CN111122077A - Camera and light linkage device assembled on ROV and working method thereof - Google Patents
Camera and light linkage device assembled on ROV and working method thereof Download PDFInfo
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- CN111122077A CN111122077A CN202010009271.9A CN202010009271A CN111122077A CN 111122077 A CN111122077 A CN 111122077A CN 202010009271 A CN202010009271 A CN 202010009271A CN 111122077 A CN111122077 A CN 111122077A
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- rov
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- lighting system
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 48
- 238000001514 detection method Methods 0.000 abstract description 14
- 206010063385 Intellectualisation Diseases 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 4
- 238000005286 illumination Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 206010034972 Photosensitivity reaction Diseases 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000036211 photosensitivity Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/38—Investigating fluid-tightness of structures by using light
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
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Abstract
The invention discloses a camera and light linkage device assembled on an ROV (remote operated vehicle), and relates to the field of underwater detection equipment of hydraulic and hydroelectric engineering. The device comprises a camera system, a braking device and a lighting system; the camera system is connected with the lamplight system through the driven device; the camera system comprises a first buckle and a camera body; the braking device is connected with the first buckle through a first transmission connecting rod; the driven device comprises a first transmission gear and a second transmission gear; the lamp light system is connected with the second transmission gear through the second transmission connecting rod. The underwater detection device is compact in design structure, high in modularization degree and convenient to disassemble, can be directly assembled on the existing equipment after the underwater robot is simply transformed, reduces operation difficulty, improves detection efficiency, and realizes automation and intellectualization of the underwater detection device. The invention also discloses a working method of the camera and light linkage device assembled on the ROV.
Description
Technical Field
The invention relates to the field of underwater detection equipment of hydraulic and hydroelectric engineering, in particular to a camera and light linkage device assembled on an ROV. The invention also relates to a working method of the camera and light linkage device assembled on the ROV.
Background
As the number of reservoirs in China is large, along with the increase of the operating life and the influence of environmental diversity, more and more high dam reservoirs have leakage, and reservoir leakage detection becomes an important subject in the field of dam safety. Since an underwater Robot (ROV) is introduced into the dam for underwater detection, the problems of the conventional diving depth limit and low detection efficiency are solved, and a new solution is provided for the dam deep water leakage detection.
The camera carried by the underwater robot can be used for inspecting underwater buildings, and has the advantages of long working time, high detection efficiency and small risk, but the angle of a light carrying system of the conventional underwater robot is fixed, the adjustability is small, and when the angle of the camera holder is large, a picture appears dark light and black shadow; when the camera and the light angle are crossed, the picture is noisy, and the problems of the camera and the light angle are key factors influencing the imaging effect. And the conventional camera system and the light system of the underwater robot are independently installed and are independently controlled by two different sets of operating systems respectively, so that the operation difficulty is high, and joint control cannot be realized.
Therefore, it is necessary to provide a camera and light linkage device mounted on an ROV.
Disclosure of Invention
It is a first object of the present invention to overcome the above-mentioned deficiencies of the background art by providing a camera and light linkage assembly for mounting on an ROV.
The second purpose of the invention is to provide a working method of the camera and light linkage device assembled on the ROV.
In order to achieve the first object, the technical scheme of the invention is as follows: the aggregate unit of making a video recording and light of assembly on ROV, its characterized in that: the device comprises a camera system, a braking device and a lighting system; both sides of the camera system are connected with the lighting system through the driven device, and the lighting system is symmetrical along the axis of the camera system;
the camera system comprises a first buckle and a camera body sleeved in the first buckle;
the output end of the braking device is connected with one end of the first buckle through a first transmission connecting rod;
the driven device comprises a first transmission gear sleeved at two ends of the first buckle and a second transmission gear connected with the first transmission gear through a belt;
the lamp light system is connected with the second transmission gear through the second transmission connecting rod.
In the above technical scheme, the lighting system comprises a second buckle and an LED lamp; the second buckle is in a shape of a Chinese character 'ji', and the two LED lamps are sleeved in the second buckle.
In the technical scheme, the diameter of the camera body is M, the distance between the center points of the two LED lamps is L, and M is equal to L.
In the above technical scheme, the second transmission connecting rod is sleeved with a heightening table.
In the above technical solution, the first transmission gear and the second transmission gear have the same specification.
In order to achieve the second object, the invention has the technical scheme that: the working method of the camera and light linkage device assembled on the ROV comprises the following steps: the method is characterized by comprising the following steps:
the braking device operates to drive the first transmission connecting rod and the camera system to coaxially operate, the first buckle drives the first transmission gear to operate, and the lighting system is driven to operate by virtue of the transmission action of the belt, the second transmission gear and the second transmission connecting rod A; and the camera system is linked with the lighting system.
Compared with the prior art, the invention has the following advantages:
1) the underwater detection device is developed based on the existing underwater robot, the design structure is compact, the modularization degree is high, the disassembly is convenient, the underwater robot can be directly assembled on the existing equipment after being simply transformed, the assembled underwater robot realizes the linkage of a camera system and a lighting system, and meanwhile, the lighting and the camera are integrated in the same control system due to the modularized design, so that the operation difficulty is reduced, the detection efficiency is improved, and the automation and the intellectualization of the underwater detection device are realized.
2) The invention has good imaging effect, the camera system and the light irradiation angle are in the same plane, the light changes along with the change of the camera shooting angle, the problems of large noise, black image of the picture and the like caused by the light are avoided, the brightness of the light system of the device can be adjusted according to the underwater photosensitivity, the maximum brightness reaches 8000 lumen, and the imaging effect is greatly improved by matching with a 1080P high-definition underwater camera, thus being suitable for most of deep water detection.
3) The invention has high modularization degree. All parts of the camera system and the light system linkage device are designed in a modularized mode, the brake system, the camera system and the light system are connected to the underwater robot electronic cabin through umbilical cables, and the underwater robot electronic cabin is controlled by an independent power supply, small in mutual interference and convenient to detach, and can be used for quickly replacing a part unit with a fault if the fault occurs in the operation process. Meanwhile, the camera shooting and lighting system is integrated in one control system, the angle of the camera and the lighting brightness can be controlled on the same operation interface, and the operation difficulty is reduced.
Drawings
Fig. 1 is a schematic structural diagram 1 of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a schematic structural diagram 2 of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are not intended to limit the present invention, but are merely exemplary. While the advantages of the invention will be apparent and readily appreciated by the description.
With reference to the accompanying drawings: the aggregate unit of making a video recording and light of assembly on ROV, its characterized in that: the device comprises a camera system 1, a braking device 2 and a lighting system 3; both sides of the camera system 1 are connected with the lighting system 3 through the driven device 4, and the lighting system 3 is symmetrical along the axis of the camera system 1;
the camera system 1 comprises a first buckle 11 and a camera body 12 sleeved in the first buckle 11;
the output end of the braking device 2 is connected with one end of the first buckle 11 through a first transmission connecting rod 44;
the driven device 4 comprises a first transmission gear 41 sleeved at two ends of the first buckle 11 and a second transmission gear 43 connected with the first transmission gear 41 through a belt 42;
the lighting system 3 is connected with the second transmission gear 43 through the second transmission connecting rod 45.
The lighting system 3 comprises a second buckle 31 and an LED lamp 32; the second buckle 31 is 8-shaped, and the two LED lamps 32 are sleeved in the second buckle 31.
The diameter of the camera body 12 is M, the distance between the center points of the two LED lamps 32 is L, and M is equal to L.
The second transmission connecting rod 45 is sleeved with a heightening table 33; in order to avoid the shooting angle of the camera body 12 and the irradiation angle of the lighting system 3 from being coplanar, 2 groups of lights are controlled on the same plane by the heightening table 33.
The first transmission gear 41 and the second transmission gear 43 have the same specification.
The working method of the camera and light linkage device assembled on the ROV comprises the following steps: the method is characterized by comprising the following steps:
step 1: the braking device 2 operates to drive the first transmission connecting rod 44 and the camera system 1 to coaxially operate, the first buckle 11 drives the first transmission gear 41 to operate, and the lighting system 3 is driven to operate by virtue of the transmission action of the belt 42, the second transmission gear 43 and the second transmission connecting rod 45A; the camera system 1 and the lighting system 3 are linked.
In practical use, the braking device 2 is a brushless motor, an engineering plastic shell (ABS) is wrapped outside the brushless motor, 8 self-locking screws are implanted outside the shell and can be fixed on an ROV frame, the motor and the shell are in a waterproof design by adopting rubber gaskets, an umbilical cable of the motor is made of flexible rubber, the end head of the umbilical cable is a conventional watertight head, the umbilical cable is driven by 24V direct current and can be connected with most underwater robot electronic bins in the market;
the lighting system 3 is composed of 2 groups (4) of independent units, each group of LED lamps 32 is provided with a power supply interface and is connected to an electronic cabin of the underwater robot through an umbilical cable, the underwater robot can be quickly arranged on the existing ROV, the weight of the device is about 1.0 kilogram, the weight ratio of the device to the weight of the underwater robot is small, and the device can be leveled by increasing or decreasing balancing weights; the LED lamps 32 are designed to be water-cooled, the maximum illumination intensity is 8000 lumens, each LED lamp 32 is respectively provided with 5 groups of different illumination intensities (400 lumens, 800 lumens, 1200 lumens, 1600 lumens and 2000 lumens), and the illumination intensity can be adjusted on the ground control system according to the environment of the underwater robot
The built-in time recorder of camera body 12, angle sensor link to each other through the umbilical cable of afterbody and the video transmission port in the underwater robot electronic storehouse, and camera body 12 can realize angle control according to the motor rotation (utilize stopper restriction camera turned angle can not be greater than 90 degrees), and ground control unit can adjust turned angle according to the shooting effect.
When the rotation angle of the camera system 1 is α (α is less than or equal to 90 degrees), the rotation angle of the lighting system 3 is α, but when the rotation angle of the braking device 2 is greater than 90 degrees, the limiter starts to work, so that the camera system 1 and the lighting system 3 stop moving, and when the underwater inspection work is finished, the camera system 1 and the lighting system 3 automatically return to the horizontal state.
Other parts not described belong to the prior art.
Claims (6)
1. The aggregate unit of making a video recording and light of assembly on ROV, its characterized in that: the device comprises a camera system (1), a braking device (2) and a lighting system (3); both sides of the camera system (1) are connected with the lighting system (3) through the driven device (4), and the lighting system (3) is symmetrical along the axis of the camera system (1);
the camera system (1) comprises a first buckle (11) and a camera body (12) sleeved in the first buckle (11);
the output end of the braking device (2) is connected with one end of the first buckle (11) through a first transmission connecting rod (44);
the driven device (4) comprises a first transmission gear (41) sleeved at two ends of the first buckle (11) and a second transmission gear (43) connected with the first transmission gear (41) through a belt (42);
the lighting system (3) is connected with the second transmission gear (43) through a second transmission connecting rod (45).
2. A camera and light linkage assembly according to claim 1 mounted on an ROV, wherein: the lighting system (3) comprises a second buckle (31) and an LED lamp (32); the second buckle (31) is 8-shaped, and the two LED lamps (32) are sleeved in the second buckle (31).
3. A camera and light linkage assembly mounted on an ROV according to claim 2, wherein: the diameter of the camera body (12) is M, the distance between the center points of the two LED lamps (32) is L, and M is equal to L.
4. A camera and light linkage as claimed in claim 1 or 2, mounted on an ROV, wherein: the second transmission connecting rod (45) is sleeved with a heightening table (33).
5. A camera and light linkage assembly according to claim 4 mounted on an ROV, wherein: the first transmission gear (41) and the second transmission gear (43) have the same specification.
6. The working method of the camera and light linkage device assembled on the ROV comprises the following steps: the method is characterized by comprising the following steps:
step 1: the braking device (2) operates to drive the first transmission connecting rod (44) and the camera system (1) to coaxially operate, the first buckle (11) drives the first transmission gear (41) to operate, and the lighting system (3) is driven to operate under the transmission action of the belt (42), the second transmission gear (43) and the second transmission connecting rod (45) A; the camera system (1) and the lighting system (3) are linked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010009271.9A CN111122077B (en) | 2020-01-06 | 2020-01-06 | Linkage device of camera shooting and lamplight assembled on ROV and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010009271.9A CN111122077B (en) | 2020-01-06 | 2020-01-06 | Linkage device of camera shooting and lamplight assembled on ROV and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111122077A true CN111122077A (en) | 2020-05-08 |
| CN111122077B CN111122077B (en) | 2024-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010009271.9A Active CN111122077B (en) | 2020-01-06 | 2020-01-06 | Linkage device of camera shooting and lamplight assembled on ROV and working method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112344287A (en) * | 2020-11-05 | 2021-02-09 | 自然资源部第一海洋研究所 | Light system for submersible and deep sea remote control unmanned submersible |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101105263A (en) * | 2006-07-14 | 2008-01-16 | 固特异轮胎和橡胶公司 | Flexible leak detection system and method for double carcass hose |
| US20110122240A1 (en) * | 2009-11-24 | 2011-05-26 | Gregory Towle Becker | Hurricane Damage Recording Camera System |
| CN108100173A (en) * | 2017-12-27 | 2018-06-01 | 北京臻迪科技股份有限公司 | A kind of surface navigation robot |
| CN209400699U (en) * | 2018-12-20 | 2019-09-17 | 核动力运行研究所 | A kind of nuclear power station underwater optics positioning system |
| CN211425794U (en) * | 2020-01-06 | 2020-09-04 | 长江勘测规划设计研究有限责任公司 | Camera and light linkage device assembled on ROV |
-
2020
- 2020-01-06 CN CN202010009271.9A patent/CN111122077B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101105263A (en) * | 2006-07-14 | 2008-01-16 | 固特异轮胎和橡胶公司 | Flexible leak detection system and method for double carcass hose |
| US20110122240A1 (en) * | 2009-11-24 | 2011-05-26 | Gregory Towle Becker | Hurricane Damage Recording Camera System |
| CN108100173A (en) * | 2017-12-27 | 2018-06-01 | 北京臻迪科技股份有限公司 | A kind of surface navigation robot |
| CN209400699U (en) * | 2018-12-20 | 2019-09-17 | 核动力运行研究所 | A kind of nuclear power station underwater optics positioning system |
| CN211425794U (en) * | 2020-01-06 | 2020-09-04 | 长江勘测规划设计研究有限责任公司 | Camera and light linkage device assembled on ROV |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112344287A (en) * | 2020-11-05 | 2021-02-09 | 自然资源部第一海洋研究所 | Light system for submersible and deep sea remote control unmanned submersible |
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| Publication number | Publication date |
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| CN111122077B (en) | 2024-08-27 |
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