CN100431336C - Underwater photographic system - Google Patents
Underwater photographic system Download PDFInfo
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- CN100431336C CN100431336C CNB2004100094908A CN200410009490A CN100431336C CN 100431336 C CN100431336 C CN 100431336C CN B2004100094908 A CNB2004100094908 A CN B2004100094908A CN 200410009490 A CN200410009490 A CN 200410009490A CN 100431336 C CN100431336 C CN 100431336C
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Abstract
The present invention relates to an underwater photographic system. The present invention is composed of a photographing main body and a main controller which are connected through cables. The present invention is characterized in that the photographing main body is composed of a camera, a horizontal rotating shaft, a horizontal motor, gear reduction sets, a vertical rotating shaft, a vertical motor, dynamic seal and static seal, wherein the horizontal rotating shaft drives the horizontal shaft systematic rotation through the horizontal motor via the gear reduction set amplifying torque; the vertical rotating shaft drives the vertical shaft systematic rotation through the vertical motor via the gear reduction amplifying the torque. The main controller is composed of a video distribution module, a camera control regulation circuit, a control switching circuit, a lighting source, a regulation circuit and a tripod head motor. The present invention provides observation on multi-direction and large visual field objects and combines optics, machinery and automatic control into a whole, having the advantages of high image resolution and simple operation control.
Description
Affiliated technical field
The present invention relates to a kind of being mainly used in and carry out distant surveillance, with the camera system that realizes nuclear power station underwater operation process is controlled having more highly active zone under water.
Background technology
At nuclear power station, there are a lot of zones to have stronger radiativity, there are some maintenance and operating process to need to carry out across thicker water overcoat distant surveillance.The extensive utilization of underwater camera system can ensure that maintenance and operating personnel carry out trouble free service.The key technology of underwater camera system is the dynamic seal (packing) of level, vertical two rotation axis systems.Similar products are also arranged at present both at home and abroad, but much be that rotary platform partly is sealed in the container of the place ahead band clear glass, control cable and this container with its output carries out static sealing to realize reaching the purpose that dynamic observes by static seal again, and its shortcoming is that the area of clear glass can not cause its range of observation influenced too greatly.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, the observation of a kind of multi-faceted, big visual field target is provided, picture resolution height, operation control are simple, and light harvesting is learned, machinery, be controlled in the underwater camera system of one automatically.
Technical solution of the present invention is: the underwater camera system, form by shooting main body and master controller, both connect by cable, its characteristics are: the shooting main body is by video camera, horizontal rotating shaft and horizontal motor and gear reduction group, vertical rotation axis and motor vertical and gear reduction group, movable sealing and static seal are formed, the driving of horizontal rotating shaft is moment to be amplified the rotation that drives horizontal shafting by horizontal motor through the gear reduction group, the driving of vertical rotation axis is moment to be increased the rotation that drives vertical shaft series by motor vertical through gear reduction, whole system realizes inner camera system by static seal and movable sealing, the sealing in machine driven system and outside waters is to guarantee system's operate as normal, movable sealing has 3 places, horizontal rotating shaft 1 place, vertical rotation axis 1 place is installed in respectively between direction of rotation motion rotating shaft separately and the support body; Static seal has 8 places, is installed in respectively between peripheral seal cover and the shooting main body, by inlaying O-ring seals in the U-shaped section slot on main body, evenly compresses with the sealing inside and outside the realization pressing plate with screw with pressing plate again; Master controller is made up of video distribution module, video camera regulating and controlling circuit, control commutation circuit, lighting source regulating circuit, horizontal stage electric machine control circuit, power module, and power module provides power supply for whole system; The control handover module is realized the switching of control between manual control box and the master controller, it imports autonomous controller panel and manual control box, its three outputs as the input of video camera regulating and controlling circuit, lighting source regulating circuit and horizontal stage electric machine control circuit, also provide the vision signal input for manual control box respectively simultaneously; The horizontal stage electric machine control circuit receives from the next control signal of control commutation circuit, the rotation of two direct current machines of signal controlling in view of the above, and it exports direct drive motors; Video camera regulating and controlling circuit is realized the control of the zoom, focusing to video camera etc., and it is imported from the control commutation circuit, outputs a control signal to video camera; The vision signal that is input as video camera output of video distribution module, it is output as four tunnel same vision signals; The lighting source regulating circuit receives conditioning signal from the control commutation circuit, the output voltage values of its output control mains lighting supply, thereby the brightness of adjusting lamp.
Operation principle of the present invention is as follows: level and the monitoring of vertical two azimuth-drive motors by comprehensive, the big visual field target of the transmission campaign realization video camera of reduction box.Realize the main controller of video camera and the random switching controls of manual control box (change that comprises video camera doubly, lighting brightness regulates, the motion control in The Cloud Terrace two orientation, the multichannel output of vision signal) by control commutation circuit, video camera regulating and controlling circuit, horizontal stage electric machine control circuit, video distribution modular circuit.
The advantage that the present invention compared with prior art has is:
1, can reach 40 meters operate as normal under water in the depth of water.
2, the radiation hardness dose rate 10
4Rad/h.
3, about 480 lines of CCD TV resolution (pal mode, high-resolution) or 420 lines (pal mode, normal resolution).Maximum sensitivity 0.001lux.
4, the optical zoom (3.24mm-86mm) that has 26.5 times, 10 multiple words become doubly; Automatic or manual focusing apace; Can regulate aperture etc. automatically.
5, The Cloud Terrace slewing area.Pitching :+115 °～-98 °; Orientation :+160 °～-160.
6, comprehensive observation or inspection are carried out in any position that can be used for the pond neatly; Also can be fixed in advance on the next ad-hoc location of water, certain special operation be observed and supervised, and can carry out the digital video record, can satisfy that important underwater operation is exercised supervision viewed process and result; Underwater installation is checked; Search foreign matter that accident falls into the pond etc.; Viewed process and result are carried out the digital video record;
In a word, the present invention is that light harvesting is learned, machinery, be controlled in the underwater television facilities for observation of one automatically, has stronger radiation hardness ability, 40 meters depth of water waterproof, camera lenses and becomes characteristics such as doubly wide, that picture resolution is high, operation control is simple, directly perceived.
Description of drawings
Fig. 1 is the shooting agent structure cutaway view among the present invention;
Fig. 2 is the main controller theory diagram among the present invention;
Fig. 3 is the theory diagram or the schematic diagram of control commutation circuit of the present invention;
Fig. 4 is a video camera regulating and controlling schematic block circuit diagram of the present invention;
Fig. 5 is a horizontal stage electric machine control circuit theory diagram of the present invention;
Fig. 6 is the electric theory diagram of video distribution module of the present invention.
Embodiment
As shown in Figure 1, the present invention is made up of shooting main body and main controller, the shooting main body links to each other with main controller by a cable, each function key of main controller can be controlled by external manual control box again simultaneously, the main body of wherein making a video recording by the shooting main body by video camera 2, horizontal rotating shaft 10 and horizontal motor 5 and horizontal gear deceleration group 1, vertical rotation axis 6 and motor vertical 9 and vertical gear reduction group 9, movable sealing 7 and 4 and static seal 11 (4 places are arranged among Fig. 1) form, the motion of video camera 2 is that the rotation by horizontal rotating shaft 10 and vertical rotation axis 6 realizes multi-faceted, the observation of big visual field target, wherein the driving of horizontal rotating shaft is through horizontal gear deceleration group 1 moment to be amplified the rotation that 8 times (reaching 8N.m) drive horizontal shafting by horizontal motor 5, and the driving of vertical rotation axis 6 is moment to be increased the rotation that drives vertical shaft series by motor vertical 9 through vertical gear reduction 8.
Static seal mainly contains 11 among Fig. 1 (4 place), and movable sealing has 4 among Fig. 1 (each place of left-right symmetric) and 7, and wherein 4 are the horizontal rotating shaft sealing, and 7 are the vertical rotation axis sealing.Static seal is to be realized by the O type cross section sealing circle that nitrile rubber is made, sealing ring is embedded in the groove of a U type cross section and periphery closure, the little 0.6mm of trough depth ratio seal diameter is to guarantee enough decrements and then to reach the effect of sealing, the flatness of two metal coverings that contact with the sealing ring end face on processing technology, roughness will be got well in addition, and thrust is even.Movable sealing is made up of circular flexible graphite, its inner ring is enclosed within on the rotating shaft cylindrical, its matching relationship is the 0.03-0.05mm magnitude of interference, and outer ring and standing part endoporus are the 0.06-0.10mm matched in clearance, realizes dynamic seal (packing) inside and outside the rotating shaft thereby compress the flexible graphite end face by axial trim ring again.
As shown in Figure 2, master controller of the present invention is made up of video distribution module, video camera regulating and controlling circuit, control commutation circuit, lighting source regulating circuit, horizontal stage electric machine control circuit, power module, and power module provides power supply for whole system; The control handover module is realized the switching of control between manual control box and the master controller, it imports autonomous controller panel and manual control box, its three outputs as the input of video camera regulating and controlling circuit, lighting source regulating circuit and horizontal stage electric machine control circuit, also provide the vision signal input for manual control box respectively simultaneously; The horizontal stage electric machine control circuit receives from the next control signal of control commutation circuit, the rotation of two direct current machines of signal controlling in view of the above, and it exports direct drive motors; Video camera regulating and controlling circuit is realized the control of the zoom, focusing to video camera etc., and it is imported from the control commutation circuit, outputs a control signal to video camera; The vision signal that is input as video camera output of video distribution module, it is output as four tunnel same vision signals; The lighting source regulating circuit receives conditioning signal from the control commutation circuit, the output voltage values of its output control mains lighting supply, thereby the brightness of adjusting lamp.
As shown in Figure 3, the control commutation circuit mainly is made up of relay array.During switch closure, relay coil energising normally opened contact closure, thus the normally-closed contact disconnection switches to manual control box with control from main controller; When switch disconnected, relay coil outage normally opened contact disconnected, thereby normally-closed contact is closed control is switched to main controller from manual control box.
As shown in Figure 4, video camera regulating and controlling circuit mainly is made of a controlled resistor network.Circuit receives the control signal from the control commutation circuit, and decoder is deciphered this signal, and the output of decoder is as the input of relay drive circuit, thus control corresponding relays closure.Different relay closes causes resistor network that different resistance values is arranged, and video camera is just realized various controls and adjusting according to the resistance of resistor network.
As shown in Figure 5, the horizontal stage electric machine control circuit mainly is made up of motor control chip L298, single-chip microcomputer, regulating circuit and mistake motor rotation blockage testing circuit.Regulating circuit is set the operating voltage of motor; Single-chip microcomputer is the control core of circuit, for motor control chip L298 provides motor positive and inverse and stop signal; Motor control chip L298 perhaps stops motor and rotates according to signal drive motor forward or rotation that single-chip microcomputer provides; The voltage of 1 and 15 pins of stall testing circuit by motor control chip L298 is judged whether stall of motor, and with stall signal input single-chip microcomputer, single-chip microcomputer is made according to this signal and judged and send the signal that stops the motor rotation to motor control chip L298.
As shown in Figure 6, the video distribution module mainly is made up of five emitter followers.Earlier tell of the input of four road signals from the vision signal that video camera comes as other four voltage followers by the voltage follower that constitutes by triode Q1, the output of four voltage followers that constitute from four triodes of Q2, Q3, Q4, Q5 just obtains four tunnel same vision signals, has realized one tunnel vision signal one is divided into four function.The course of work of the present invention is as follows: this shooting main body is put in nearly 20 meters water by suspension rod carries out underwater operation and observation.The rotation of video camera in horizontal plane is to drive vertical axis 6 rotations by 5 rotations of the motor among Fig. 1 at last through gear 9 speed changes to realize; The rotation of video camera in vertical plane is to be rotated through gear graduation group 1 drive trunnion axis 10 by the rotation of another motor of motor 5 back to realize.To the control of shooting main body is link to each other with main controller on the bank by main body afterbody one cable and realize (change that comprises video camera doubly, lighting brightness regulates, the motion control in The Cloud Terrace two orientation, the multichannel output of vision signal).Its control can be realized by a portable hand hole box by the control switching in addition.
Claims (6)
1, underwater camera system, form by shooting main body and master controller, both connect by cable, it is characterized in that: the shooting main body is made up of video camera, horizontal rotating shaft and horizontal motor and gear reduction group, vertical rotation axis and motor vertical and gear reduction group, movable sealing and static seal, the driving of horizontal rotating shaft is through the gear reduction group moment to be amplified the rotation that drives horizontal shafting by horizontal motor, and the driving of vertical rotation axis is moment to be increased the rotation that drives vertical shaft series by motor vertical through gear reduction; Movable sealing has 3 places, horizontal rotating shaft 1 place, vertical rotation axis 2 places, be installed in respectively between direction of rotation motion rotating shaft separately and the support body, static seal has 8 places, be installed in respectively between peripheral seal cover and the shooting main body,, evenly compress with the sealing inside and outside the realization pressing plate with screw with pressing plate again by inlaying O-ring seals in the U-shaped section slot on main body; Master controller is made up of video distribution module, video camera regulating and controlling circuit, control commutation circuit, lighting source regulating circuit, horizontal stage electric machine control circuit, power module, and power module provides power supply for whole system; The control handover module is realized the switching of control between manual control box and the master controller, it imports the panel and the manual control box of autonomous controller, its three outputs as the input of video camera regulating and controlling circuit, lighting source regulating circuit and horizontal stage electric machine control circuit, also provide the vision signal input for manual control box respectively simultaneously; The horizontal stage electric machine control circuit receives from the next control signal of control commutation circuit, the rotation of two direct current machines of signal controlling in view of the above, and it exports direct drive motors; Video camera regulating and controlling circuit is realized the control of the zoom, focusing to video camera etc., and it is imported from the control commutation circuit, outputs a control signal to video camera; The vision signal that is input as video camera output of video distribution module, it is output as four tunnel same vision signals; The lighting source regulating circuit receives conditioning signal from the control commutation circuit, the output voltage values of its output control mains lighting supply, thereby the brightness of adjusting lamp.
2, underwater camera according to claim 1 system is characterized in that: described static seal adopts the O type cross section sealing circle of being made by nitrile rubber, and the sealing ring of movable sealing is made up of flexible graphite.
3, underwater camera according to claim 1 system, it is characterized in that: described control commutation circuit, form by relay array, during switch closure, relay coil energising normally opened contact closure, thus the normally-closed contact disconnection switches to manual control box with control from main controller; When switch disconnected, relay coil outage normally opened contact disconnected, thereby normally-closed contact is closed control is switched to main controller from manual control box.
4, underwater camera according to claim 1 system, it is characterized in that: described video camera regulating and controlling circuit mainly is made of a controlled resistor network, circuit receives the control signal from the control commutation circuit, decoder is deciphered this signal, the output of decoder is as the input of relay drive circuit, thereby control corresponding relays closure, different relay closes causes resistor network that different resistance values is arranged, and video camera is just realized various controls and adjusting according to the resistance of resistor network.
5, underwater camera according to claim 1 system, it is characterized in that: described horizontal stage electric machine control circuit mainly is made up of motor control chip L298, single-chip microcomputer, regulating circuit and mistake motor rotation blockage testing circuit, and regulating circuit is set the operating voltage of motor; Single-chip microcomputer is the control core of circuit, for motor control chip L298 provides motor positive and inverse and stop signal; Motor control chip L298 perhaps stops motor and rotates according to signal drive motor forward or rotation that single-chip microcomputer provides; The voltage of 1 and 15 pins of stall testing circuit by motor control chip L298 is judged whether stall of motor, and with stall signal input single-chip microcomputer, single-chip microcomputer is made according to this signal and judged and send the signal that stops the motor rotation to motor control chip L298.
6, underwater camera according to claim 1 system, it is characterized in that: described video distribution module mainly is made up of five emitter followers, earlier tell of the input of four road signals from the vision signal that video camera comes as other four voltage followers by the voltage follower that constitutes by triode Q1, the output of four voltage followers that constitute from four triodes of Q2, Q3, Q4, Q5 just obtains four tunnel same vision signals, has realized one tunnel vision signal one is divided into four function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100094908A CN100431336C (en) | 2004-08-27 | 2004-08-27 | Underwater photographic system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100094908A CN100431336C (en) | 2004-08-27 | 2004-08-27 | Underwater photographic system |
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| Publication Number | Publication Date |
|---|---|
| CN1741573A CN1741573A (en) | 2006-03-01 |
| CN100431336C true CN100431336C (en) | 2008-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100094908A Expired - Fee Related CN100431336C (en) | 2004-08-27 | 2004-08-27 | Underwater photographic system |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104776298B (en) * | 2015-05-06 | 2018-02-02 | 北京和普威视光电技术有限公司 | A kind of electronic fixing by gross bearings platform |
| CN105116799A (en) * | 2015-08-06 | 2015-12-02 | 北京韦加航通科技有限责任公司 | Remote control switch and control method |
| CN107991831A (en) * | 2017-12-07 | 2018-05-04 | 真善美创新科技有限公司 | Underwater photography equipment |
| CN109460070A (en) * | 2018-12-27 | 2019-03-12 | 天津瑞金华鼎科技有限公司 | A kind of camera pan-tilt control device having cable robot under water |
| CN112532933A (en) * | 2020-11-23 | 2021-03-19 | 苏州热工研究院有限公司 | Underwater wide-field panoramic monitoring device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2240815Y (en) * | 1994-12-28 | 1996-11-20 | 中国科学院沈阳自动化研究所 | Underwater inner-swing camera |
| JP2000047294A (en) * | 1998-07-27 | 2000-02-18 | Fusoo Denshi:Kk | Underwater mobile photographing device |
| CN2450744Y (en) * | 2000-08-17 | 2001-09-26 | 张启龙 | Underwater observing device |
-
2004
- 2004-08-27 CN CNB2004100094908A patent/CN100431336C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2240815Y (en) * | 1994-12-28 | 1996-11-20 | 中国科学院沈阳自动化研究所 | Underwater inner-swing camera |
| JP2000047294A (en) * | 1998-07-27 | 2000-02-18 | Fusoo Denshi:Kk | Underwater mobile photographing device |
| CN2450744Y (en) * | 2000-08-17 | 2001-09-26 | 张启龙 | Underwater observing device |
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| CN1741573A (en) | 2006-03-01 |
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Granted publication date: 20081105 Termination date: 20090928 |