CN208015855U - Shallow water autonomous formula panoramic shooting system - Google Patents
Shallow water autonomous formula panoramic shooting system Download PDFInfo
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- CN208015855U CN208015855U CN201820410028.6U CN201820410028U CN208015855U CN 208015855 U CN208015855 U CN 208015855U CN 201820410028 U CN201820410028 U CN 201820410028U CN 208015855 U CN208015855 U CN 208015855U
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- circuit
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- propeller
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Abstract
The utility model is related to a kind of shallow water autonomous formula panoramic shooting systems.The utility model includes panorama camera, control stored drive circuit, battery case, left propeller and right propeller.The panorama camera is for shooting underwater panoramic information.The control stored drive circuit is used to acquire and store video data captured by panorama camera, acquisition shallow water camera system current position and posture information, control propeller realizes precalculated position and track camera shooting.The battery case is used for sealed cell, and accumulator provides the working power of shallow water camera shooting whole system.The left and right propeller moves for realizing the position of shallow water autonomous formula panoramic shooting system.The utility model can realize underwater 360 degree of panoramic shootings, and the parameters such as track, shooting interval and shooting duration of video can be shot by parameter setting, the underwater timing fixed length shooting for realizing autonomous provides strong technical support for the further utilization of water resource.
Description
Technical field
The utility model is related to a kind of underwater photographic systems for shallow-water environment, refer specifically to a kind of with autonomous energy
Power can timing panoramic shooting underwater camera instrument.
Background technology
With the development of social progress, science and technology, the exploration of the field of water resources such as ocean, rivers and lake is developed into
The development trend in the world.People were once directly observed in such a way that diver or research submarine etc. photograph in water,
But this mode will train diver, and cost is high, uneconomical, and diver's entrance will face certain life security under water and ask
Topic.People were once considering to investigate sub-marine situations using sonar technique, although not being related to life life security problems, this
It is a kind of indirect observation procedure, not enough intuitively.
With the development of photoelectric technology and the emergence of various novel monitor camera components, in recent years, water
Lower camera system has become the eyes in exploitation waters, is widely used in water resources development and utilization field.With virtual existing
Real technology it is hot, the development of panorama industry is also become better and better, and is also answered with 360 degree of underwater panoramic shooting systems of water-proof function
It transports and gives birth to, underwater panoramic shooting system is small with its, mobility strong and the advantages such as at low cost become research hotspot, underwater panorama
The practical significance of camera system research application gradually highlights.
Currently, underwater panoramic shooting system moves under water, the investigation observation of resource, the shoal of fish in marine civil engineering, water
Detection, the supervision of rivers and reservoir dam and the fields such as inspect periodically of other submerged structure facilities all have a wide range of applications
Foreground.The underwater panoramic camera Boxfish 360 of profession of Boxfish Research publications, uses Panasonic M4/3 sensings
Device is equipped with 6 MicroSD card slots, can shoot 5K ultra high-definition videos, has the water resistance of 300m, but price is high
It is expensive, about 100,000 RMB.The underwater panoramic shooting system of non-profit-making research and development authority American Battelle companies
HorizonVue is used in combination with remote-controlled vehicle, supports the shooting operation of thousands of meters of the water surface or less, and have 360 degree of panoramas
Shooting function, work capacity are equivalent to past 6-9 platforms video camera.There is the system, the operating personnel of remote-controlled vehicle are just
Stronger context-aware can be obtained, to complete each task more efficient, high-qualityly, but the underwater panoramic shooting system is just
Often work be unable to do without the remote control of operating personnel, can not achieve autonomous shooting and independently makes a return voyage, significantly limits system application model
It encloses.Research and develop the underwater panoramic shooting system with autonomous ability has huge reality to further developing and using water resource
Border application value.
Invention content
The utility model in view of the deficiencies of the prior art, provides a kind of shallow water autonomous formula panoramic shooting system.
The utility model includes panorama camera, control stored drive circuit, battery case, left propeller and right propeller.
The panorama camera is for shooting underwater panoramic information.The control stored drive circuit is for acquiring and storing panorama
Video data captured by camera, acquisition shallow water camera system current position and posture information, control propeller are realized in advance
Positioning is set to image with track.The battery case is used for sealed cell, and accumulator provides the work of shallow water camera shooting whole system
Power supply.The left and right propeller moves for realizing the position of shallow water autonomous formula panoramic shooting system.
Stored drive circuit is controlled by embeded processor circuit, massive store circuit, time delay relay circuit, battery
Voltage conversion circuit, impeller driven circuit and posture position sensor composition.Accumulator in battery case becomes with cell voltage
Circuit power connection is changed, cell voltage translation circuit is connect with time delay relay circuit power supply；Time delay relay circuit and panorama
Camera, embeded processor circuit, impeller driven circuit and posture position sensor circuit, massive store circuit connect
It connects, maintains the power supply of system modules；Embeded processor circuit and panorama camera, massive store circuit, posture position
Sensor is set to connect with impeller driven circuit signal；Impeller driven circuit is connect with left propeller and right propeller.
The panorama camera uses the underwater panoramic shooting video cameras of 360Fly of 360 companies of U.S. EyeSee, described
Left propeller and right propeller using Canada Seamor companies 150W grade ROV propellers.
Compared to other background technologies, there is provided a kind of underwater autonomous formula panoramas for the useful supplement of the utility model
Camera system has the characteristics that：（1）Underwater 360 degree of panoramic shootings can be achieved；（2）Underwater timing fixed length shooting can be achieved；
（3）With autonomous ability, can be imaged in wide range.
Description of the drawings
Fig. 1 is the complete machine structure schematic diagram of the utility model.
Fig. 2 is the control stored drive circuit schematic diagram of the utility model.
Specific implementation mode
The utility model provides a kind of shallow water type autonomous formula panoramic shooting system, it can be achieved that underwater 360 degree of panoramas
Camera shooting, user can predetermined shooting interval and shooting duration of video, have autonomous ability and massive store ability, can be in larger model
In enclosing panoramic shooting is carried out by setting path locus.Shallow water type autonomous formula panoramic shooting system is according to the shooting of user preset
Acquisition parameters, the time delay relay circuit such as interval and shooting duration of video, cruise route periodically switch on power circuit, provide system each mould
Electric energy needed for block work, obtain it is electric after embeded processor circuit shooting instruction is sent to panoramic camera by USB interface, start
Panoramic camera is shot, and acquires photographed data deposit massive store circuit.Acquire posture position sensor number simultaneously
According to calculation processing is carried out, according to preset shooting track, generates impeller driven and instruct to driving circuit is pushed in, to drive
Rotating forward, reversion, acceleration, the deceleration of left propeller and right propeller, realize autonomous pan-shot.When default shooting duration of video terminates
When, time delay relay circuit is normally opened, makes a return voyage for system and provides working power, embeded processor circuit is according to the initial bit to prestore
The system current location information that confidence breath, posture position sensor acquire calculates generation control instruction and gives impeller driven circuit
Left and right propeller, realization system is driven to make a return voyage.
The utility model is related to shallow water autonomous formula panoramic shooting system complete machine structure as shown in Figure 1, shallow water from
Main movable type panoramic shooting system is designed as the underwater autonomous robot of a type（AUV）Structure, front hemispherical glass are top
Sealed compartment, built-in panorama camera 1, control stored drive circuit 2, battery case 3, drive circuit, rear portion be left propeller
4-1 and right propeller 4-2.Battery case is used for sealed cell, and accumulator provides the working power of shallow water camera shooting whole system.Entirely
Scape camera is photographed for shooting underwater panoramic information using the underwater panoramic shootings of the 360Fly of 360 companies of U.S. EyeSee
Machine, visual angle is wide, and compatibility is strong, and water resistance is good, by the storage battery power supply in battery case.Control stored drive circuit is for acquiring
Current position and posture information, control push away with the video data captured by storage panorama camera, acquisition shallow water camera system
Realize that precalculated position is imaged with track into device, by the storage battery power supply in battery case.Left and right propeller is autonomous for realizing shallow water
The position of mobile panoramic shooting system is moved, using the 150W grade ROV propellers of Canadian Seamor companies, certainly due to shallow water
Main movable type panoramic shooting system is designed to neutral buoyancy ontology, so the different control modes by left and right propeller can be real
The operations such as now advance, retrogressing, left-hand rotation, right-hand rotation.
Control stored drive circuit involved in the utility model is as shown in Fig. 2, mainly by embeded processor circuit, big
Capacity storage circuit, time delay relay circuit, cell voltage translation circuit, impeller driven circuit and posture position sensor group
At.Accumulator in battery case is connect with cell voltage translation circuit power supply, cell voltage translation circuit and time-delay relay electricity
The connection of road power supply, time delay relay circuit are the core apparatus of entire control stored drive circuit, with panorama camera, embedded
Processor circuit, massive store circuit, impeller driven circuit are connected with position sensor circuit power supply, are responsible for whole system
The timing of power supply is cut-off, and safeguards the normal operation of whole system.Embeded processor circuit and panorama camera, massive store
Circuit, posture position sensor are connected with impeller driven circuit signal.The embeded processor circuit, massive store
Circuit, time delay relay circuit, cell voltage translation circuit, impeller driven circuit and posture position sensor are independent development
Circuit.
The embeded processor circuit mainly by USB interface, sends shooting control instruction to video camera, and acquire
The camera shooting information of panorama camera, then stores data into massive store circuit.It receives and is passed from posture position simultaneously
The system location information of sensor acquisition is simultaneously calculated, and exporting control signal according to result of calculation gives impeller driven circuit drives
Left and right propeller adjusts system position.Embeded processor circuit prestores shooting time and initial placement position information, works as shooting
At the end of time, embeded processor circuit is according to the posture location information of the initial position message and acquisition to prestore, life
At impeller driven circuit control order-driven propeller, realization is maked a return voyage.Embeded processor circuit is mainly by the height of NXP companies
The low-power-consumption embedded CPU IMAX6ull of performance are constituted.
The massive store circuit is mainly responsible for the camera shooting information of storage panoramic camera.Massive store circuit is adopted
With the farsighted solid state disk up to 2.5 inches of MX500 of Crucial English, there is the up to hard-disk capacity of 2TB, a large amount of numbers can be stored
According to can ensure that enough memory spaces needed for system longtime running.Function admirable simultaneously there is dynamic write-in to accelerate, integrated form
Functions, the property easy for installation such as power-off protection, exclusive data protection are cost-effective.
The posture position sensor is mainly responsible for acquisition system posture information and passes to embeded processor circuit.
Posture position sensor is mainly strapdown inertial navigation system（Strapdown Inertial Navigation System,
SINS）, Doppler anemometer（Doppler Velocity Logger, DVL）, depth transducer composition multisensor system
System, the motion monitoring being suitble under various water conditions, precision is high, and dependable performance is durable.
The impeller driven circuit is connect with left propeller and right propeller power supply, is received and is come from embeded processor
The control signal of circuit realizes that the positive and negative rotation of left propeller and right propeller and rotating speed control according to this control signal.Propeller
Driving circuit mainly uses the DBL-1230N parameters of HDB Motor that economical motor driver can be arranged, and built-in speed by PID closes
Ring adjuster can be applied to different working modes, and carry temperature sensor, effectively can carry out overheating protection to driver,
It is reliable and stable.
The time delay relay circuit is mainly made of timing chip and power supply relay, default more by timing chip
The group shooting duration, be independently switched on or switched off power circuit according to the preset shooting duration is to start or close
System.At the end of preset shooting time, time delay relay circuit is normally opened, powers to systems stay, and it is required to ensure that system is maked a return voyage
Working power.
The cell voltage translation circuit is mainly the circuit for being depressured chip composition, and cell voltage is transformed into Multi-path electricity
Grade is pressed, is used for each circuit module of system.Cell voltage translation circuit by accumulator 24V direct currents be converted into 24V, 5V,
3.3V direct current.
The course of work of system involved by the utility model is as follows：
（1）Before shallow water autonomous formula panoramic shooting system use, planned first cruise route, return route,
The running parameters such as shooting duration of video, shooting interval are led by the setting interface of embeded processor circuit and time delay relay circuit
Enter these parameters.
（2）The clump weight of selection system so that shallow water autonomous formula panoramic shooting system can remain suspended in predetermined
Depth of water environment in.
（3）Shallow water autonomous formula panoramic shooting system implements predetermined cruise and return route, makes a reservation for the shooting period, is predetermined
The underwater pan-shot of shooting duration of video, and panoramic shooting data are recorded in massive store circuit.
（4）It after shallow water autonomous formula panoramic shooting system completes predetermined panoramic shooting task, is salvaged, leads to by user
The camera shooting export interface for crossing embeded processor circuit exports the underwater panoramic shooting data of storage record.
（5）Shallow water autonomous formula panoramic shooting system use finishes.
The technical parameter of shallow water autonomous formula panoramic shooting system described in the utility model is as follows：
（1）Shoot the visual field：Horizontal 360-degree and 240 degree vertical；
（2）Shooting frame rate：30fps；
（3）Shoot resolution ratio：1500 × 1500 pixels；
（4）50 meters of shallow water pressure resistance；
（5）Propeller power：150W ；
（6）Sealing means：Sealing double containment；
（7）Maximum travel speed：1 section.
To sum up, the utility model is related to shallow water autonomous formula panoramic shooting system can not only realize underwater 360 degree it is complete
Scape images, and can shoot the parameters such as track, shooting interval and shooting duration of video by parameter setting, realizes the underwater of autonomous
Timing fixed length is shot, and strong technical support is provided for the further utilization of water resource.
Claims (2)
1. shallow water autonomous formula panoramic shooting system, including panorama camera, control stored drive circuit, battery case, a left side push away
Into device and right propeller, it is characterised in that：
The panorama camera is for shooting underwater panoramic information；
The control stored drive circuit is used to acquire and store video data, acquisition shallow water captured by panorama camera and takes the photograph
As the current position of system and posture information, control propeller realize that precalculated position and track image；
The battery case is used for sealed cell, and accumulator provides the working power of shallow water camera shooting whole system；
The left propeller and right propeller move for realizing the position of shallow water autonomous formula panoramic shooting system；
The control stored drive circuit is by embeded processor circuit, massive store circuit, time delay relay circuit, electricity
Cell voltage translation circuit, impeller driven circuit and posture position sensor composition；
Accumulator in battery case is connect with cell voltage translation circuit power supply, cell voltage translation circuit and time-delay relay electricity
Road power supply connection；Time delay relay circuit and panorama camera, embeded processor circuit, impeller driven circuit and posture position
Sensor circuit, the connection of massive store circuit are set, the power supply of system modules is maintained；Embeded processor circuit and panorama
Camera, massive store circuit, posture position sensor are connected with impeller driven circuit signal；Impeller driven circuit with
Left propeller is connected with right propeller.
2. shallow water autonomous formula panoramic shooting system according to claim 1, it is characterised in that：
The panorama camera uses the underwater panoramic shooting video cameras of 360Fly of 360 companies of U.S. EyeSee, the left side
Propeller and right propeller use the 150W grade ROV propellers of Seamor companies of Canada.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820410028.6U CN208015855U (en) | 2018-03-26 | 2018-03-26 | Shallow water autonomous formula panoramic shooting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820410028.6U CN208015855U (en) | 2018-03-26 | 2018-03-26 | Shallow water autonomous formula panoramic shooting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208015855U true CN208015855U (en) | 2018-10-26 |
Family
ID=63890464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820410028.6U Expired - Fee Related CN208015855U (en) | 2018-03-26 | 2018-03-26 | Shallow water autonomous formula panoramic shooting system |
Country Status (1)
| Country | Link |
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| CN (1) | CN208015855U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110745220A (en) * | 2019-11-07 | 2020-02-04 | 江苏科技大学 | Microminiature underwater robot with power-off protection function and power-off control method |
-
2018
- 2018-03-26 CN CN201820410028.6U patent/CN208015855U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110745220A (en) * | 2019-11-07 | 2020-02-04 | 江苏科技大学 | Microminiature underwater robot with power-off protection function and power-off control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181026 Termination date: 20210326 |
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| CF01 | Termination of patent right due to non-payment of annual fee |