A visual observation system

Abstract

The utility model relates to underwater robot technical field discloses a visual observation system for underwater robot, include: fixed seat, its one end with underwater robot's installation interface is detachably connected, holder body, including drive cabin and observation cabin, drive cabin rotation setting is located in the other end of fixed seat, drive cabin rotates around first axis relative to fixed seat, and drive cabin and observation cabin are rotatably connected through the swivel support to make observation cabin rotate around second axis relative to drive cabin, and first axis and second axis are perpendicular to each other, and observation cabin is provided with observation camera, first rotation drive component is used for driving drive cabin to rotate relative to fixed seat, second rotation drive component is used for driving observation cabin to rotate relative to drive cabin, the utility model expands the observation field of view range of underwater robot under water.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, and in particular to a visual observation system. Background Technology

[0002] In the inspection and routine maintenance of underwater operations such as marine engineering and underwater pipelines, underwater robots equipped with observation equipment are essential. The visual observation system, acting as the "eyes" of the underwater robot, directly determines the success or failure of the observation mission.

[0003] Currently, the observation gimbals mounted on conventional underwater robots are mostly fixed or only have single-degree-of-freedom rotation capabilities. Fixed gimbals offer a rigid field of view, making it difficult to handle the observation needs of complex structures; while single-degree-of-freedom gimbals can be adjusted in one direction, their observation angle still has significant blind spots. When inspecting the sides of pipes, the bottom of pile foundations, or gaps in complex components, it is often necessary to frequently adjust the position and attitude of the underwater robot itself. This is not only cumbersome and inefficient, increasing energy consumption, but also poses a collision risk in narrow or dangerous waters due to the large movements of the robot.

[0004] Therefore, how to expand the field of view of underwater robots is an urgent problem to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the present invention provides a visual observation system to expand the field of view of underwater robots underwater.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A visual observation system for an underwater robot, comprising: The mounting base has one end that can be detachably connected to the mounting interface of the underwater robot; The gimbal body includes a drive cabin and an observation cabin. The drive cabin is rotatably mounted on the other end of the fixed base. The drive cabin rotates relative to the fixed base around a first axis. The drive cabin and the observation cabin are rotatably connected by a rotating bracket so that the observation cabin rotates relative to the drive cabin around a second axis. The first axis and the second axis are perpendicular to each other. The observation cabin is equipped with an observation camera. A first rotation drive assembly is used to drive the drive cabin to rotate relative to the fixed base. The second rotary drive assembly is used to drive the observation module to rotate relative to the drive module; The control unit is signal-connected to the first rotary drive assembly and the second rotary drive assembly, and is also signal-connected to the remote operation terminal.

[0007] Optionally, the above-mentioned visual observation system also includes a light sensor and at least one pair of supplementary lights. The supplementary lights are symmetrically arranged on both sides of the observation camera. The light sensor is used to detect the light intensity of the environment in which the visual observation system is located. Both the light sensor and the supplementary lights are signal connected to the control unit.

[0008] Optionally, the above-mentioned visual observation system also includes a sonar module and a turbidity sensor. The turbidity sensor is used to detect the turbidity of the environment in which the visual observation system is located. The sonar module is installed in the observation cabin, and both the sonar module and the turbidity sensor are signal-connected to the control unit.

[0009] Optionally, in the aforementioned visual observation system, the sonar module is mounted on the outside of the observation cabin via a universal joint bracket.

[0010] Optionally, in the above visual observation system, the observation camera is a binocular camera.

[0011] Optionally, in the above-described visual observation system, both the first rotary drive assembly and the second rotary drive assembly include a motor and a reducer connected to the output shaft of the motor.

[0012] Optionally, in the above-mentioned visual observation system, both the first rotary drive assembly and the second rotary drive assembly further include a brake, which locks the output shaft of the motor and the reducer shaft of the reducer in the power-off state.

[0013] Optionally, the above-mentioned visual observation system also includes a sealing component, which includes an air extraction nozzle disposed on the gimbal body and an air extraction nozzle sealing cover for sealing the air extraction nozzle.

[0014] Optionally, in the aforementioned visual observation system, the shells of the drive cabin and the observation cabin are made of titanium alloy or high-strength aluminum alloy.

[0015] Optionally, in the above-mentioned visual observation system, both the drive cabin and the observation cabin are waterproof and sealed cavities, and the observation cabin has a transparent observation window, with the lens of the observation camera facing the transparent observation window.

[0016] This invention provides a visual observation system, which has the following advantages compared with the prior art: The visual observation system provided by this invention is used for underwater robots. The drive cabin rotates relative to the fixed base around a first axis, and the observation cabin rotates relative to the drive cabin around a second axis, with the two axes perpendicular to each other, forming a complete two-degree-of-freedom motion system. This allows the observation camera located in the observation cabin to obtain composite observation angles in three-dimensional space. Furthermore, this invention integrates a control unit, which is connected to the first rotation drive component, the second rotation drive component, and a remote operation terminal, enabling rapid response to remote commands from the operator and achieving flexible real-time control of the observation cabin.

[0017] When an underwater robot encounters a complex structure, the operator can input rotation commands remotely. The control unit adjusts the two rotation directions separately, allowing the observation camera to quickly align with the target area. This system can easily adjust the camera to the optimal observation angle, enabling multi-angle, close-range, and detailed observation of the target, thus improving observation efficiency. The flexible rotation of the observation cabin allows for quick alignment with the target area under complex structures without significantly moving the underwater robot itself. This expands the underwater robot's field of view and reduces the limitations imposed by the robot's large and complex underwater structure, thereby contributing to improved observation efficiency.

[0018] Furthermore, the fixed base and underwater robot are detachably connected via an installation interface, a design that allows the visual observation system to be quickly installed or removed as a standalone module. Both the first and second rotary drive components are integrated into the drive cabin of the gimbal body and connected to the observation cabin via a rotating bracket. This physical isolation between the drive cabin and the observation cabin not only simplifies the overall structure and reduces the risk of malfunctions in complex underwater environments, but also minimizes vibration and interference from the drive components within the drive cabin to the observation camera, thus improving the stability of the observed images and the system's reliability. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the visual observation system disclosed in the embodiment of this utility model; in: 1 is the fixed base; 2 is the drive compartment; 3 is the observation compartment; 4 is the rotating support; 5 is the air nozzle sealing cover; 6 is the sonar module; 7 is the supplementary light. Detailed Implementation

[0021] The present invention will be described below through specific embodiments. Those skilled in the art will understand that the specific embodiments below are merely illustrative and do not limit the scope of the present invention in any way. Furthermore, in the following embodiments, unless otherwise specified, the reagents and equipment used are commercially available. If specific processing conditions and methods are not explicitly described in the later embodiments, conditions and methods known in the art can be used for processing.

[0022] The technical solutions of this utility model will be clearly and completely described below with reference to specific embodiments. The embodiments of this application are only examples, and all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0023] In the description of this utility model, it should be understood that the terms "upper," "lower," "top surface," "bottom surface," 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 utility model and simplifying the description, and do not indicate or imply that the indicated position or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] like Figure 1 As shown, this utility model discloses a visual observation system for an underwater robot, comprising: a fixed base 1, one end of which is detachably connected to the mounting interface of the underwater robot; a gimbal body, including a drive cabin 2 and an observation cabin 3, the drive cabin 2 being rotatably disposed at the other end of the fixed base 1, the drive cabin 2 rotating relative to the fixed base 1 about a first axis, the drive cabin 2 and the observation cabin 3 being rotatably connected by a rotating bracket 4 so that the observation cabin 3 rotates relative to the drive cabin 2 about a second axis, the first axis and the second axis being perpendicular to each other, and the observation cabin 3 being provided with an observation camera; a first rotation drive assembly for driving the drive cabin 2 to rotate relative to the fixed base 1; a second rotation drive assembly for driving the observation cabin 3 to rotate relative to the drive cabin 2; and a control unit, which is signal-connected to the first rotation drive assembly and the second rotation drive assembly, and signal-connected to a remote operation terminal.

[0025] The visual observation system provided by this invention is used for underwater robots. The drive cabin 2 rotates relative to the fixed base 1 around a first axis, and the observation cabin 3 rotates relative to the drive cabin 2 around a second axis, with the two axes perpendicular to each other, forming a complete two-degree-of-freedom motion system. This allows the observation camera located in the observation cabin 3 to obtain composite observation angles in three-dimensional space. Furthermore, this invention integrates a control unit, which is connected to the first rotation drive component, the second rotation drive component, and a remote operation terminal, enabling rapid response to remote commands from the operator and flexible real-time control of the observation cabin 3.

[0026] When the underwater robot faces a complex structure, the operator can input rotation commands remotely. The control unit adjusts the two rotation directions separately, allowing the observation camera to quickly align with the area to be observed. This system can easily adjust the observation camera to the optimal observation angle, enabling multi-angle, close-range, and detailed observation of the target, thus improving observation efficiency. The flexible rotation of the observation cabin 3 allows for quick alignment with the area to be observed under complex structures without significantly moving the underwater robot itself. This expands the underwater robot's field of view and reduces the limitations imposed by the robot's large and complex underwater structure, thereby contributing to improved observation efficiency.

[0027] Furthermore, the fixed base 1 and the underwater robot are detachably connected via an installation interface, a design that allows the visual observation system to be quickly installed or disassembled as an independent module. Both the first and second rotary drive components are integrated into the drive compartment 2 of the gimbal body and connected to the observation compartment 3 via a rotating bracket 4. The drive compartment 2 and the observation compartment 3 are physically isolated, which not only simplifies the overall structure and reduces the risk of malfunction in complex underwater environments, but also reduces the vibration and interference of the drive components within the drive compartment 2 on the observation camera, improving the stability of the observed images and the reliability of the system.

[0028] To improve the imaging effect of the observation camera on the observed area under different lighting conditions, at least one pair of supplementary lights 7 are symmetrically arranged on both sides of the observation camera. The presence of supplementary lights 7 can provide uniform front illumination for the observation camera, effectively reducing shadows caused by unilateral illumination and helping the observed target to be clearly and uniformly illuminated. At the same time, to facilitate the adjustment of the light intensity of supplementary lights 7, a light sensor is set to detect the light intensity of the environment in which the visual observation system is located, and both the light sensor and supplementary lights 7 are signal connected to the control unit. The light sensor collects real-time quantitative data of the ambient light intensity and feeds this data back to the control unit. When the control unit detects that the current light value is lower than the preset light intensity threshold, the control unit will issue an on command to the supplementary lights 7; conversely, when the environment brightens and the light value is higher than the preset light intensity threshold, an off command will be issued to reduce the overall power consumption of the system.

[0029] To adapt to observations under different water quality conditions, the system also includes a sonar module 6 and a turbidity sensor. The sonar module 6 is located in the observation chamber 3. Both the sonar module 6 and the turbidity sensor are connected to the control unit. The turbidity sensor detects the turbidity of the environment in which the visual observation system is located, i.e., the concentration of suspended particulate matter in the external water. The control unit compares the turbidity value detected by the turbidity sensor with a preset threshold. When the turbidity value is less than the preset threshold, i.e., the water is clear, the system prioritizes using the observation camera to obtain visual information, including high-resolution visual images and texture details. When the turbidity exceeds the preset threshold, i.e., the water is turbid, the field of view of the observation camera is limited. The control unit activates the sonar module 6, which constructs an acoustic image of the underwater scene by emitting sound waves and receiving echoes. This is unaffected by the light transmittance of the water, thus enabling effective observation even when optical observation is limited. Furthermore, the control unit controls the shutdown of the supplementary lighting 7, as strong light in a turbid environment causes severe light scattering, reducing the observation quality of the sonar module 6.

[0030] Furthermore, the sonar module 6 is mounted externally to the observation cabin 3 via a gimbal bracket. The gimbal bracket is a mechanical component with a multi-axis hinge structure, enabling multi-angle adjustment and locking of the equipment mounted on it. Depending on the observation requirements of different tasks, the sonar module 6 can be adjusted to the appropriate observation angle for the current task. For example, when terrain scanning is required, adjusting the gimbal bracket tilts the sonar module 6 downwards at a specific angle, allowing the sonar beam to effectively cover the seabed area directly in front of the underwater robot. Alternatively, when inspecting bridge piers or supports, the sonar module 6 can be tilted upwards at a certain angle, allowing the sonar beam to be directly aimed at the lower part of the pier or support for observation.

[0031] In one specific embodiment of this invention, a binocular camera is used as the observation camera. Besides underwater observation, the binocular camera can also perform distance and dimension measurements. In addition to binocular cameras, observation cameras also include multi-view cameras and acoustically driven cameras, etc.

[0032] In the visual observation system provided by this invention, both the first and second rotary drive components include a motor and a reducer connected to the motor's output shaft. While the motor provides high speed, its output torque is relatively low. If the motor directly drives the observation chamber 3 or the drive chamber 2, especially underwater where there is fluid resistance and starting inertia, insufficient torque, unstable movement, or even loss of synchronization are highly likely to occur. The core function of the reducer is to amplify the output torque by sacrificing speed. The motor's output shaft is connected to the reducer's input shaft, and after transmission through multiple gear pairs within the reducer, the reducer's output shaft achieves a much higher output torque and a lower speed than the motor itself. This allows the drive chamber 2 and the observation chamber 3 to move smoothly and powerfully, and to stop precisely at the commanded position.

[0033] To achieve power-off self-locking, both the first and second rotary drive assemblies include a brake, which is a power-off activated safety mechanism that can lock the output shaft of the motor or the reducer shaft of the reducer in the event of a power outage. This design allows the drive compartment 2 and the observation compartment 3 to stop quickly and maintain their current position in the event of a power loss, thereby reducing the risk of collision damage between the observation compartment 3 and its onboard observation cameras, light sensors, sonar module 6, and turbidity sensors and surrounding structures due to water flow impact or inertia.

[0034] In addition to the above solutions, the first rotary drive assembly and the second rotary drive assembly can also be configured as a hydraulic drive mechanism including a hydraulic pump station, a control valve group and a hydraulic swing motor. The hydraulic drive mechanism has the characteristics of large output torque, smooth movement and strong overload resistance; or, the first rotary drive assembly and the second rotary drive assembly can directly adopt a worm gear mechanism with self-locking function, including a servo motor, a worm and a worm wheel.

[0035] The visual observation system provided by this utility model also includes a sealing component, which includes an air extraction nozzle disposed on the gimbal body and an air extraction nozzle sealing cover 5 for sealing the air extraction nozzle. The air extraction nozzle and the air extraction nozzle sealing cover 5 are used to vacuum seal the interior of the drive cabin 2 and the observation cabin 3. This is an active anti-condensation physical structure to reduce the risk of damage to the circuit due to the condensation of water droplets in the internal air caused by the cooling of the equipment inside the cabin, thereby improving the deep-water adaptability of this system.

[0036] Before the visual observation system is launched into the water, the air inside the drive chamber 2 and observation chamber 3 is extracted as much as possible through the evacuation nozzles, bringing the interior to near-vacuum or low-pressure conditions. Due to the significantly reduced water vapor partial pressure, even if the outer shell cools due to water immersion, the internal temperature is unlikely to reach the dew point, thus reducing the possibility of water vapor condensing into water droplets inside the drive chamber 2 and observation chamber 3. After evacuation, the nozzle sealing cap 5 is immediately tightened to isolate the chamber from the outside environment and maintain a low-pressure, dry internal state. After the entire system completes its observation mission, residual humid air may remain inside the drive chamber 2 and observation chamber 3. Evacuation through the evacuation nozzles allows for rapid drying of the interior, ensuring the equipment is in optimal condition for the next mission.

[0037] To ensure reliable deep-water operation capability of the system, the hulls of the drive compartment 2 and the observation compartment 3 are designed with pressure resistance, such as using titanium alloy or high-strength aluminum alloy with high specific strength and excellent seawater corrosion resistance, and are precision machined into one piece to make the stress distribution on the entire hull more uniform and reduce the occurrence of local weak points.

[0038] In one embodiment, the entire gimbal is divided into two independent waterproof and sealed cavities. The drive chamber 2 specifically houses the motor, reducer, brake, and other power and electrical components, providing them with a dry and stable working environment, and isolating them from water and corrosive media. The observation chamber 3 specifically houses the observation camera, which is isolated from external water through a high-strength transparent observation window. The camera lens faces this window directly, ensuring a clear view. A reliable seal is achieved between the transparent observation window and the chamber body of the observation chamber 3 using precision-machined sealing grooves and sealing rings.

[0039] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A visual observation system for an underwater robot, characterized in that, include: The mounting base (1) has one end detachably connected to the mounting interface of the underwater robot; The gimbal body includes a drive cabin (2) and an observation cabin (3). The drive cabin (2) is rotatably mounted on the other end of the fixed base (1). The drive cabin (2) rotates relative to the fixed base (1) around a first axis. The drive cabin (2) and the observation cabin (3) are rotatably connected by a rotating bracket (4) so ​​that the observation cabin (3) rotates relative to the drive cabin (2) around a second axis. The first axis and the second axis are perpendicular to each other. The observation cabin (3) is equipped with an observation camera. A first rotation drive assembly is used to drive the drive cabin (2) to rotate relative to the fixed base (1). The second rotation drive assembly is used to drive the observation cabin (3) to rotate relative to the drive cabin (2); The control unit is signal-connected to the first rotary drive assembly and the second rotary drive assembly, and is also signal-connected to the remote operation terminal.

2. The visual observation system according to claim 1, characterized in that, It also includes a light sensor and at least one pair of supplementary lights (7), which are symmetrically arranged on both sides of the observation camera. The light sensor is used to detect the light intensity of the environment in which the visual observation system is located. The light sensor and the supplementary lights (7) are both signal connected to the control unit.

3. The visual observation system according to claim 1, characterized in that, It also includes a sonar module (6) and a turbidity sensor. The turbidity sensor is used to detect the turbidity of the environment in which the visual observation system is located. The sonar module (6) is located in the observation cabin (3). The sonar module (6) and the turbidity sensor are both connected to the control unit.

4. The visual observation system according to claim 3, characterized in that, The sonar module (6) is mounted on the outside of the observation cabin (3) via a universal joint bracket.

5. The visual observation system according to claim 1, characterized in that, The observation camera is a binocular camera.

6. The visual observation system according to claim 1, characterized in that, Both the first rotary drive assembly and the second rotary drive assembly include a motor and a speed reducer connected to the output shaft of the motor.

7. The visual observation system according to claim 6, characterized in that, Both the first rotary drive assembly and the second rotary drive assembly further include a brake, which locks the output shaft of the motor and the reducer shaft of the reducer in the power-off state.

8. The visual observation system according to claim 1, characterized in that, It also includes a sealing assembly, which includes an air extraction nozzle disposed on the gimbal body and an air extraction nozzle sealing cap (5) for sealing the air extraction nozzle.

9. The visual observation system according to claim 1, characterized in that, The shells of the drive cabin (2) and the observation cabin (3) are made of titanium alloy or high-strength aluminum alloy.

10. The visual observation system according to claim 1, characterized in that, The drive cabin (2) and the observation cabin (3) are both waterproof and sealed cavities. The observation cabin (3) has a transparent observation window, and the lens of the observation camera is facing the transparent observation window.

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