CN210465998U - Panoramic imaging device for underwater tour robot - Google Patents
Panoramic imaging device for underwater tour robot Download PDFInfo
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- CN210465998U CN210465998U CN201921982846.4U CN201921982846U CN210465998U CN 210465998 U CN210465998 U CN 210465998U CN 201921982846 U CN201921982846 U CN 201921982846U CN 210465998 U CN210465998 U CN 210465998U
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- image processing
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Abstract
The utility model discloses an underwater tour robot panorama imaging device, including PMKD, braced frame, waterproof translucent cover, group battery, image processing system module, camera and camera headstock, braced frame is fixed to be set up on PMKD, waterproof translucent cover is covering braced frame to constitute an airtight waterproof space with PMKD, PMKD is last to be fixed and is set up group battery and image processing system module, the fixed eight camera headstock that set up according to certain regular spread in braced frame top, every camera headstock is last to be fixed to set up a wide angle camera, the positive field of vision center pin of wide angle camera is 30 jiaos with the plane of braced frame top. The utility model discloses can 300 formation of image of ball circumference to according to two mesh range finding principles, obtain the distance information such as size of the target of interest, very big increase visual scope, and the ability of acquireing information, the utility model discloses a modular structure, the application is nimble convenient.
Description
Technical Field
The utility model belongs to the technical field of underwater robot vision technique and specifically relates to a tour robot panorama imaging device under water is related to.
Background
At present, the imaging devices of underwater tour robots are mostly installed at the front part of a cabin body and are subjected to the number of cameras and the small reason of the wide angle range of a single camera, so that the underwater imaging view is narrow, the surrounding environment is difficult to take into account, and the operation capacity is greatly limited.
For example, a no-cable underwater tour robot is disclosed in 2019, 9, 10 days of China with the bulletin number CN209366428U at Zhengzhou university. The fisheye-camera adjusting cabin comprises a cabin body, wherein a driving module and an image acquisition module are arranged on the cabin body, the image acquisition module comprises a camera support arranged on the front lower portion of the cabin body, a front fisheye camera and a lower fisheye camera are respectively arranged on the front portion and the lower portion of the camera support, and an adjusting mechanism used for driving the camera support to swing along the front-back direction so as to adjust the angle between the front fisheye camera and the lower fisheye camera is further arranged on the cabin body. The fisheye cameras are arranged on the front portion and the lower portion of the same camera support respectively, the camera covering angle is adjusted by adjusting the angle of the camera support, and compared with the mode that the posture of the robot needs to be adjusted in the prior art, the adjusting structure is very simple, and the adjusting efficiency is improved remarkably. The utility model has the advantages of large camera angle and convenient coverage adjustment.
The special benefit for China with publication number CN108750045A in 2018, 11.6 discloses a modular underwater robot, wherein an electric reel and a signal repeater are arranged inside a floating ball; one end of the data cable extends into the floating ball and then is wound on the electric reel; one end of the data cable extending into the floating ball is communicated with the signal repeater; the power module, the underwater mechanical arm group, the walking mechanism and the propelling mechanism are all connected on the main control module; the waterproof sealed cabin is arranged inside the protective cover; the panoramic camera device is fixed on the protective cover; the traveling mechanism is fixed at the bottom of the protective cover; the propelling mechanism is fixed outside the waterproof sealed cabin; the propulsion mechanism is arranged inside the protective cover. When the underwater robot with the structure is used, the means of exploring the deep sea by human beings are enriched, the difficulty of exploring the sea area by the human beings is reduced, and each structure is modularized, and each module can be freely combined for use according to different use purposes, so that the underwater robot is more flexible to use.
The underwater tour robot imaging device disclosed by the patent is installed at the front part of the cabin body, the front is seen intelligently, the visual field is narrow, and the underwater information acquisition capability is weak.
SUMMERY OF THE UTILITY MODEL
The utility model provides a tour robot panorama image device under water can 300 formation of image of ball circumference to according to two mesh range finding principles, obtain the distance information such as size of the target of interest, very big increase visual scope, and the ability of acquireing information, the utility model discloses a modular structure, the application is nimble convenient.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a panoramic imaging device of an underwater tour robot is of a modular structure and comprises a fixed base plate, a supporting frame, a waterproof transparent cover, a battery pack, an image processing system module, a camera and a camera seat, wherein the supporting frame is fixedly arranged on the fixed base plate, the waterproof transparent cover covers the supporting frame and forms a sealed waterproof space with the fixed base plate, the top plane of the supporting frame is parallel to the fixed base plate, the battery pack and the image processing system module are fixedly arranged on the fixed base plate, the battery pack and the image processing system module are positioned in the supporting frame, eight grooves which are arranged according to a certain rule are formed in the top of the supporting frame, the camera seat is fixedly arranged in each groove, a wide-angle camera is fixedly arranged on each camera seat, and the forward view center axis of the wide-angle camera and the plane of the top of the supporting frame form an angle of 30 degrees, the braced frame top is provided with a plurality of round holes for electric wire and video line pass, the group battery passes through the electric wire to be connected with image processing system module and wide angle camera, provides the power, image processing system module passes through the video line and is connected with wide angle camera.
Furthermore, a waterproof plug hole is formed in the position, close to the image processing system module, of the waterproof transparent cover, and a waterproof sealing data plug is installed in the waterproof plug hole and used for transmitting data to the outside.
Further, the waterproof sealing data plug is electrically connected with the battery pack and the image processing system module.
Further, the waterproof transparent cover is made of pressure-resistant organic glass.
Further, the wide-angle camera is a 180-degree wide-angle camera.
Furthermore, the number of the round holes is 2-4.
Further, the last screw hole that sets up of PMKD, the screw hole sets up in the outside of waterproof translucent cover, is used for with the utility model discloses a device is fixed on the robot that patrols under water.
The utility model discloses an underwater tour robot panorama imaging device, sealed into a modular device by PMKD and transparent buckler, install easily on the underwater tour robot, eight wide angle cameras jointly get for instance, and handle and integrate data at image processing system module, the picture scope that obtains covers ball circumference 300, only 60 centrum space can't cover, its field of vision and its broadness, the ability reinforce of information acquisition, and simultaneously, because the image that two adjacent wide angle cameras shot has the place of overlapping, consequently, usable two mesh range finding principles, obtain the information such as distance size of the target of interest, help the underwater tour robot to accomplish the task.
The utility model has the advantages that:
1. the utility model discloses a tour robot panorama imaging device under water, for the modularization setting, can fix on the tour robot under water through the screw to can select one or two of installation according to the task of tour robot under water the utility model discloses a device, it is simple convenient to install, and the application is nimble convenient.
2. The utility model discloses a panoramic imaging device of robot patrols underwater, single device just can obtain ball circumference 300 images to utilize two mesh range finding principles, obtain the information such as the distance size of the target of interest, the effectual acquisition ability that improves the information.
3. The utility model discloses a tour robot panorama image device under water can also install on current tour robot under water, installs at current tour robot image device's under water back, lets current tour robot under water obtain 360 panoramic visual ability of ball circumference, realizes that the panorama covers.
Drawings
Fig. 1 is a perspective view of the utility model installed on an underwater tour robot.
Fig. 2 is a front view of the utility model installed on an underwater tour robot.
Fig. 3 is a perspective view of the present invention.
Fig. 4 is a cross-sectional view a-a of the present invention installed on an underwater tour robot.
Fig. 5 is a cross-sectional view of the underwater tour robot of the utility model, which is installed on the underwater tour robot.
Fig. 6 is a C-C sectional view of the present invention installed on an underwater tour robot.
Fig. 7 is the utility model discloses install on a tour robot under water, get rid of waterproof translucent cover back elevation.
In the figure: the method comprises the following steps of 1-fixing a bottom plate, 2-waterproof transparent covers, 3-waterproof sealing data plugs, 4-supporting frames, 5-camera bases, 6-wide-angle cameras, 7-battery packs, 8-image processing system modules, 11-screw holes, 21-waterproof plug holes, 41-round holes and 42-grooves.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, in this implementation, one the utility model discloses a device is fixed on an underwater tour robot, obtains ball circumference 300 field of vision images, underwater tour robot is frame-type formula robot, and the lower part is the support frame, is provided with 6 propellers all around, and the centre is group battery and total accuse center storehouse, is provided with on the total accuse center storehouse and wears the sealed data plug in storehouse, will underwater tour robot through the data line with the utility model discloses a device links together, realizes the exchange and the processing of information.
As shown in fig. 2-7, a panoramic imaging device for an underwater tour robot is a modular structure, and includes a fixed base plate 1, a supporting frame 4, a waterproof transparent cover 2, a battery pack 7, an image processing system module 8, a camera 6 and a camera head seat 5, wherein the supporting frame 4 is fixedly disposed on the fixed base plate 1, the waterproof transparent cover 2 covers the supporting frame and forms a sealed and waterproof space with the fixed base plate 1, the waterproof transparent cover 2 is made of pressure-resistant organic glass, the top plane of the supporting frame 4 is parallel to the fixed base plate 1, the battery pack 7 and the image processing system module 8 are fixedly disposed on the fixed base plate 1, the battery pack 7 and the image processing system module 8 are disposed in the supporting frame 4, eight grooves 42 are formed on the top of the supporting frame 4 and arranged according to a certain rule, the camera head seat 5 is fixedly disposed in the grooves 42, every camera head seat 5 is gone up to fix and is set up a 180 wide-angle camera 6, the straight visual field center pin of wide-angle camera 6 is 30 jiaos with 4 top planes of braced frame, 4 tops of braced frame are provided with 4 round holes 41 for electric wire and video line pass, group battery 7 passes through the electric wire and is connected with image processing system module 8 and wide-angle camera 6, provides the power, image processing system module 8 passes through the video line and is connected with wide-angle camera 6.
Waterproof translucent cover 2 is opened in the position that is close to the image processing system module has waterproof plug hole 21, installs waterproof sealing data plug 3 on the waterproof plug hole 21, 3 electricity connection group battery 7 and image processing system module 8 of waterproof sealing data plug for with data transmission for external, state PMKD 1 and go up and set up screw hole 11, screw hole 11 sets up in the outside of waterproof translucent cover 2, be used for with the utility model discloses a device is fixed on patrolling the robot under water.
The utility model discloses an underwater tour robot panorama imaging device, sealed into a modularization device by PMKD 1 and transparent buckler 2, install easily on the underwater tour robot, eight wide angle cameras 6 jointly get for instance, and handle and integrate data at image processing system module 8, the picture scope that obtains covers ball circumference 300, only the centrum space of 60 can't cover, its field of vision and its width, the ability reinforce of information acquisition, and simultaneously, because the image that 6 adjacent two wide angle cameras were shot has the place of overlapping, consequently, usable two mesh range finding principle, obtain the distance size isoinformation of the target of interest, help the underwater tour robot to accomplish the task.
Example two:
in this embodiment, two the utility model discloses a device is fixed on a tour robot under water, obtains 360 field of vision images of ball circumference, the panorama field of vision promptly, tour robot under water is frame-type formula robot, two on the upper portion and the lower part fixed mounting of robot the utility model discloses a device is provided with 6 propellers all around, and the centre is group battery and total accuse central storehouse, is provided with on the total accuse central storehouse and wears the sealed data plug in storehouse, will tour robot under water through the data line with the utility model discloses a device links together, realizes the exchange and the processing of information.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent replacements made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. The utility model provides an underwater tour robot panorama image device, is modular structure, its characterized in that: comprises a fixed base plate (1), a supporting frame (4), a waterproof transparent cover (2), a battery pack (7), an image processing system module (8), a camera (6) and a camera head seat (5), wherein the supporting frame (4) is fixedly arranged on the fixed base plate (1), the waterproof transparent cover (2) covers the supporting frame and forms a sealed waterproof space with the fixed base plate (1), the top plane of the supporting frame (4) is parallel to the fixed base plate (1), the fixed base plate (1) is fixedly provided with the battery pack (7) and the image processing system module (8), the battery pack (7) and the image processing system module (8) are positioned in the supporting frame (4), the top of the supporting frame (4) is provided with eight grooves (42) which are arranged according to a certain rule, the camera head seat (5) is fixedly arranged in the grooves (42), fix on every camera head seat (5) and set up a wide angle camera (6), wide angle camera (6) forward field of vision center pin is 30 jiaos with braced frame (4) top plane, braced frame (4) top is provided with a plurality of round holes (41) for electric wire and video line pass, group battery (7) are connected through electric wire and image processing system module (8) and wide angle camera (6), provide the power, image processing system module (8) are connected with wide angle camera (6) through the video line.
2. The panoramic imaging device for the underwater tour robot as claimed in claim 1, wherein: the waterproof transparent cover (2) is provided with a waterproof plug hole (21) at a position close to the image processing system module (8), and a waterproof sealing data plug (3) is arranged on the waterproof plug hole (21).
3. The panoramic imaging device for the underwater tour robot as claimed in claim 2, wherein: the waterproof sealing data plug (3) is electrically connected with the battery pack (7) and the image processing system module (8).
4. The panoramic imaging device for the underwater tour robot as claimed in claim 1, wherein: the waterproof transparent cover (2) is made of pressure-resistant organic glass.
5. The panoramic imaging device for the underwater tour robot as claimed in claim 1, wherein: the wide-angle camera (6) is a 180-degree wide-angle camera.
6. The panoramic imaging device for the underwater tour robot as claimed in claim 1, wherein: the number of the round holes (41) is 2-4.
7. The panoramic imaging device for the underwater tour robot as claimed in claim 1, wherein: set up screw hole (11) on PMKD (1), screw hole (11) set up the outside at waterproof translucent cover (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921982846.4U CN210465998U (en) | 2019-11-18 | 2019-11-18 | Panoramic imaging device for underwater tour robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921982846.4U CN210465998U (en) | 2019-11-18 | 2019-11-18 | Panoramic imaging device for underwater tour robot |
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| Publication Number | Publication Date |
|---|---|
| CN210465998U true CN210465998U (en) | 2020-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921982846.4U Expired - Fee Related CN210465998U (en) | 2019-11-18 | 2019-11-18 | Panoramic imaging device for underwater tour robot |
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| Country | Link |
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| CN (1) | CN210465998U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114125248A (en) * | 2021-12-10 | 2022-03-01 | 深圳供电局有限公司 | Panoramic inspection robot |
-
2019
- 2019-11-18 CN CN201921982846.4U patent/CN210465998U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114125248A (en) * | 2021-12-10 | 2022-03-01 | 深圳供电局有限公司 | Panoramic inspection robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200505 Termination date: 20201118 |
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| CF01 | Termination of patent right due to non-payment of annual fee |