An underwater camera mechanical arm and underwater robot

Abstract

This application relates to an underwater camera robotic arm and an underwater robot, comprising: a support arm mechanism and a camera; the support arm mechanism is disposed on the main structure of the underwater robot; the camera is disposed at the front end of the support arm mechanism, and a supplementary light is disposed beside the camera; the camera and the underwater robot are electrically connected via a connecting cable. In the embodiment provided in this application, the camera is inserted into the interior of the seabed valve chamber through the support arm mechanism, and the interior of the seabed valve chamber is illuminated by the supplementary light disposed beside the camera, thereby facilitating the camera to obtain clear images of the interior space of the seabed valve chamber. This allows operators to identify and determine whether there are contraband items hidden in the seabed valve chamber of the vessel through the transmitted images, meeting the needs of patrol work.

Description

Technical Field

[0001] This application relates to the field of underwater robot technology, and more particularly to an underwater camera robotic arm and an underwater robot. Background Technology

[0002] Inspection of underwater valve compartments on large vessels is an indispensable part of border inspection. As part of the ship's structure, underwater valve compartments are highly concealed and are easily overlooked in existing inspection procedures. Therefore, contraband can easily be hidden in underwater valve compartments, and if not detected in time, it can provide opportunities for criminals.

[0003] In existing technologies, divers are often used to inspect the seabed valve compartments. Divers carry underwater detection equipment and dive to the valve compartments to investigate their interior. However, this method is inefficient. Therefore, relevant organizations have gradually adopted the method of using underwater robots. These robots travel to the location of the ship's seabed valve compartments, use cameras to photograph the interior, and transmit the images back to the control platform. This allows personnel to determine whether any contraband is hidden inside the valve compartments.

[0004] However, when underwater robots attempt to photograph the interior of the seabed valve chamber, the protective netting surrounding the chamber restricts their imaging capabilities. They can only photograph from outside the netting. Furthermore, the lack of light sources within the valve chamber and the murky waters of the port due to frequent ship arrivals and departures make it difficult to obtain clear images using only underwater robots. This makes it challenging to determine whether contraband is concealed within the valve chamber. Utility Model Content

[0005] This application provides an underwater camera robotic arm and an underwater robot to solve the technical problem in the prior art that underwater robots are unable to penetrate deep into the interior of the seabed valve chamber to acquire images, making it difficult to determine whether the seabed valve chamber contains contraband based on the acquired images.

[0006] In a first aspect, this application provides an underwater camera robotic arm, including: a support arm mechanism and a camera;

[0007] The support arm mechanism is mounted on the main structure of the underwater robot;

[0008] The camera is located at the front end of the support arm mechanism, and a supplementary light is provided on the side of the camera.

[0009] The camera and the underwater robot are electrically connected via a connecting cable.

[0010] Furthermore, the minimum outer diameter of the connection between the support arm mechanism and the camera is less than 3 cm.

[0011] Furthermore, the support arm mechanism adopts a telescopic mechanism, which includes: a drive motor and a telescopic arm;

[0012] The drive motor and the telescopic arm are connected and transmitted through a transmission mechanism;

[0013] The camera is mounted at the front end of the telescopic arm;

[0014] The drive motor is electrically connected to the underwater robot via a connecting cable.

[0015] Furthermore, the telescopic arm includes: a sliding block and a telescopic arm body;

[0016] The sliding block is connected to the output end of the transmission mechanism;

[0017] The telescopic arm body is hollow inside, with a transparent window at the front end. The camera is located at the front end of the hollow telescopic arm body, and the camera's field of view is facing the transparent window.

[0018] Furthermore, a sealing structure is provided at the opening of the telescopic arm body at the end away from the camera.

[0019] Furthermore, it also includes a control box, which is mounted on the main structure. The control box contains a control motherboard, which is electrically connected to the support arm mechanism, the camera, and the underwater robot via connecting wires.

[0020] Furthermore, it also includes a waterproof cover, which is installed on the main structure of the underwater robot and covers the outside of the support arm mechanism.

[0021] Secondly, this application provides an underwater robot, including the underwater camera arm as described above, and further including: a main structure, wherein the support arm mechanism is disposed on the main structure, and the support arm mechanism is electrically connected to the camera and the control system inside the main structure.

[0022] Furthermore, the support arm mechanism is connected to the bottom or top of the main structure.

[0023] Furthermore, a power system is provided on the main structure, and the power system is electrically connected to the control system inside the main structure. The power system is located at the front end and / or rear end of the main structure.

[0024] A tail fin is provided at the top rear end of the main structure.

[0025] Furthermore, the main structure is provided with an auxiliary module, which includes a lighting source and a robot camera module. The lighting source and the robot camera module are electrically connected to the control system inside the main structure.

[0026] The technical solutions provided in this application have the following advantages compared with the prior art:

[0027] In the embodiments provided in this application, a camera is sent into the seabed valve chamber through a support arm mechanism, and the interior of the seabed valve chamber is illuminated by a supplementary light set next to the camera. This facilitates the camera to obtain clear images of the interior space of the seabed valve chamber, making it convenient for operators to identify and judge whether there are prohibited items hidden in the seabed valve chamber of the ship through the returned images, thus meeting the needs of patrol work. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0031] Figure 1 This is a cross-sectional view of an underwater camera robotic arm provided in an embodiment of this application.

[0032] Figure 2 This is a schematic diagram of the structure of an underwater camera robotic arm provided in an embodiment of this application.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1. Support arm mechanism; 11. Drive motor; 12. Telescopic arm; 121. Sliding block; 122. Telescopic arm body; 123. Transparent window; 2. Camera; 3. Control box; 4. Waterproof cover. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0037] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0038] To address the technical problem in existing technologies where underwater robots struggle to penetrate deep into seabed valve chambers to acquire images, making it difficult to determine whether contraband is hidden within the valve chambers, this application provides an underwater camera robotic arm and an underwater robot. The arm mechanism 1 controls the camera 2 to extend into spaces such as seabed valve chambers. Simultaneously, a supplementary light next to the camera 2 provides a light source, ensuring that the images acquired by the camera 2 are clear and discernible, thus facilitating the operator's inspection of spaces such as seabed valve chambers.

[0039] Please see Figure 1 , Figure 2The present application provides an underwater camera robotic arm, including: a support arm mechanism 1 and a camera 2;

[0040] The support arm mechanism 1 is mounted on the main structure of the underwater robot;

[0041] The camera 2 is located at the front end of the support arm mechanism 1, and a fill light is provided on the side of the camera 2.

[0042] The camera 2 is electrically connected to the underwater robot via a connecting cable;

[0043] The minimum outer diameter of the connection between the support arm mechanism 1 and the camera 2 is less than 3 cm. In the prior art, the minimum aperture of the mesh of the protective net installed at the seabed valve chamber of a ship is generally 3 cm. By setting a connection with a diameter of less than 3 cm, it is convenient to send the camera 2 through the mesh of the protective net and into the seabed valve chamber through the support arm mechanism 1, so as to obtain the internal image of the seabed valve chamber.

[0044] When it is necessary to inspect the subsea valve compartments of ships moored in port, an underwater robot is deployed into the port waters. The robot is then moved to the outside of the subsea valve compartment, and a support arm mechanism 1 extends a camera 2, allowing it to penetrate the protective netting and enter the compartment. The camera 2 then acquires images of the interior of the valve compartment. These images are transmitted to the underwater robot, which then feeds them back to a control platform with which it is remotely connected. This allows operators to review and analyze the transmitted images to determine if any items are hidden within the valve compartment.

[0045] Due to the high turbidity of the waters at the port and the lack of light sources inside the subsea valve chamber, camera 2 alone may not be able to obtain clear images. Therefore, in the embodiments provided in this application, a supplementary light is provided next to camera 2 to illuminate the interior space of the subsea valve chamber, thereby improving visibility inside the subsea valve chamber and enabling camera 2 to obtain clearer and more discernible images.

[0046] In some optional embodiments, the supplementary light uses a ring light source, and the camera 2 is placed at the center of the ring light source, or several light sources are arranged in a ring around the camera 2. In this way, the internal space of the seabed valve chamber is illuminated by the ring light, reducing the shadows generated under the light source. This makes it easier for operators to identify and judge the images transmitted back by the camera 2, and avoids the shadows from obscuring objects and affecting the judgment of whether there are objects hidden in the seabed valve chamber.

[0047] In some embodiments, the support arm mechanism 1 is a telescopic mechanism, and the support arm mechanism 1 includes: a drive motor 11 and a telescopic arm 12;

[0048] The drive motor 11 and the telescopic arm 12 are connected and transmitted through a transmission mechanism (not shown in the figure);

[0049] The camera 2 is located at the front end of the telescopic arm 12.

[0050] When the camera 2 is extended, the drive motor 11 is started, and the telescopic arm 12 is pushed out through the transmission mechanism, thereby pushing the camera 2, which is equipped with the front end of the telescopic arm 12, forward so that the camera 2 can extend into the interior of the seabed valve chamber to acquire images. In some optional embodiments, when the telescopic arm 12 is in the retracted state, the outward extension length of the telescopic arm 12 of the support arm mechanism 1 is 50cm. When the drive motor 11 is started and the telescopic arm 12 is pushed out, the end of the telescopic arm 12 extends forward, so that the outward extension length of the support arm mechanism 1 can be extended to a state greater than 100cm. At the same time, the maximum outer diameter of the telescopic arm 12 is less than 3cm, which can meet the requirement of passing through the 3cm mesh of the protective net and extending the telescopic arm 12 into the interior space of the ship's seabed valve chamber by a distance of 1m. Then, the camera 2 can acquire spatial image information of the interior of the seabed valve chamber and transmit the acquired images back to the control center for identification and judgment.

[0051] In some optional embodiments, camera 2 has a 120° field of view, thereby acquiring a wider range of image information without needing to rotate camera 2. Furthermore, in the embodiments provided in this application, camera 2 can acquire images with a resolution of 360P or higher, thus obtaining clear images sufficient for operators to visually assess the interior of the ship's seabed valve compartment. By employing camera 2 with the aforementioned parameters, the need for additional devices such as rotating structures can be effectively reduced, allowing the overall maximum outer diameter of the telescopic arm 12 to be minimized, thereby meeting the requirements of smaller spaces such as those through the mesh of the protective netting.

[0052] In some embodiments, the telescopic arm 12 includes a sliding block 121 and a telescopic arm body 122, wherein the sliding block 121 is connected to the output end of the transmission mechanism. In some optional embodiments, the transmission mechanism adopts a pulley drive module, and the sliding block 121 is connected and fixed to a belt on one side. When the drive motor 11 starts and the driving pulley of the drive pulley drive module rotates, it drives the belt to rotate around the driving pulley and the driven pulley, thereby driving the sliding block 121 to move synchronously with the belt, thereby driving the telescopic arm 12 to extend or retract.

[0053] Since underwater robots typically operate in port waters, seaweed, loose sand, and other debris can easily enter and adhere to the transmission mechanism during operation. Compared to screw drive modules, belt drive modules are less susceptible to transmission issues caused by foreign matter. Therefore, in the embodiments provided in this application, using a belt drive module as the transmission mechanism effectively improves the stability of the telescopic arm 12 during operation.

[0054] In some embodiments, the telescopic arm body 122 is hollow inside, with a transparent window 123 at its front end. The camera 2 is disposed at the front end of the hollow telescopic arm body 122, with its viewing direction facing the transparent window 123. Because the telescopic arm body 122 has a hollow structure, it allows the camera 2 to be housed inside the telescopic arm body 122, and the transparent window 123 at the end of the telescopic arm body 122 facilitates the camera 2 in acquiring external image information. Simultaneously, the transparent window 123 provides protection for the camera 2, preventing damage from collisions with other objects during the underwater robot's movement or the extension and retraction of the telescopic arm 12.

[0055] In some embodiments, a sealing structure is provided at the opening of the telescopic arm body 122 away from the camera 2. In some optional embodiments, potting seal is used as the sealing structure to seal the opening of the telescopic arm 12, preventing liquid from entering the telescopic arm body 122 and causing damage to the camera 2. Simultaneously, a sealing ring and a gasket are provided at the connection between the transparent window 123 and the telescopic arm body 122 to improve waterproofing and prevent damage to the camera 2 from moisture, or from water droplets condensing on the transparent window 123 or the lens of the camera 2 due to water mist entering the telescopic arm body 122, thereby affecting the image acquisition performance of the camera 2.

[0056] In some embodiments, a control box 3 is also included. The control box 3 is disposed on the main structure, and a control motherboard is disposed inside the control box 3. The control motherboard is electrically connected to the support arm mechanism 1, the camera 2, and the underwater robot via connecting lines. In the embodiments provided in this application, the control motherboard and the drive motor 11 transmit PWM signals to control the speed of the motor by changing the duty cycle of the PWM signal, thereby meeting the needs of speed regulation control. The control motherboard and the fill light are electrically connected via GPIO ports, and the light source of the fill light can be switched on and off by controlling the high or low level output of the control pin. The control motherboard and the camera 2 are electrically connected via a USB interface to provide sufficient bandwidth for high-speed data transmission, ensuring that the image returned by the camera 2 is clearer. It can also correct electromagnetic interference received during transmission, avoiding mosaic or stuttering phenomena in the picture, and ensuring the image quality returned by the camera 2.

[0057] In some embodiments, a waterproof cover 4 is also included, which is disposed on the main structure of the underwater robot and covers the outside of the support arm mechanism 1. By providing water-proof protection for the support arm mechanism 1 through the waterproof cover 4, the normal operation of the support arm mechanism 1 can be prevented from being short-circuited or damaged due to prolonged immersion in the aquatic environment. In some optional embodiments, the waterproof cover 4 only provides waterproof sealing protection for the outside of the drive motor 11, while the cover outside the transmission mechanism is provided with through holes that allow water or air to flow. This avoids the situation where the extension of the telescopic arm 12 would increase the internal space due to complete sealing, thus preventing negative pressure from affecting the continued extension of the telescopic arm 12, effectively ensuring the normal movement of the telescopic arm 12. At the same time, the flowing water comes into contact with the protective cover of the drive motor 11, which can dissipate the heat generated during operation, thereby achieving a cooling effect.

[0058] In some embodiments, this application provides an underwater robot including an underwater camera robotic arm as described above, and further including: a main structure, wherein the support arm mechanism 1 is disposed on the main structure, and the support arm mechanism 1 and the camera 2 are electrically connected to the control system inside the main structure.

[0059] When it is necessary to inspect the subsea valve compartments of ships moored in port, an underwater robot is deployed into the port waters. The robot is then moved to the outside of the subsea valve compartment, and the support arm mechanism 1 is activated to extend camera 2. Camera 2 passes through the protective netting of the subsea valve compartment and enters its interior, acquiring images of the compartment's interior. The images are transmitted to the underwater robot, which then feeds them back to a control platform with which it is remotely connected. This allows operators to review and assess the transmitted images to determine if any items are hidden within the subsea valve compartment.

[0060] In some optional embodiments, the control system includes a remote control module. This module connects to a remote controller, allowing the remote controller to control the underwater robot's route and operational status, thus driving the robot to its designated location on the ship's seabed valve compartment for exploration. In some optional embodiments, the control system includes a wireless transmission module, which communicates with the control center. This module transmits images from camera 2 to the control center for operator review and analysis. In some optional embodiments, the control system includes a connection port. A connecting cable is inserted into this port to electrically connect the underwater robot to the remote controller or control center, enabling remote control and data transmission / reception. Compared to wireless transmission, wired transmission ensures data transmission stability and prevents disconnections.

[0061] In some embodiments, the support arm mechanism 1 is connected to the bottom or top of the main structure. Depending on usage requirements or operating habits, the support arm mechanism 1 can be positioned at the bottom or top of the underwater robot's main structure to improve the underwater robot's adaptability. In the embodiments provided in this application, positioning the support arm mechanism 1 at the bottom of the underwater robot's main structure makes the overall structure's center of gravity more stable, ensuring that the underwater robot maintains a relatively stable hovering state in different states of extension and retraction of the telescopic arm 12. This allows for the acquisition of more stable and clear images by the camera 2 for operator identification and judgment.

[0062] In some embodiments, a power system is provided on the main structure, and the power system is electrically connected to the control system inside the main structure. The power system is located at the front end and / or rear end of the main structure. In the embodiments provided in this application, four sets of thrusters serving as the power system are respectively provided at the front end and rear end of the main structure. The thrust generated when the thrusters are activated drives the underwater robot to perform different motion states such as forward, backward, turning, and hovering in the water. By setting multiple sets of power systems, thrust can be applied to the underwater robot in different directions, thereby ensuring the stability of the underwater robot's movement and hovering, avoiding displacement of the underwater robot's hovering position due to water flow, and thus ensuring the image quality of the image acquired by the camera 2 of the interior space of the seabed valve chamber. At the same time, it can also avoid the underwater robot's position displacement due to water flow, which could lead to collisions between the telescopic arm 12 or the camera 2 and the protective netting of the seabed valve chamber.

[0063] A tail fin is located at the top rear end of the main structure. This fixed tail fin cuts through the water flow during the underwater robot's movement, generating forward thrust to propel it forward. Simultaneously, the tail fin's action on the water flow generates thrust from both sides towards the center, allowing the underwater robot to maintain a straight line of motion and reducing lateral swaying caused by water flow interference or fluctuations in its own power, thus ensuring stable movement.

[0064] When an underwater robot hovers, the tail fin's ability to block and guide the water flow can affect the lift at the tail of the underwater robot, thereby helping to adjust the stability of the underwater robot during the hovering process.

[0065] In some embodiments, an auxiliary module is provided on the main structure. The auxiliary module includes a lighting source and a robot camera module, which are electrically connected to the control system inside the main structure. During the underwater robot's movement, the image or video data transmitted back by the robot camera module can be used to understand the aquatic environment in which the underwater robot is located. This facilitates remote control of the underwater robot's movement route by the operator, allowing the underwater robot to be sent to the location of the seabed valve chamber. This fulfills the work requirement of sending the camera 2 into the seabed valve chamber via the support arm mechanism 1 for image acquisition and contraband detection.

[0066] Meanwhile, the entry and departure of ships stir up seabed sand, and tidal waves also agitate the sand, resulting in generally turbid waters and low visibility in port areas. In the embodiments provided in this application, illumination is provided to light the area along the underwater robot's path, thereby improving visibility. This allows operators to observe the robot's environment through images transmitted from the robot's camera module, enabling them to plan the robot's route.

[0067] In the embodiments provided in this application, the camera 2 is sent into the seabed valve chamber by the support arm mechanism 1, and the interior of the seabed valve chamber is illuminated by the supplementary light set next to the camera 2, so that the camera 2 can obtain a clear image of the interior space of the seabed valve chamber. This allows the operator to identify and judge whether there are prohibited items hidden in the seabed valve chamber of the ship by the returned images, thus meeting the needs of the patrol work.

[0068] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0069] In the description of this application, 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", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application 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 application.

[0070] 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 application, "multiple" means two or more, unless otherwise explicitly specified.

[0071] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0072] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0073] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0074] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.

[0075] The above description describes specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An underwater camera robotic arm, characterized in that, include: Support arm mechanism and camera; The support arm mechanism is mounted on the main structure of the underwater robot; The camera is located at the front end of the support arm mechanism, and a supplementary light is provided on the side of the camera. The camera and the underwater robot are electrically connected via a connecting cable.

2. The underwater camera robotic arm according to claim 1, characterized in that, The minimum outer diameter of the connection between the support arm mechanism and the camera is less than 3cm.

3. The underwater camera robotic arm according to claim 1, characterized in that, The support arm mechanism adopts a telescopic mechanism, and the support arm mechanism includes: a drive motor and a telescopic arm; The drive motor and the telescopic arm are connected and transmitted through a transmission mechanism; The camera is mounted at the front end of the telescopic arm; The drive motor is electrically connected to the underwater robot via a connecting cable.

4. The underwater camera robotic arm according to claim 3, characterized in that, The telescopic arm includes: a sliding block and a telescopic arm body; The sliding block is connected to the output end of the transmission mechanism; The telescopic arm body is hollow inside, with a transparent window at the front end. The camera is located at the front end of the hollow telescopic arm body, and the camera's field of view is facing the transparent window.

5. The underwater camera robotic arm according to claim 4, characterized in that, The opening at the end of the telescopic arm body furthest from the camera is equipped with a sealing structure.

6. The underwater camera robotic arm according to claim 1, characterized in that, It also includes a control box, which is mounted on the main structure. The control box contains a control motherboard, which is electrically connected to the support arm mechanism, the camera, and the underwater robot via connecting wires.

7. The underwater camera robotic arm according to any one of claims 1 to 6, characterized in that, It also includes a waterproof cover, which is installed on the main structure of the underwater robot and covers the outside of the support arm mechanism.

8. An underwater robot, characterized in that, The underwater camera robotic arm, as described in any one of claims 1 to 7, further includes: a main structure, wherein the support arm mechanism is disposed on the main structure, and the support arm mechanism is electrically connected to the camera and the control system inside the main structure.

9. The underwater robot according to claim 8, characterized in that, The support arm mechanism is connected to the bottom or top of the main structure.

10. The underwater robot according to claim 8, characterized in that, A power system is provided on the main structure, and the power system is electrically connected to the control system inside the main structure. The power system is located at the front end and / or rear end of the main structure. A tail fin is provided at the top rear end of the main structure.

11. The underwater robot according to any one of claims 8 to 10, characterized in that, The main structure is provided with an auxiliary module, which includes a lighting source and a robot camera module. The lighting source and the robot camera module are electrically connected to the control system inside the main structure.

Images