to abut against the outer periphery of the light-transmitting plate; the outer shell is provided with a light-transmitting window; the light-transmitting window is located on the outer peripheral side of the light-transmitting plate.

[0017] In one of the embodiments, a light-transmitting cover is further included; the light-transmitting cover and the housing are combined to form a space for accommodating the imaging element; the outer surface and the inner surface of the light-transmitting cover are spherical or curved surfaces.

[0018] The utility model provides an underwater robot device, comprising the underwater electronic pan-tilt platform of any one of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional schematic diagram of an underwater electronic pan-tilt platform according to an embodiment of the present application.

[0020] Figure 2 for Figure 1 The shown is a three-dimensional schematic diagram of the underwater electronic pan-tilt platform at another angle.

[0021] Figure 3 for Figure 1 A three-dimensional cross-sectional view of the underwater electronic pan-tilt head shown.

[0022] Figure 4 for Figure 3 An enlarged view of point A of the underwater electronic pan / tilt is shown.

[0023] Figure 5 for Figure 1 A plan cross-sectional view of the underwater electronic pan / tilt shown.

[0024] Figure 6 for Figure 5 A partially exploded schematic diagram of the underwater electronic pan-tilt head is shown.

[0025] Figure 7 for Figure 6 A partially exploded schematic diagram of the underwater electronic pan-tilt head is shown.

[0026] Figure 8 for Figure 6 A partially exploded schematic diagram of the underwater electronic pan-tilt head is shown.

[0027] Figure numerals: 100, underwater electronic pan / tilt; 20, shell; 21, base shell; 211, bump; 212, screw hole; 22, light-transmitting plate; 23, surface shell; 231, light-transmitting hole; 24, outer shell; 241, light-transmitting window; 30, camera element; 31, chip module; 32, light-transmitting cover; 40, light-emitting part; 41, lamp holder; 411, groove; 412, supporting surface; 413, through hole; 414, limiting groove; 415, convex rib; 42, lamp cup; 421, concave portion; 422, supporting portion; 423, positioning groove; 424, hole position. DETAILED DESCRIPTION

[0028] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0029] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0030] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, or the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] The technical solution provided by the embodiments of the present application is described below in conjunction with the accompanying drawings.

[0032] The present application provides an underwater robot device that can be used for underwater operations. Specifically, the underwater robot device can be used to measure the underwater environment and determine the spatial form of the underwater environment. The underwater robot device can also be used to detect the surface form of underwater buildings or the bottom of the water.

[0033] The underwater robot device includes a host and an underwater electronic pan-tilt platform 100 connected to the host. The host can move in an underwater environment. The underwater electronic pan-tilt platform 100 is used to shoot the underwater environment. The host includes a body and a driving component connected to the body. The driving component applies thrust to the liquid so that the body can be propelled and moved in the liquid. In some embodiments, the driving component includes a driving motor and a propeller connected to the driving motor.

[0034] In some embodiments, the underwater electronic pan-tilt platform 100 can be detachably connected to the body, so that different underwater electronic pan-tilt platforms 100 can be connected to the host according to the conditions of the underwater environment.

[0035] Combination Figures 1 to 8 As shown, the present application also provides an underwater electronic pan-tilt platform 100. Figure 1 and Figure 3 As shown, the underwater electronic pan-tilt platform 100 includes: a housing 20, an imaging element 30 and a light-emitting element 40. The imaging element 30 is mounted on the housing 20, and the imaging element 30 is used to generate electronic image data according to the optical image. A plurality of light-emitting elements 40 are mounted on the housing 20. At least three light-emitting elements 40 are distributed along the outer peripheral side of the imaging element 30. The angle α between the central emission direction F1 of the light-emitting element 40 and the center line L1 of the imaging element 30 is 10° to 30°.

[0036] Specifically, the image pickup element 30 and the plurality of light emitting elements 40 are respectively mounted on the housing 20, so that the positions of the plurality of light emitting elements 40 relative to the image pickup element 30 remain stable. When the underwater electronic pan / tilt platform 100 is used to shoot in a deeper underwater environment, since at least three light emitting elements 40 are distributed along the outer circumference of the image pickup element 30, the fill light emitted by all the light emitting elements 40 can cover different circumferential angles of the image pickup element 30, so that the image pickup element 30 can obtain sufficient illumination at any shooting angle, thereby avoiding the dark image taken by the underwater electronic pan / tilt platform 100 in a deep water environment, and ensuring that the requirements of the photographer for the image effect are met. At the same time, since the angle α between the central emission direction F1 of the light emitting element 40 and the center line L1 of the image pickup element 30 is 10° to 30°, the central emission direction F1 of the light emitting element 40 deviates from the center line L1 of the image pickup element 30 in the radial direction, and the fill light of all the light emitting elements 40 radiates toward the periphery of the image pickup element 30 in a nearly hemispherical shape, so that the fill light has a larger illumination range for the underwater environment. The angle α between the central emission direction F1 of the light emitting element 40 and the center line L1 of the imaging element 30 is 10° to 30°, which increases the distance of the fill light irradiation range relative to the imaging element 30, avoids interference between the fill light and the light-transmitting devices around the imaging element 30, and prevents the refraction of the fill light from affecting the shooting effect.

[0037] In some embodiments, the central emission direction F1 of the light emitting element 40 is the direction of a ray passing through the geometric center line of the light emitting element 40. In other embodiments, the central emission direction F1 of the light emitting element 40 is the direction of a ray passing through the axial center line of the light emitting element 40. In still other embodiments, the central emission direction F1 of the light emitting element 40 is the direction of a ray passing through the central symmetry line of the light emitting element 40.

[0038] In some embodiments, the central emission direction F1 is an emission direction in which the light emitting element 40 has the highest light intensity.

[0039] In some embodiments, when the shape of the imaging element 30 is close to that of a rotating body, the center line of the imaging element 30 is a straight line passing through the axis of the imaging element 30. In other embodiments, when the photosensitive surface of the imaging element 30 is a plane, the center line of the imaging element 30 is a straight line passing through the center of the photosensitive surface of the imaging element 30 and being perpendicular to the photosensitive surface of the imaging element 30. In still other embodiments, when the photosensitive surface of the imaging element 30 is a convex arc surface or a spherical surface, the center line of the imaging element 30 passes through the center of the photosensitive surface of the imaging element 30 and is perpendicular to the tangent plane of the photosensitive surface, and the tangent plane is tangent to the center of the photosensitive surface.

[0040] In some embodiments, in combination Figure 3 , Figure 6 and Figure 7 As shown, the underwater electronic pan-tilt platform 100 also includes a lamp holder 41 connected to the housing 20. The lamp holder 41 is arranged in a one-to-one correspondence with the light-emitting element 40, and a limit fit is formed between the lamp holder 41 and the housing 20, so that the lamp holder 41 can be quickly installed to the housing 20 in a predetermined direction. In one embodiment, the housing 20 is formed with a protrusion 211, and a plurality of protrusions 211 are distributed along the circumference. A groove 411 is provided on one side of the lamp holder 41, and the groove 411 is used for the protrusion 211 to be embedded, and the shape of the groove 411 is close to the shape of the protrusion 211, so that the nested fit between the protrusion 211 and the groove 411 can limit the installation angle of the lamp holder 41 relative to the housing 20. Further, the housing 20 is provided with a screw hole 212, and the lamp holder 41 is provided with a through hole 413. The fastener is passed through the screw hole 212 and the through hole 413, so that the lamp holder 41 can be fixedly connected to the housing 20.

[0041] In some embodiments, in combination Figure 7As shown, the lamp holder 41 is provided with a support surface 412, and the angle α between the normal of the support surface 412 and the center line L1 of the imaging element 30 is 10° to 30°. The support surface 412 is in contact with the bottom surface of the light emitting member 40. Specifically, due to the contact with the bottom surface of the light emitting member 40, the support surface 412 has a limiting effect on the installation direction of the light emitting member 40. In the case where the central emission direction F1 of the light emitting member 40 is perpendicular to the bottom surface of the light emitting member 40, due to the limiting effect of the lamp holder 41, the central emission direction F1 of the light emitting member 40 and the center line L1 of the imaging element 30 can form an angle α of 10° to 30°. In some embodiments, the support surface 412 is a plane. Further, the lamp holder 41 is provided with a limiting groove 414. The opening shape of the limiting groove 414 corresponds to the outer peripheral shape of the light emitting member 40, so that after the light emitting member 40 is accommodated in the limiting groove 414, the position of the light emitting member 40 can be limited. More specifically, the bottom surface of the limiting groove 414 is the supporting surface 412 .

[0042] Furthermore, the support surface 412 and the bottom surface of the light emitting element 40 are respectively covered with a heat conducting medium to improve the efficiency of heat transfer from the light emitting element 40 to the lamp holder 41. Specifically, the heat conducting medium includes thermal conductive silicone grease or other materials with high thermal conductivity.

[0043] In some embodiments, in combination Figure 3 and Figure 4 As shown, the housing 20 includes a base housing 21 and a light-transmitting plate 22 connected to the base housing 21. A space for accommodating the light-emitting element 40 and the lamp holder 41 is formed between the base housing 21 and the light-transmitting plate 22. Specifically, a sealed space is formed between the base housing 21 and the light-transmitting plate 22 to prevent the power supply of the light-emitting element 40 from being affected by liquid. The light-transmitting plate 22 is light-transmitting, and the fill light emitted by the light-emitting element 40 is transmitted to the outside of the housing 20 through the light-transmitting plate 22.

[0044] Furthermore, the lamp holder 41 is abutted against the base shell 21 , and the lamp holder 41 and the base shell 21 are made of metal material to improve the efficiency of heat transfer from the lamp holder 41 to the base shell 21 .

[0045] In some embodiments, in combination Figure 1 and Figure 6 As shown, the light-transmitting plate 22 is ring-shaped, and the fill light of each light-emitting element 40 is emitted from a single light-transmitting plate 22, thereby reducing the number of light-transmitting plates 22, which is beneficial to improving the assembly efficiency of the underwater electronic pan-tilt platform 100.

[0046] In some embodiments, in combination Figure 1 and Figure 3As shown, the housing 20 includes a light-transmitting plate 22 and a shell 24. The light-transmitting plate 22 and the shell 24 enclose a space for accommodating the light-emitting element 40. The shell 24 is arranged to abut against the outer periphery of the light-transmitting plate 22, and the shell 24 is provided with a light-transmitting window 241. The light-transmitting window 241 is located on the outer periphery of the light-transmitting plate 22. Specifically, when the fill-in light is incident on the light-transmitting plate 22, part of the fill-in light is repeatedly reflected in the light-transmitting plate 22 and is emitted from the outer periphery of the light-transmitting plate 22. Since the shell 24 is provided with the light-transmitting window 241 on the outer periphery of the light-transmitting plate 22, the fill-in light emitted from the outer periphery of the light-transmitting plate 22 can be emitted through the light-transmitting window 241, thereby effectively increasing the irradiation range of the fill-in light and avoiding the problem of darkening the edges of the optical image.

[0047] In some embodiments, the housing 24 may be partially provided with a light-transmitting material, and a light-transmitting window 241 is formed at the position where the light-transmitting material is used.

[0048] Specifically, the outer shell 24 and the base shell 21 may be integrally formed or separately formed.

[0049] In some embodiments, the imaging element 30 is a camera. In some embodiments, the imaging element 30 is a 1 / 1.8" or 1 / 2.3" fisheye camera. More specifically, in combination Figure 3 As shown, the underwater electronic pan-tilt platform 100 also includes a chip module 31 electrically connected to the camera element 30. The electronic image data collected by the camera element 30 is transmitted to the chip module 31 and further processed by the chip module 31. In some embodiments, the chip module 31 can generate an output video signal reflecting the underwater environment.

[0050] In some embodiments, the angle α between the central emission direction F1 of the light emitting element 40 and the center line L1 of the imaging element 30 is 13°, 15°, 20° or 25°, so as to avoid the angle α between the central emission direction F1 and the center line L1 of the imaging element 30 being too large or too small. Specifically, when the angle α between the central emission direction F1 and the center line L1 of the imaging element 30 is too large, the fill light rays are dispersed radially outward, and the fill light rays intersecting near the center line L1 are reduced, so that the optical image corresponding to the center line L1 of the imaging element 30 is dark. Specifically, when the angle α between the central emission direction F1 and the center line L1 of the imaging element 30 is too small, the fill light rays are gathered radially inward, and the fill light rays intersecting near the center line L1 are increased, so that the optical image corresponding to the center line L1 of the imaging element 30 may be too bright.

[0051] In some embodiments, in combination Figure 5As shown, the light-emitting components 40 are spaced apart from the imaging element 30 in the radial direction. The six light-emitting components 40 are evenly distributed along the outer circumference of the imaging element 30. Specifically, the illumination range of a single light-emitting component 40 is bounded by the position where 50% light intensity attenuation occurs. Since the light-emitting components 40 are spaced apart from the imaging element 30, interference between the fill light at the boundary position and the light-transmitting components around the imaging element 30 is avoided. Since the six light-emitting components 40 are evenly distributed around the outer circumference of the imaging element 30, multiple light-emitting components 40 emit fill light from different angles, making the illumination intensity at different angles of the imaging element 30 more uniform, while effectively controlling the number of light-emitting components 40 to prevent the structure of the underwater electronic pan / tilt 100 from being too complicated.

[0052] In some embodiments, the light-emitting component 40 is a 20W xhp70 lamp bead. In some embodiments, the underwater electronic pan / tilt 100 further includes a dimming module, which is used to output a driving current to the light-emitting component 40. The dimming module includes a current regulating unit, a control unit, a switch unit, and a sensing unit. The switch unit is electrically connected between the current regulating unit and the power supply. The switch unit has an on state and an off state. The control unit controls the switch unit to switch between the on state and the off state. The sensing unit senses the brightness change of the underwater environment to form a PWM signal and outputs it to the current regulating unit. The current regulating unit is electrically connected to the light-emitting component 40. When the switch unit is in the on state, the current regulating unit adjusts the current output to the light-emitting component 40 according to the PWM signal, so that the intensity of the fill light can be adjusted according to the brightness change of the underwater environment, which is beneficial to improve the brightness stability of the video picture.

[0053] In some embodiments, in combination Figure 3 and Figure 4 As shown, the underwater electronic pan-tilt 100 also includes a lamp cup 42. The housing 20 also includes a face shell 23 connected to the base shell 21. The light-transmitting plate 22, the lamp cup 42 and the lamp holder 41 are supported between the base shell 21 and the face shell 23. The lamp cup 42 forms a positioning fit with the light-emitting component 40 and the lamp holder 41 respectively. Specifically, after the face shell 23 is connected to the base shell 21, the inner side of the face shell 23 generates an extrusion force on one side of the light-transmitting plate 22, and the other side of the light-transmitting plate 22 generates an extrusion force on one side of the lamp cup 42. The other side of the lamp cup 42 generates an extrusion force on one side of the light-emitting component 40 and the lamp holder 41. The base shell 21 provides support for the other side of the lamp holder 41, so that in the direction relative to the face shell 23 and the base shell 21, the light-transmitting plate 22, the lamp cup 42 and the lamp holder 41 are maintained in a stable position. By means of the limiting cooperation between the lamp cup 42 and the light emitting member 40 or the lamp holder 41 , the displacement of the lamp cup 42 along the radial direction of the imaging element 30 is avoided, and the assembly of the underwater electronic pan-tilt platform 100 is effectively simplified.

[0054] Specifically, one side of the lamp cup 42 is concave, and the side of the lamp cup 42 is reflective to reflect the fill light emitted by the light emitting element 40. More specifically, the lamp cup 42 is provided with a hole 424 for the light emitting element 40 to partially pass through.

[0055] In some embodiments, in combination Figure 7 and Figure 8 As shown, the lamp cup 42 is provided with a concave portion 421 and a supporting portion 422. A reflective concave surface is formed on one side of the concave portion 421. The supporting portion 422 is connected to the other side of the concave portion 421. In some embodiments, the concave portion 421 is connected to at least two supporting portions 422. Several supporting portions 422 surround the outer side of the lamp holder 41, which is conducive to limiting the position of the lamp cup 42 in the radial direction of the imaging element 30. A positioning groove 423 is formed between the edge of the supporting portion 422 and one of the lamp holders 41, and a convex rib 415 is formed on the other. The positioning groove 423 is used to accommodate the convex rib 415. After the convex rib 415 is accommodated in the positioning groove 423, the lamp cup 42 and the lamp holder 41 form a positioning fit, so that the lamp cup 42 is at a predetermined angle relative to the lamp holder 41.

[0056] In some embodiments, in combination Figure 8 As shown, the housing 23 is provided with a plurality of light-transmitting holes 231 . The number and positions of the light-transmitting holes 231 correspond to the light-emitting components 40 . After the fill light emitted by the light-emitting components 40 passes through the light-transmitting plate 22 , the fill light passes through the light-transmitting holes 231 .

[0057] In some other embodiments, the shell includes a first shell and a second shell. The first shell is connected to the base shell 21, and the second shell is connected to the outer shell 24. The second shell is located on the outer peripheral side of the first shell. Along the radial direction of the imaging element 30, the second shell is spaced apart from the first shell, so that an annular blank area is formed between the second shell and the first shell. After the fill light passes through the light-transmitting plate 22, it passes through the blank area, thereby reducing the blocking of the fill light. In one embodiment, the first shell is connected to the base shell 21, and the inner surface of the first shell abuts against the inner edge of the annular light-transmitting plate 22. The second shell is connected to the outer shell 24, and the outer surface of the first shell abuts against the outer edge of the annular light-transmitting plate 22.

[0058] In some embodiments, in combination Figures 3 to 5As shown, the underwater electronic pan / tilt 100 further includes a light-transmitting cover 32. The light-transmitting cover 32 and the housing 20 enclose a space for accommodating the imaging element 30. The outer surface and the inner surface of the light-transmitting cover 32 are spherical or arcuate. Specifically, the photosensitive end of the imaging element 30 faces the inner surface of the light-transmitting cover 32. The imaging element 30 can also be partially accommodated in the concave space of the light-transmitting cover 32, thereby increasing the coverage range of the optical image that the imaging element 30 can receive. More specifically, the light-transmitting cover 32 protrudes out of the housing 20, thereby effectively preventing the imaging element 30 from being blocked.

[0059] Specifically, the outer surface of the light-transmitting cover 32 is a convex arc surface or a convex spherical surface, and the inner surface of the light-transmitting cover 32 is a concave arc surface or a concave spherical surface.

[0060] The above implementation modes are merely descriptions of the preferred implementation modes of the present application, and are not intended to limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements made to the technical solutions of the present application by ordinary engineering and technical personnel in the field shall fall within the protection scope determined by the claims of the present application.

Claims

1. An underwater electronic pan / tilt platform, characterized in that: include: case; A camera element, mounted on the housing; The imaging element is used to generate electronic image data based on the optical image; and A plurality of light-emitting elements are mounted on the housing; At least three of the light emitting elements are distributed along the outer periphery of the imaging element; and the angle between the central emission direction of the light emitting element and the center line of the imaging element is 10° to 30°.

2. The underwater electronic pan / tilt platform according to claim 1, characterized in that: The angle between the central emission direction of the light emitting element and the center line of the imaging element is 13°, 15°, 20° or 25°.

3. The underwater electronic pan / tilt platform according to claim 1, characterized in that: The light emitting element is spaced apart from the imaging element in the radial direction; and six light emitting elements are evenly distributed along the outer circumference of the imaging element.

4. The underwater electronic pan / tilt platform according to claim 1, characterized in that: It also includes a lamp holder connected to the shell; the lamp holder and the light-emitting component are arranged one-to-one; a limit fit is formed between the lamp holder and the shell; the lamp holder is provided with a supporting surface, and the angle between the normal of the supporting surface and the center line of the camera element is 10° to 30°; the supporting surface is abutted against the bottom surface of the light-emitting component.

5. The underwater electronic pan / tilt platform according to claim 4, characterized in that: The housing comprises a base shell and a light-transmitting plate connected to the base shell; a space for accommodating the light-emitting element and the lamp holder is formed between the base shell and the light-transmitting plate.

6. The underwater electronic pan / tilt platform according to claim 5, characterized in that: It also includes a lamp cup; the shell also includes a surface shell connected to the base shell; the light-transmitting plate, the lamp cup and the lamp holder are supported between the base shell and the surface shell; the lamp cup forms a positioning fit with the light-emitting component and the lamp holder respectively.

7. The underwater electronic pan / tilt platform according to claim 6, characterized in that: The lamp cup is provided with a concave portion and a supporting portion; one side of the concave portion forms a reflective concave surface; the supporting portion is connected to the other side of the concave portion; the concave portion is connected to at least two supporting portions; and a plurality of the supporting portions surround the outer side of the lamp holder.

8. The underwater electronic pan / tilt platform according to claim 1, characterized in that: The shell comprises a light-transmitting plate and an outer shell; the light-transmitting plate and the outer shell are enclosed to form a space for accommodating the light-emitting component; the outer shell is arranged to abut against the outer periphery of the light-transmitting plate; the outer shell is provided with a light-transmitting window; the light-transmitting window is located on the outer periphery of the light-transmitting plate.

9. The underwater electronic pan / tilt platform according to claim 1, characterized in that: It also includes a light-transmitting cover; the light-transmitting cover and the shell are enclosed to form a space for accommodating the imaging element; the outer surface and the inner surface of the light-transmitting cover are spherical or arc surfaces.

10. An underwater robot device, characterized in that: It comprises the underwater electronic pan / tilt platform as described in any one of claims 1 to 9.

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