CN115914790A

CN115914790A - Waterproof motion camera of amphibious detection robot in water route

Info

Publication number: CN115914790A
Application number: CN202211412085.5A
Authority: CN
Inventors: 于振中; 杨静; 仲辉; 孙强; 赵修林
Original assignee: HRG International Institute for Research and Innovation
Current assignee: Hefei Hagong Zhiling Intelligent Technology Co ltd
Priority date: 2022-11-11
Filing date: 2022-11-11
Publication date: 2023-04-04

Abstract

The invention discloses a waterproof motion camera of a waterway amphibious detection robot, which comprises a camera shell, a camera base and a camera assembly, wherein the camera shell comprises a camera cover, a camera shell and a bottom cover, the camera cover is fixed with the bottom cover in a sealing mode through the camera shell and the bottom cover and forms a closed cavity structure in a surrounding mode, a step is formed at the connecting point of the camera cover and the camera shell, the camera assembly is rotatably arranged in the cavity through the camera base, and the rotating end of the camera assembly is located above the step. According to the invention, the camera is obliquely and fixedly arranged at the top of the robot, so that the visual angle of image acquisition of the detection robot or the mobile platform is improved, the camera assembly on the whole camera base can be damped through the arrangement of the damping assembly, the influence of external vibration on camera shooting is reduced, the front and back gravity centers of the movement ball table can be balanced through the arrangement of the balance part, the axial stability in the movement process is improved, and the problems of zero position shifting of the camera and the like are avoided.

Description

Waterproof motion camera of amphibious detection robot in water route

Technical Field

The invention relates to the technical field of pipeline detection, in particular to a waterproof motion camera of a water-channel amphibious detection robot.

Background

The drainage pipeline has defects in the manufacturing, putting into operation and other processes, the pipeline is detected in time, the operation condition of the pipeline is accurately known, and the reliable and safe operation of the pipeline can be ensured. The drainage pipeline environment is complex, has the defects of siltation, deformation, foreign matter insertion, building rubbish accumulation and the like, and needs to be carried by a robot to carry a camera for detection. The hemisphere monitoring camera on the market has the characteristics of mature technology, compact structure, clear imaging, reliable communication, wide range, certain protection function and the like, and can be used for a pipeline detection robot after being modified.

The hemisphere monitoring camera is applied to the indoor and outdoor environment because of static handstand suspension, and for the operation of drenching, soaking in water in drainage pipe removal in-process, the hemisphere monitoring camera after the repacking can experience great difference in temperature, stride across the bold construction waste and lead to violent vibration environment, and functions such as visual angle, shockproof, waterproof, explosion-proof, prevent congealing fog obviously unsatisfied demand.

Drainage pipe inspection robot has strict requirements to self volume and carrying detection camera size because of receiving the space restriction, for reduce cost, generally chooses for use the volume less, and possesses the outdoor hemisphere control cloud platform camera of upper and lower, left and right swing and the function of zooming in the certain limit, but this camera only is used for outdoor fixed place, and shockproof, water-proof effects are poor, and the unsatisfied demand of visual angle is used in handstand.

The prior patent publication No. CN 114738598A discloses a pipeline detection robot, which comprises a machine body assembly, a driving assembly, a wheel assembly, a detection assembly and a power supply, wherein the driving assembly is connected with the power supply inside the machine body assembly, the driving assembly is connected with the wheel assembly, and the detection assembly is connected with the outer surface of the machine body assembly; the driving assembly and the detection assembly are connected with the power supply; the engine body assembly comprises a first shell, a second shell and a buoy, the first shell is hermetically connected with the second shell, the buoy is connected with two sides of the second shell, and the buoy is positioned above the wheel assembly; the side parts of the first shell or/and the second shell extend outwards to form wings.

The cloud platform camera of the amphibious detection robot for the water channel is a waterproof motion camera formed by modifying an upper hemispherical monitoring cloud platform camera on the market, referring to the

drawings

1 and 2, the hemispherical monitoring cloud platform camera is provided with a camera 1, a machine base 2, a transparent protective cover 3 and a shell 4, the camera can rotate up and down 90 degrees and horizontally 360 degrees in a reciprocating mode, the camera cover is arranged at a fixed position in an inverted mode in the downward direction in the application scene of the traditional hemispherical monitoring cloud platform, the ground is monitored, the underwater robot needs to detect the in-pipe condition of the front side, the underwater robot needs to be arranged at the front side of the amphibious detection robot for the water channel, and image detection over the water surface of the pipeline is achieved.

However, the height of the shell 4 is high, the height distance of the camera 1 relative to the machine body is large, the downward visual angle range of the tripod camera is shielded by the edge of the shell 4, the tripod camera which is originally installed and used downwards is directly installed upwards to the front part of the underwater robot, a large-range blind area can be caused on the front side of the robot, meanwhile, the required visual angle area after the tripod camera is installed upwards can not be completely covered by the rotation of 90 degrees upwards of the camera which is originally installed downwards, the shooting of all angles can be completed only by matching with the horizontal rotation, meanwhile, due to the application range of the fixed installation of the tripod camera, the robot does not have the motion damping function, particularly, a hollow motor for controlling zooming in the base 2 is positioned at the rear part, the gravity center of the camera deviates backwards, the locking force of the hollow motor is small due to vertical swinging in the motion process, the problems that the camera is automatically deflected and moves upwards at zero position and the like are easily caused when the camera is vibrated, the violent vibration can cause the camera to influence the normal shooting, and the amphibious detection robot needs to meet the water-carrying detection requirements and the low protection level can not meet the requirements of the functions of water immersion, flammable and flammable gas and flammable and explosive protection of drainage pipeline.

Disclosure of Invention

The invention aims to solve the technical problem of how to reduce the influence of external vibration on the shooting of a camera.

The invention solves the technical problems through the following technical means: a waterproof motion camera of a water channel amphibious detection robot is obliquely and fixedly arranged at the top of the robot and comprises a camera shell, a camera base and a camera assembly, wherein the camera shell comprises a camera cover, a camera shell and a bottom cover, the camera cover is fixed with the bottom cover in a sealing mode through the camera shell and encloses to form a closed cavity structure, a step is formed at a connecting point of the camera cover and the camera shell, the camera assembly is rotatably arranged in the cavity through the camera base, and the rotating end of the camera assembly is located above the step;

the camera base is connected with the bottom cover through at least one group of damping components, the camera component comprises a core table, a balance component is arranged in the core table, and the balance component is used for balancing the front gravity center and the rear gravity center of the core table.

The camera is obliquely and fixedly arranged at the top of the robot, so that the visual angle of image acquisition of the detection robot or the mobile platform is improved, the camera assembly on the whole camera base can be damped through the arrangement of the damping assembly, the influence of external vibration on camera shooting is reduced, the front and rear centers of gravity of a core ball table can be balanced through the arrangement of the balance part, the axial stability in the motion process is improved, and the problems of zero-position upward movement and the like of the camera are avoided; the rotation end of the camera component is arranged above the step, so that the shooting end of the camera component is not shielded by the connecting section of the camera cover and the camera shell all the time, namely, the shooting of the tripod head camera at the pitching visual angle end value position of the camera cover is not shielded, the shooting of the camera is prevented from being shielded, and the visual angle of the detection robot or the image acquisition of the mobile platform can be effectively enlarged.

According to the preferable technical scheme, the shock absorption assembly comprises an upper compression spring, a one-way damping block, a plunger cylinder, a lower compression spring and a plunger rod, the plunger cylinder is fixedly arranged at the top of the bottom cover, the one-way damping block is arranged in the plunger cylinder in a sliding mode and fixedly connected with the camera base through the plunger rod, the top of the one-way damping block is elastically connected with the plunger cylinder through the upper compression spring, the bottom of the one-way damping block is elastically connected with the bottom cover through the lower compression spring, the camera assembly rapidly compresses the lower compression spring when encountering a raised obstacle and vibrating upwards through the shock absorption assembly, the rubber toothed ring of the one-way damping block rapidly slides downwards in the forward direction to play a shock absorption role, the camera assembly pushes upwards under the action of the lower compression spring after crossing the obstacle, the rubber ring of the one-way damping block reversely expands to generate a large damping force, the return speed is slowed down to prevent resonance influence on the work of the camera when the return is too fast, and the upper compression spring compresses and stretches to play a two-way shock absorption role when encountering a concave obstacle, so as to effectively reduce the influence of the camera and the lens caused by vibration, and improve the stability of the image acquisition of the motion equipment in road conditions.

As the preferred technical scheme, the core ball table includes the ball table casing and locates camera lens, the motor that zooms, the annular is balanced heavy on the ball table casing, camera lens and the motor that zooms are located ball table casing both ends respectively, the annular is balanced heavy fixedly and is located the camera lens outside, through installing the annular additional heavy at the camera department of ball table casing for the weight of the motor that zooms behind the balanced camera prevents the ball table automatic deflection that camera motion in-process violent vibrations lead to, has improved shooting stability.

As a preferred technical scheme, the movement ball table is rotatably arranged in the camera shell, and 180-degree rotation can be realized by taking the axis of the movement ball table as a rotating shaft.

As the preferred technical scheme, be equipped with the horizontal swing turbine seat on the camera base, the camera subassembly includes core ball platform, vertical swing unit, the core ball platform rotates through the lens mount of locating horizontal swing turbine seat top and locates horizontal swing turbine seat top, the output and the core ball platform transmission of vertical swing unit are connected.

As a preferred technical scheme, the vertical swing unit comprises a swing motor, a synchronous belt and a synchronous wheel, the swing motor is fixedly arranged at the top of the horizontal swing turbine seat, the output end of the swing motor drives the movement ball table to rotate by taking the axis of the movement ball table as a rotating shaft through the synchronous belt and the synchronous wheel, and the swing motor of the vertical swing unit drives the synchronous belt and the synchronous wheel to drive the movement ball table to rotate for 180 degrees so as to improve the coverage range of visual angles.

As preferred technical scheme, the camera subassembly still includes the horizontal rotation unit, camera base and horizontal swing turbine seat normal running fit, the horizontal rotation unit includes horizontal swing worm motor, horizontal swing worm motor and horizontal swing turbine seat meshing transmission to drive horizontal swing turbine seat and use its axis to rotate as the pivot, can realize the horizontal 360 rotations of camera subassembly through the horizontal rotation unit.

As preferred technical scheme, be equipped with the charging connector on the camera casing, the charging connector links to each other with the cavity, first inflation hole and second inflation hole have been seted up in the charging connector, second inflation hole aperture is greater than first inflation hole, the second inflation hole is located the hollow plug screw of one end fixedly connected with in the cavity, hollow plug screw has the steel ball through spring elastic connection, the steel ball diameter is less than second inflation hole aperture and is greater than first inflation hole aperture, through setting whole camera casing into an inclosed cavity structure to can take out to the negative pressure to the cavity through the charging connector, and fill inert gas, form independent sealed, realize that drainage pipe is waterproof, explosion-proof function, improved the protection level.

As a preferred technical scheme, a temperature and humidity sensor is arranged in the camera shell.

As a preferred technical scheme, the connection surfaces of the camera shell, the camera cover and the bottom cover are provided with sealing rings.

As preferred technical scheme, camera bonnet surface spraying has the teflon coating, and the internal surface is equipped with the UV and prevents the condensation coating film, can prevent sewage pollution through spouting the teflon coating outward, and interior coating UV prevents the condensation coating film and prevents that drainage pipe is too big in the pit, the temperature difference in the pit, and the inside water smoke that condenses of camera bonnet influences the transmittance, has improved the formation of image effect.

The invention has the advantages that:

(1) According to the invention, the camera is obliquely and fixedly arranged at the top of the robot, so that the visual angle of image acquisition of the detection robot or the mobile platform is improved, the camera component on the whole camera base can be damped through the arrangement of the damping component, the influence of external vibration on camera shooting is reduced, the front and back centers of gravity of a core ball table can be balanced through the arrangement of the balance component, the axial stability in the motion process is improved, and the problems of zero-position upward movement and the like of the camera are avoided; the camera component is arranged above the step through the rotating end, the shooting end of the camera component can be guaranteed not to be shielded by the connecting section of the camera cover and the camera shell all the time, the shooting of the tripod head camera at the pitching visual angle end value position of the camera can not be shielded, the shooting of the camera is prevented from being shielded, and the visual angle of the detection robot or the image collection of the mobile platform can be effectively enlarged.

(2) In the invention, the synchronous belt and the synchronous wheel are driven by the swing motor of the vertical swing unit to drive the movement ball table to rotate for 180 degrees so as to improve the coverage range of a visual angle, and the horizontal 360-degree rotation of the camera assembly can be realized by the horizontal rotation unit.

(3) According to the invention, the annular balance weight is additionally arranged at the camera of the table shell and is used for balancing the weight of the zooming motor at the rear part of the camera, so that the table is prevented from automatically deflecting due to severe vibration in the camera movement process, and the shooting stability is improved.

(4) According to the invention, through the arrangement of the damping component, when the camera component shakes upwards in case of a raised obstacle, the camera component compresses the lower compression spring quickly, the rubber toothed ring blocked by the one-way damping slides downwards quickly in the forward direction to play a damping role, after the camera component passes over the obstacle, the camera component pushes up under the action of the lower compression spring, the rubber toothed ring blocked by the one-way damping expands reversely to generate a large damping force, the return speed is slowed down, resonance caused by too fast return is prevented from influencing the work of a video camera, when the camera component encounters a concave obstacle, the upper compression spring compresses and stretches to play a two-way damping role, the influence of vibration on the camera and a lens is effectively reduced, and the stability of image acquisition of the motion equipment in a bumpy road condition is improved.

(5) According to the invention, the whole camera shell is arranged into a closed cavity structure, the cavity can be pumped to negative pressure through the charging connector, and inert gas is filled into the cavity to form independent sealing, so that the waterproof and explosion-proof functions of the drainage pipeline are realized, and the protection grade is improved.

(6) According to the invention, the outer spraying of the Teflon coating can prevent sewage pollution, the inner coating of the UV condensation-proof coating can prevent too large temperature difference between the underground part and the aboveground part of the drainage pipeline, and condensed water mist in the camera cover can influence transmittance, so that the imaging effect is improved.

Drawings

Fig. 1 is a schematic structural diagram of a waterproof motion camera of a water amphibious detection robot provided in the background art of the present invention;

fig. 2 is a schematic diagram of an internal structure of a waterproof motion camera of a water amphibious detection robot according to the background art of the present invention;

fig. 3 is a schematic structural view of a section of a waterproof motion camera of the amphibious detection robot in the waterway provided in the embodiment of the present invention;

fig. 4 is a schematic diagram of an internal structure of a waterproof motion camera of the amphibious detection robot in the waterway provided in the embodiment of the present invention;

fig. 5 is a schematic diagram of a partially enlarged structure of fig. 3 a of the waterproof motion camera of the amphibious detection robot according to the embodiment of the present invention;

fig. 6 is a schematic diagram of a partially enlarged structure B in fig. 3 of a waterproof motion camera of the amphibious detection robot according to the embodiment of the present invention;

reference numerals:

1. a camera housing; 11. a camera cover; 12. a camera housing; 13. a bottom cover; 14. a platen; 15. a first O-ring; 16. a bolt; 17. a second O-ring; 18. a screw;

2. a camera assembly; 21. a camera mount; 211. a slewing bearing; 22. a movement table; 221. a table housing; 222. a lens; 223. a zoom motor; 224. an annular counterweight; 23. a vertical swing unit; 231. a swing motor; 232. a synchronous belt; 233. a synchronizing wheel; 24. a horizontal swiveling unit; 241. a horizontal oscillation turbine mount; 242. a horizontal swing worm motor; 25. a right lens mount; 251. a second rotating shaft; 252. a first right bearing; 253. a second right bearing; 254. a right transmission groove; 26. a left lens mount; 261. a first rotating shaft; 262. a first left bearing; 263. a second left bearing; 264. a left transmission groove;

3. a shock absorbing assembly; 31. an upper compression spring; 32. unidirectional damping blocking; 33. a plunger barrel; 34. a lower compression spring; 35. a plunger rod;

4. an air charging nozzle; 41. a first inflation port; 42. a second inflation port; 43. a hollow plug screw; 44. a spring; 45. a steel ball;

5. temperature and humidity sensor.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 3 and 4, a waterproof motion camera of a water amphibious detection robot is obliquely installed at the end of the robot upwards, and is improved on the basis of an existing downward tripod head camera, the visual range of a camera assembly 2 can be further enlarged by upward oblique installation, and the visual angle of image acquisition of the detection robot is enlarged, the waterproof motion camera comprises a camera shell 1, a camera base 21, the camera assembly 2, a damping assembly 3, an inflation nozzle 4 and a temperature and humidity sensor 5, wherein the camera shell 1 comprises a camera cover 11, a camera shell 12 and a bottom cover 13, the camera cover 11 is hermetically fixed with the bottom cover 13 through the camera shell 12 and forms a closed cavity structure in a surrounding manner, a connecting point of the camera cover 11 and the camera shell 12 forms a step, the camera assembly 2 is rotatably arranged in the cavity through the camera base 21, and the rotating end of the camera assembly is positioned above the step;

the rotating end of the camera component 2 is arranged above the step, so that the shooting end of the camera component 2 is ensured not to be shielded by the connecting section of the camera cover 11 and the camera shell 12 all the time, namely, the shooting of the pan-tilt camera at the pitching visual angle end value position of the pan-tilt camera is not shielded, the shooting of the camera is prevented from being shielded, and the visual angle of image acquisition of the detection robot or the mobile platform can be effectively enlarged;

the camera base 21 is elastically connected with the bottom cover 13 through at least one damping component 3, three or more damping components 3 are preferably arranged in consideration of the balance of the camera base 21, the camera component 2 can be damped inside through the arrangement of the damping components 3, the camera shell 1 is provided with an inflating nozzle 4, a temperature and humidity sensor 5 and a pressure sensor (not shown), the inflating nozzle 4 is communicated with the cavity, 80-120 Kpa inert gas can be injected into the cavity through the inflating nozzle 4, and independent sealing is formed through pumping air (forming negative pressure) in the cavity, so that the waterproof and explosion-proof functions of a drainage pipeline are realized, and the protection grade is improved; camera subassembly 2 includes core table 22, is equipped with balanced component in the core table 22, and wherein balanced component installs at camera lens outer lane, and balanced component is used for balanced core table 22 front and back focus, improves the axial stability in the motion process, avoids the camera zero-bit to shift up the scheduling problem, has reduced the influence of vibration to whole camera.

Referring to fig. 3, the camera cover 11 is fixed to the camera housing 12 through a pressure plate 14, a first O-ring 15, and a bolt 16 in a sealing manner, the camera cover 11 includes an arc portion, a vertical portion, and a first horizontal connecting portion, wherein the arc portion is a half arc, the radius of the arc is greater than the radius of the core ball table 22, two ends of the arc portion are respectively fixedly connected to the first horizontal connecting portion through the vertical portion, the plane where the connecting point of the vertical portion and the first horizontal connecting portion is located is always located below the shooting end of the camera assembly 2, the bottom of the camera cover 11 is turned over outward and is perpendicular to the camera cover 11, i.e., the vertical portion is vertically fixed to the first horizontal connecting portion, the camera housing 12 includes a second horizontal portion, an arc portion, and a third horizontal portion, the second horizontal part is fixedly connected with the third horizontal part through an arc part, the bottom of the camera shell 12 is provided with a pressure plate 14, the bent part of the camera hood 11 and the outer edge of the top of the camera hood 12 are locked through a bolt 16, the pressure plate 14 is fixed at the bottom of the first horizontal connecting part, the second horizontal part is in lap joint with the top of the first horizontal connecting part, a first O-shaped ring 15 is arranged at the joint of the bent part of the camera hood 11 and the outer edge of the top of the camera shell 12, the first O-shaped ring 15 is positioned between the second horizontal part and the first horizontal connecting part, and under the locking action of the bolt 16, the sealing of the joint of the bent part of the camera hood 11 and the outer edge of the top of the camera hood 12 is realized, namely the fixing of the second horizontal part and the first horizontal connecting part is realized;

the joint of the camera shell 12 and the bottom cover 13 is provided with a second O-ring 17, namely, the second O-ring 17 is positioned between the third horizontal part and the bottom cover 13, the camera shell 12 and the bottom cover 13 are connected and fastened through a screw 18, and the joint of the camera shell 12 and the bottom cover 13 is sealed under the action of the screw 18.

Referring to fig. 3 and 4, the camera assembly 2 includes a camera base 21, a movement table 22, a vertical swing unit 23, a horizontal rotation unit 24, a right lens holder 25, and a left lens holder 26; the camera base 21 is provided with a horizontal rotation unit 24, the horizontal rotation unit 24 includes a horizontal swing turbine seat 241, the horizontal rotation unit 24 is fixedly connected with a right lens seat 25 and a left lens seat 26, a gap is reserved between the right lens seat 25 and the left lens seat 26, a movement ball table 22 is arranged in the gap, the movement ball table 22 is rotatably connected with the left lens seat 26 through a first rotating shaft 261, the left lens seat 26 is fixedly provided with a first left bearing 262 and a second left bearing 263, outer rings of the first left bearing 262 and the second left bearing 263 are respectively fixed with the left lens seat 26, inner rings are respectively fixedly connected with the first rotating shaft 261, the left lens seat 26 is provided with a left transmission groove 264, the left transmission groove 264 is used for placing a transmission component of the vertical swing unit 23, preferably, the right lens seat 25 and the left lens seat 26 have the same structure, the movement ball table 22 is rotatably connected with the right lens seat 25 through a second rotating shaft 251, the right lens seat 25 is fixedly provided with a first right bearing 252 and a second right bearing 253, the first right bearing 252, the outer ring 253 and the second right bearing 253 are respectively connected with the right lens seat 25, outer rings are respectively, the outer rings are respectively connected with the second rotating shaft 261 and the second shaft 261, the transmission shaft 261 are arranged on the right lens seat 25, the transmission unit 23, the transmission shaft is arranged on the transmission shaft 261 and the transmission unit is arranged in a group of the second shaft 261, the second rotation shaft 261, the transmission unit 23, the transmission groove is arranged in a group of the vertical swing unit 23, the transmission shaft 261, the transmission shaft is arranged in the vertical swing unit 241, the vertical swing unit.

Referring to fig. 3, the horizontal rotation unit 24 includes a horizontal swinging turbine seat 241 and a horizontal swinging worm motor 242, the horizontal swinging turbine seat 241 is rotatably connected to the top of the camera base 21 through a rotation support 211, the horizontal swinging worm motor 242 is fixedly connected to the top of the camera base 21, and the output end thereof is in meshing transmission with the horizontal swinging turbine seat 241 and drives the horizontal swinging turbine seat 241 to rotate by taking the axis thereof as a rotation shaft, and the horizontal swinging worm motor 242 is a commercially available component;

the vertical swing unit 23 includes a swing motor 231, a synchronous belt 232, and a synchronous wheel 233, the swing motor 231 is fixedly disposed on the top of the horizontal swing turbine seat 241, and the output end of the swing motor 231 drives the core ball table 22 to rotate by taking the axis thereof as a rotating shaft through the synchronous belt 232 and the synchronous wheel 233, the output end of the swing motor 231 is fixedly connected with one synchronous wheel 233, one end of the first rotating shaft 261 far away from the core ball table 22 is fixedly connected with another synchronous wheel 233, the two synchronous wheels 233 are in transmission connection through the synchronous belt 232, wherein the output end of the swing motor 231 is in spline connection with the synchronous wheel 233, the first rotating shaft 261 is in spline connection with the synchronous wheel 233, the swing motor 231 can drive the first rotating shaft 261 to rotate by taking the axis thereof as a rotating shaft through the synchronous belt 232 and the synchronous wheel 233, so as to drive the core ball table 22 to rotate by taking the axis thereof as a rotating shaft;

the core table 22 includes a table housing 221, and a lens 222, a zoom motor 223, and an annular counterweight 224 disposed on the table housing 221, in this embodiment, the balancing component is the annular counterweight 224, the lens 222 and the zoom motor 223 are respectively disposed at two ends of the table housing 221, the annular counterweight 224 is fixedly disposed outside the lens 222, wherein a large end surface of the zoom motor 223 is located at one end of the table housing 221, and the lens 222 is a commercially available component with a photosensitive device; in order to balance the weight, an annular balance weight 224 is fixedly connected to the other end of the table housing 221 and the outer side of the lens 222, and is used for balancing the weight of a zoom motor 223 at the rear part of the table housing 221, so that the movement table 22 is prevented from automatically deflecting due to severe vibration in the camera movement process, and the shooting stability is improved.

Referring to fig. 3 and 6, the shock absorbing assembly 3 includes an upper compression spring 31, a one-way damping block 32, a plunger cylinder 33, a lower compression spring 34, and a plunger rod 35, the plunger cylinder 33 is fixedly disposed on the top of the bottom cover 13, the one-way damping block 32 is slidably disposed in the plunger cylinder 33, the one-way damping block 32 is fixedly connected to the camera base 21 through the plunger rod 35, the top of the one-way damping block 32 is elastically connected to the plunger cylinder 33 through the upper compression spring 31, the bottom of the one-way damping block 32 is elastically connected to the bottom cover 13 through the lower compression spring 34, a vertical hole through which the plunger rod 35 can pass is formed in the top of the plunger cylinder 33, the bottom cover 13 is fixedly connected to the bottom of the plunger cylinder 33, when a protruding obstacle vibrates upwards, the camera assembly 2 rapidly compresses the lower compression spring 34, the rubber ring of the one-way damping block 32 slides downwards rapidly along the tooth form of the tooth form, thereby achieving a shock absorbing effect, after the obstacle is crossed, the camera assembly 2 pushes upwards under the effect of the lower compression spring 34, the rubber tooth form of expanding the lower tooth form of the lower compression spring to generate a larger damping force, thereby reducing the speed and preventing the impact on the road condition of the vibration of the camera core 22, and effectively reducing the impact on the stability of the camera core during the motion of the two-way of the camera core.

Referring to fig. 3 and 5, the charging connector 4 includes a charging connector 4 connected to the cavity, the charging connector 4 includes a first charging hole 41, a second charging hole 42, a hollow plug screw 43, a spring 44, and a steel ball 45, the charging connector 4 has a first charging hole 41 and a second charging hole 42, the diameter of the second charging hole 42 is larger than that of the first charging hole 41, one end (right end in the drawing) of the second charging hole 42 located in the cavity is fixedly connected with the hollow plug screw 43, the hollow plug screw 43 is elastically connected with the steel ball 45 through the spring 44, the diameter of the steel ball 45 is smaller than that of the second charging hole 42 and larger than that of the first charging hole 41, the moving range of the steel ball 45 is located in the second charging hole 42, under the elastic action of the spring 44, in a normal state, the steel ball 45 abuts against the connecting end of the first charging hole 41 and the second charging hole 42, so as to plug the first charging hole 41, that the charging connector 4 is in a closed state, when protective gas needs to be pumped into the cavity or introduced into a negative pressure or external equipment, the protective gas is inserted into the charging connector 4 to plug the first charging hole 45, so as to complete the charging connector 4, and the above-mentioned operation.

Referring to fig. 3, be equipped with temperature and humidity sensor 5 in the camera shell 1, pressure sensor, temperature and humidity sensor 5, pressure sensor is used for measuring humiture and pressure in the cavity respectively, and both all fixed settings are at the inner wall of camera casing 12, simultaneously in this embodiment, 11 surface spraying of camera cover has the teflon coating, internal surface is fixed with the UV and prevents the condensation coating film, can prevent sewage pollution through spouting the teflon coating outward, interior coating UV prevents that the condensation coating film prevents that drainage pipe is down-hole, the difference in temperature is too big in the pit, the inside water smoke that condenses of camera cover influences the transmittance, in order to improve the formation of image effect.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A waterproof motion camera of a water-channel amphibious detection robot is obliquely and fixedly arranged at the top of the robot and is characterized by comprising a camera shell (1), a camera base (21) and a camera assembly (2), wherein the camera shell (1) comprises a camera cover (11), a camera shell (12) and a bottom cover (13), the camera cover (11) is hermetically fixed with the bottom cover (13) through the camera shell (12) and is enclosed to form a closed cavity structure, a step is formed at a connecting point of the camera cover (11) and the camera shell (12), the camera assembly (2) is rotatably arranged in a cavity through the camera base (21), and the rotating end of the camera assembly is positioned above the step;

the camera base (21) is connected with the bottom cover (13) through at least one group of damping assemblies (3), the camera assembly (2) comprises a core ball table (22), a balance component is arranged in the core ball table (22), and the balance component is used for balancing the front and rear gravity centers of the core ball table (22).

2. The waterproof motion camera of the amphibious detection robot for the water path according to claim 1, wherein the shock absorption assembly (3) comprises an upper compression spring (31), a one-way damping block (32), a plunger cylinder (33), a lower compression spring (34) and a plunger rod (35), the plunger cylinder (33) is fixedly arranged at the top of the bottom cover (13), the one-way damping block (32) is arranged in the plunger cylinder (33) in a sliding manner, the one-way damping block (32) is fixedly connected with the camera base (21) through the plunger rod (35), the top of the one-way damping block (32) is elastically connected with the plunger cylinder (33) through the upper compression spring (31), and the bottom of the one-way damping block (32) is elastically connected with the bottom cover (13) through the lower compression spring (34).

3. The waterproof motion camera of the amphibious detection robot in the waterway according to claim 1, wherein the core ball table (22) comprises a table shell (221), and a lens (222), a zoom motor (223) and an annular balance weight (224) which are arranged on the table shell (221), the lens (222) and the zoom motor (223) are respectively arranged at two ends of the table shell (221), and the annular balance weight (224) is fixedly arranged at the outer side of the lens (222).

4. The waterproof motion camera of the amphibious detection robot for the water path according to claim 1, wherein a horizontal swing turbine seat (241) is arranged on the camera base (21), the camera assembly (2) further comprises a vertical swing unit (23), the movement ball table (22) is rotatably arranged at the top of the horizontal swing turbine seat (241) through a lens seat arranged at the top of the horizontal swing turbine seat (241), and an output end of the vertical swing unit (23) is in transmission connection with the movement ball table (22).

5. The waterproof motion camera of the amphibious detection robot in the waterway according to claim 4, wherein the vertical swing unit (23) comprises a swing motor (231), a synchronous belt (232) and a synchronous wheel (233), the swing motor (231) is fixedly arranged at the top of the horizontal swing turbine seat (241), and the output end of the swing motor drives the movement ball table (22) to rotate by taking the axis of the movement ball table as a rotating shaft through the synchronous belt (232) and the synchronous wheel (233).

6. The waterproof motion camera of the amphibious detection robot for the water path according to claim 4, wherein the camera assembly (2) further comprises a horizontal swing unit (24), the camera base (21) is in running fit with the horizontal swing turbine base (241), the horizontal swing unit (24) comprises a horizontal swing worm motor (242), and the horizontal swing worm motor (242) is in meshing transmission with the horizontal swing turbine base (241) and drives the horizontal swing turbine base (241) to rotate by taking an axis of the horizontal swing worm motor as a rotating shaft.

7. The waterproof motion camera of the amphibious detection robot in water path according to claim 1, wherein an inflation nozzle (4) is arranged on the camera shell (12), the inflation nozzle (4) is connected with the cavity, a first inflation hole (41) and a second inflation hole (42) are formed in the inflation nozzle (4), the aperture of the second inflation hole (42) is larger than that of the first inflation hole (41), a hollow plug screw (43) is fixedly connected to one end of the second inflation hole (42) located in the cavity, the hollow plug screw (43) is elastically connected with a steel ball (45) through a spring (44), and the diameter of the steel ball (45) is smaller than that of the second inflation hole (42) and is larger than that of the first inflation hole (41).

8. The waterproof motion camera of the amphibious detection robot in the waterway according to claim 1, wherein a temperature and humidity sensor (5) is arranged in the camera housing (1).

9. The waterproof motion camera of the amphibious detection robot for the water path according to claim 1, wherein sealing rings are arranged on the connection surfaces of the camera shell (12) and the camera cover (11) and the bottom cover (13).

10. The waterproof motion camera of the amphibious detection robot for the water according to claim 1, wherein the outer surface of the camera cover (11) is coated with Teflon paint, and the inner surface of the camera cover is provided with a UV anti-condensation coating.