CN223786135U - underwater camera - Google Patents

Abstract

This application belongs to the field of underwater camera technology, and particularly relates to an underwater camera, which includes a camera, a housing, a drive motion module, and an inertia balancing drive. The housing includes a first housing, a rotating shaft, and a second housing. One end of the rotating shaft is fixedly connected to the first housing, and the other end of the rotating shaft is rotatably connected to the second housing. The camera is mounted on the first housing. The drive motion module includes a pitch drive and a rotation drive. The pitch drive is mounted on the first housing and is used to drive the camera to rotate around a first axis, which is perpendicular to the axis of the rotating shaft. The rotation drive is mounted on the second housing and is used to drive the rotating shaft to rotate around its own axis. The inertia balancing drive is mounted on the second housing and has a flywheel inside. The inertia balancing drive is used to drive the flywheel to rotate, thereby balancing the rotational inertia caused by the movement of the camera and reducing the shaking of the underwater camera.

Description

Underwater camera

Technical Field

The application belongs to the technical field of underwater camera shooting, and particularly relates to an underwater camera.

Background

In the overhaul of equipment in a nuclear power station pond, the equipment is usually observed by using an underwater camera, in the actual operation process, an operator can continuously adjust the pitching angle and the rotating angle of the camera according to the observation requirement, in order to ensure that the underwater camera obtains a stable picture, the underwater camera is usually arranged on a fixed long rod, the influence of the shaking of the underwater camera on the picture is reduced, but the complexity of the use of the equipment is increased, if the underwater camera is directly put into water, the underwater camera swings when pitching adjustment and rotation are carried out, and the picture quality obtained by the underwater camera is influenced, so that the use complexity and the picture quality of the equipment are considered better.

Disclosure of utility model

The application aims to provide an underwater camera which can be well compatible with the use complexity and picture quality of equipment.

The underwater camera comprises a camera, a shell, a driving motion module and an inertia balance driving piece, wherein the shell comprises a first shell, a rotating shaft and a second shell, one end of the rotating shaft is fixedly connected with the first shell, the other end of the rotating shaft is rotationally connected with the second shell, the camera is arranged on the first shell, the driving motion module comprises a pitching driving piece and a rotating driving piece, the pitching driving piece is arranged on the first shell and is connected with the camera, the pitching driving piece is used for driving the camera to rotate around a first axis, the first axis is perpendicular to the axis of the rotating shaft, the rotating driving piece is arranged on the second shell and is connected with the rotating shaft, the rotating driving piece is used for driving the rotating shaft to rotate around the axis of the inertia balance driving piece is arranged on the second shell, and a flywheel is arranged in the balance driving piece and is used for driving the flywheel to rotate so as to balance the rotational inertia caused by the motion of the camera.

Optionally, the flywheel is a non-uniform mass flywheel.

Optionally, the inertia balance driving piece is a hollow motor, and the hollow motor is sleeved outside the rotating shaft.

Optionally, the underwater camera further comprises a detection module, the detection module is mounted on the shell and used for detecting operation information of the underwater camera, and the detection module is electrically connected with the inertia balance driving piece.

Optionally, the detection module includes a gyroscope and an acceleration sensor mounted to the housing, each of which is electrically connected to the inertia balance driver.

Optionally, the underwater camera further comprises a wireless receiving and transmitting module, and the camera, the pitching driving piece, the rotation driving piece and the inertia balance driving piece are all electrically connected with the wireless receiving and transmitting module.

Optionally, the housing further includes a connection ring, the connection ring is sleeved at an end of the second housing facing the first housing, and a portion of the second housing is located in the connection ring.

Optionally, the first casing includes main part and two connecting portions, and the one end of main part is connected with the pivot, and the other end of main part is connected with two connecting portions, and two connecting portions set up along the extending direction interval of first axis, and the camera is located between two connecting portions, and the both ends of camera rotate with two connecting portions respectively and are connected.

Optionally, the main body part is of a cylindrical structure, the surfaces of the two connecting parts facing away from the camera are cylindrical cambered surfaces, and/or the second shell is of a cylindrical structure.

Optionally, an end of the second housing facing away from the second housing is provided with a cable connector for connection with a flexible cable.

The underwater camera has at least one of the following technical effects that when the underwater camera is used, the pitching driving piece and the rotating driving piece drive the camera to perform pitching motion and rotating motion, in the process, the inertia balance driving piece drives the flywheel to rotate, and the moment of inertia generated by rotation of the flywheel is utilized to offset the moment of inertia caused by pitching motion and rotating motion of the camera, so that shaking of the camera is reduced, the quality of an image acquired by the camera is improved, and the shooting effect of the underwater camera is improved.

The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of an underwater camera according to some embodiments of the present application.

Fig. 2 is a schematic diagram of a second structure of the underwater camera shown in fig. 1.

Fig. 3 is a cross-sectional view taken along line A-A in fig. 2.

Fig. 4 is a schematic structural diagram of a hollow motor according to some embodiments of the present application.

Wherein, each reference sign in the figure:

100. The underwater camera comprises a camera body, a camera head, a camera 11, a connecting shaft, a housing 20, a housing 21, a first housing 211, a main body part 212, a connecting part 2121, a mounting hole 22, a rotating shaft 23, a second housing 231, a cable connector 232, a rotating hole 24, a connecting ring 30, a driving motion module 31, a pitching driving piece 32, a rotating driving piece 33, a first transmission assembly 40, an inertia balance driving piece 41, a hollow motor 411, a housing 412, a rotating shaft 4121, a center hole 413, a stator 414, a rotor 415, a flywheel 50, a detection module 51, a gyroscope 52, an acceleration sensor 60, a circuit board 61 and a wireless receiving and transmitting module.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In the description of embodiments of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.

In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, directly connected, indirectly connected via an intermediate medium, and may be in communication with each other between two elements or in an interaction relationship between two elements, unless otherwise explicitly specified. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present application, it should be understood that the terms "inner", "outer", "side", "upper", "bottom", "front", "rear", and the like indicate orientations or positional relationships merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.

In the description of the present application, it should be noted that the term "and/or" is merely an association relationship describing the association object, and means that three relationships may exist, for example, a and/or B, and that three cases, i.e., a exists alone, a exists together with B, and B exists alone.

It should be further noted that, in the embodiments of the present application, the same reference numerals denote the same components or the same parts, and for the same parts in the embodiments of the present application, reference numerals may be given to only one of the parts or the parts in the drawings, and it should be understood that, for other same parts or parts, the reference numerals are equally applicable.

The underwater camera of the embodiment of the application can be applied to underwater, can be used for checking underwater components, can be used for shooting the underwater components to acquire the image information of the components, and can be used for observing the underwater conditions through the image information by personnel to determine the positions or the running conditions of the underwater components, so that the operation of personnel in water is reduced, and the convenience of operation is improved.

In some examples, the underwater camera can be used for detecting equipment in a pool of a nuclear power station or is matched with a pool wall cleaning device to realize the cleaning operation of the pool wall, and the underwater camera can be applied to engineering fields except the nuclear power station.

The underwater camera 100 according to the embodiment of the present application is described below with reference to fig. 1 to 4.

Referring to fig. 1-4, in some embodiments, an underwater camera 100 includes a camera 10, a housing 20, a driving motion module 30 and an inertia balance driving member 40, the housing 20 includes a first housing 21, a rotating shaft 22 and a second housing 23, one end of the rotating shaft 22 is fixedly connected with the first housing 21, the other end of the rotating shaft 22 is rotationally connected with the second housing 23, the camera 10 is mounted on the first housing 21, the driving motion module 30 includes a pitching driving member 31 and a rotation driving member 32, the pitching driving member 31 is mounted on the first housing 21, the pitching driving member 31 is connected with the camera 10, the pitching driving member 31 is used for driving the camera 10 to rotate around a first axis a, the first axis a is perpendicular to an axis B of the rotating shaft 22, the rotation driving member 32 is mounted on the second housing 23, the rotation driving member 32 is connected with the rotating shaft 22, the rotation driving member 32 is used for driving the rotating shaft 22 around its own axis, the inertia balance driving member 40 is mounted on the second housing 23, a flywheel 415 is disposed in the balance driving member 40 is used for driving the flywheel 415 to rotate, so as to balance the inertia caused by the movement of the camera 10.

The underwater camera 100 may be adapted to be underwater to acquire image information of an underwater component.

The camera 10 may refer to a component capable of acquiring image information, and the camera 10 may be a CCD camera, a CMOS camera, or the like. For example, a full-color camera module and auxiliary white light illumination are arranged in the camera 10, and the full-color camera module is controlled to zoom and focus to obtain a good observation image by controlling the illumination intensity of the auxiliary white light illumination.

The housing 20 may refer to a housing structure of the underwater camera 100, and the housing 20 protects components in the housing 20, thereby improving the reliability of the underwater camera 100.

The housing 20 includes a first housing 21, a rotating shaft 22, and a second housing 23, and the housing 20 is divided into two parts, wherein one part is the first housing 21, and the other second housing 23, the first housing 21 is fixedly connected with the rotating shaft 22, and the rotating shaft 22 is rotationally connected with the second housing 23, so that the second housing 23 can rotate around an axis B of the rotating shaft 22 relative to the first housing 21, thereby realizing the rotational movement of the camera 10. The first housing 21 and the rotating shaft 22 can be manufactured by adopting an integral molding mode such as integral injection molding, and the first housing 21 and the rotating shaft 22 can be fixedly connected together by means of screw connection, clamping connection, bonding and the like after being independently molded.

Illustratively, the second casing 23 is provided with a rotation hole 232, the rotation shaft 22 is arranged in the rotation hole 232 in a penetrating manner, the rotation shaft 22 is connected with the rotation hole 232 through a bearing and other components, the rotation shaft 22 rotates in the rotation hole 232, so that the relative rotation of the first casing 21 and the second casing 23 is realized, and in addition, a sealing structure (such as sealant, sealing ring and the like) is arranged between the rotation shaft 22 and the second casing 23, so that the waterproof performance of the underwater camera 100 is improved.

The driving motion module 30 may be a component for driving the camera 10 to move, where the camera 10 moves under the driving of the driving motion module 30, so as to improve the view field of the underwater camera 100, and the underwater camera 100 is more convenient and flexible to use.

The driving motion module 30 includes a pitch driving piece 31 and a rotation driving piece 32, and the first axis a may refer to a straight line perpendicular to the axis B of the rotation shaft 22, and the pitch driving piece 31 may refer to a member for driving the camera 10 to swing up and down in a state in which the rotation shaft 22 is vertically disposed. The first axis a may be a horizontal line, and the pitching driving member 31 drives the camera 10 to rotate around the first axis a, so as to drive the camera 10 to swing up and down, thereby adjusting the pitching angle of the camera 10. The pitching driving member 31 may be a motor, a cylinder, etc., and the pitching driving member 31 is installed in the first housing 21, and the pitching driving member 31 may transmit power to the camera 10 through the first transmission assembly 33, so as to drive the camera 10 to swing up and down. The first transmission assembly 33 may be a gear transmission assembly, a belt transmission assembly, or the like. Of course, the pitching driving member 31 may directly drive the camera 10 to swing up and down.

The rotation driving piece 32 may be a component for driving the camera 10 to rotate, the rotation driving piece 32 drives the rotating shaft 22 to rotate, the rotating shaft 22 drives the first shell 21 to rotate, and thus the camera 10 is driven to rotate, wherein the first axis a is perpendicular to the axis B of the rotating shaft 22, and then in a state that the axis B of the rotating shaft 22 is vertically arranged, the rotation driving piece 32 drives the camera 10 to rotate left and right, and the pitching driving piece 31 drives the camera 10 to swing up and down, so that the rotation of the camera 10 in two directions can be realized, and the visual field range of the camera 10 can be greatly improved. The rotation driving piece 32 can be a motor, a cylinder and the like, the rotation driving piece 32 is arranged in the second shell 23, and the rotation driving piece 32 can transmit power to the rotating shaft 22 through the second transmission assembly, so that the rotating shaft 22 is driven to rotate, and the camera 10 is driven to swing up and down. The second drive assembly may be a gear drive assembly, a belt drive assembly, or the like. Of course, the rotary driving member 32 may directly drive the rotary shaft 22 to rotate.

The inertia balance driving member 40 may refer to a moment of inertia caused by a pitching motion and a rotating motion of the camera 10, the inertia balance driving member 40 is mounted on the second housing 23, a flywheel 415 is disposed in the inertia balance driving member 40, the inertia balance driving member 40 is used for driving the flywheel 415 to rotate, the inertia balance driving member 40 drives the flywheel 415 to rotate, and a moment of inertia is generated, and the moment of inertia is utilized to offset the moment of inertia caused by the pitching motion and the rotating motion of the camera 10, so that the moment of inertia caused by the motion of the camera 10 is balanced, and shaking of the camera 10 is reduced. The inertia balance driving member 40 may be a motor, a cylinder, etc., the inertia balance driving member 40 is installed in the second housing 23, and the inertia balance driving member 40 may transmit power to the flywheel 415 through the third transmission assembly, so as to drive the flywheel 415 to rotate. The third drive assembly may be a gear drive assembly, a belt drive assembly, or the like. Of course, the inertia balance driver 40 may directly drive the flywheel 415 to rotate.

When the underwater camera 100 of the embodiment of the application is used, the pitching driving piece 31 and the rotating driving piece 32 drive the camera 10 to perform pitching motion and rotating motion, in the process, the inertia balance driving piece 40 drives the flywheel 415 to rotate, and the moment of inertia caused by pitching motion and rotating motion of the camera 10 is counteracted by the moment of inertia generated by the rotation of the flywheel 415, so that the shaking of the camera 10 is reduced, the quality of images acquired by the camera 10 is improved, and the shooting effect of the underwater camera 100 is improved; in addition, because the shake of shooting by the underwater camera 100 is small, the quality of the image acquired by the underwater camera 100 is good, so that the underwater camera 100 can be directly put into shooting, the underwater camera 100 does not need to be fixed by a rod piece, and the image quality of the underwater camera 100 and the convenience of equipment use can be well considered.

The underwater camera 100 of the embodiment of the application has pitching and rotating functions, can perform panoramic observation, and can effectively reduce image shake caused by pitching and rotating movements of the underwater camera 100 due to the design of the inertia balance driving piece 40, thereby improving the quality of observed images.

In some embodiments, flywheel 415 is a non-uniform mass flywheel.

A mass non-uniform flywheel may mean that the material of the flywheel 415 is not uniformly distributed, and illustratively, the flywheel 415 is located on one side of the output shaft of the inertia balance drive 40 with more material than the other side, such that the weight of the flywheel 415 on one side of the output shaft of the inertia balance drive 40 is greater than the weight on the other side.

By adopting the technical scheme of the embodiment, the inertia balance driving member 40 drives the mass uneven flywheel to rotate, and the moment of inertia generated by the mass uneven flywheel can better offset the moment of inertia caused by the pitching motion and the rotating motion of the camera 10, so that the shaking of the underwater camera 100 is further reduced.

In some embodiments, the inertia balance driving member 40 is a hollow motor 41, and the hollow motor 41 is sleeved outside the rotating shaft 22.

The inertia balance driving member 40 is a hollow motor 41, the hollow motor 41 is provided with a central hole 4121, the rotating shaft 22 is penetrated in the central hole 4121, and the rotating shaft 22 can freely rotate in the central hole 4121, so that the influence of the hollow motor 41 on the rotation of the rotating shaft 22 is reduced, for example, a bearing is installed between the rotating shaft 22 and the hole wall of the central hole 4121, or the rotating shaft 22 is in clearance fit with the central hole 4121.

The hollow motor 41 comprises a shell 411, a rotating shaft 412, a stator 413, a rotor 414 and a flywheel 415, wherein the rotating shaft 412, the stator 413, the rotor 414 and the flywheel 415 are arranged in the shell 411, a central hole 4121 extending through the rotating shaft 412 along the axial direction of the central hole is formed in the rotating shaft 412, one end of the rotating shaft 412 is fixedly provided with the flywheel 415 which is eccentrically arranged, the other end of the rotating shaft 412 is connected with the rotor 414, the stator 413 is arranged on the outer side of the rotor 414, the rotating shaft 412 is driven to rotate through interaction of the rotor 414 and the stator 413, and the flywheel 415 is driven to rotate, so that rotational inertia is generated, and rotational inertia caused by pitching motion and rotational motion of the camera 10 is offset by the rotational inertia.

By adopting the technical scheme of the embodiment, the hollow motor 41 is sleeved on the rotating shaft 22, and the direction of the rotational inertia generated by the operation of the hollow motor 41 and the direction of the rotational inertia generated by the rotation of the rotating shaft 22 driven by the rotation driving member 32 can be completely opposite or nearly opposite, so that the rotational inertia caused by the rotation of the camera 10 can be well balanced, and the shaking of the underwater camera 100 can be reduced.

In some embodiments, the underwater camera 100 further includes a detection module 50, the detection module 50 is mounted on the housing 20, the detection module 50 is used for detecting operation information of the underwater camera 100, and the detection module 50 is electrically connected with the inertia balance driver 40.

The detection module 50 is used for detecting motion information, such as angular velocity and acceleration, of the camera 10 during the motion process of the camera 10, and the detection module 50 obtains the motion information of the camera 10, and feeds back the motion information to the inertia balance driving member 40, so that the inertia balance driving member 40 can accurately drive the flywheel 415 to rotate according to the motion information, thereby better counteracting the moment of inertia caused by the pitching motion and the rotating motion of the camera 10, and reducing the shaking of the underwater camera 100.

In some embodiments, the detection module 50 includes a gyroscope 51 and an acceleration sensor 52 mounted to the housing 20, each of the gyroscope 51 and the acceleration sensor 52 being electrically connected to the inertia balance driver 40.

The gyroscope 51 is for detecting the angular velocity of the camera 10, and the gyroscope 51 is mounted in the first housing 21.

The acceleration sensor 52 is used for acquiring the acceleration of the camera 10, and the acceleration sensor 52 is disposed in the second housing 23 to acquire the rotational acceleration of the camera 10.

By adopting the technical scheme of the embodiment, the gyroscope 51 and the acceleration sensor 52 respectively acquire the angular velocity and the acceleration of the camera 10, the structure is simple, the accuracy of the detection result is good, and the follow-up accurate offset of the moment of inertia caused by the pitching motion and the rotating motion of the camera 10 is facilitated.

In some examples, the detection module 50 includes a circuit board 60, the gyroscope 51, the acceleration sensor 52 and the inertia balance driving member 40 are electrically connected through the circuit board 60, the inertia balance driving member 40 is a hollow motor 41, the circuit board 60 is provided with a control unit, the gyroscope 51 and the acceleration sensor 52 feed back acquired operation information of the camera 10 to the control unit, and the control unit controls the rotation speed and other information that the hollow motor 41 drives the flywheel 415 to rotate according to the feedback information, so that the moment of inertia generated by the flywheel 415 can accurately offset the moment of inertia caused by pitching motion and rotating motion of the camera 10. The control unit may be a PLC controller, and the circuit control among the circuit board 60, the control unit, the gyroscope 51, the acceleration sensor 52 and the hollow motor 41 is a relatively mature circuit control technology, which is not limited herein.

In some embodiments, the underwater camera 100 further includes a wireless receiving and transmitting module 61, and the camera 10, the tilt drive 31, the swivel drive 32, and the inertia balance drive 40 are all electrically connected to the wireless receiving and transmitting module 61.

The wireless receiving and transmitting module 61 may be a module capable of receiving information from an external device and transmitting information to the external device, and for example, a terminal device such as a mobile phone, a tablet, a computer, etc. transmits signals to the underwater camera 100 to control the pitching driving part 31 and the rotation driving part 32, thereby controlling the pitching motion and the rotation motion of the camera 10, and may also control the inertia balance driving part 40, thereby controlling the shaking of the underwater camera 100. The wireless receiving and transmitting module 61 can also feed back the image information acquired by the camera 10 to the terminal equipment, so that the operator can conveniently observe the underwater situation remotely. The terminal device communicates with the wireless receiving and transmitting module 61 housing by means of bluetooth or wifi, etc.

The wireless receiving and transmitting module 61 adopts high-frequency transmission and high-bandwidth design, and simultaneously adopts wireless reconnection technology, so that connection can be automatically performed within 10s when signals are recovered after transmission or reception is disconnected, and the wireless receiving and transmitting module 61 is a bidirectional channel encryption type, so that bidirectional data transmission and reception can be realized, and the system is safe and reliable.

For example, the wireless receiving and transmitting module 61 is disposed on the circuit board 60, and the wireless receiving and transmitting module 61 can be electrically connected with the image head, the pitching driving member 31, the rotation driving member 32 and the inertia balance driving member 40 through the circuit board 60, and the specific circuit connection is a relatively mature technology, which is not described herein.

By adopting the technical scheme of the embodiment, the wireless receiving and transmitting module 61 is used for wirelessly transmitting images and data, and an operator can remotely control the device when using on water.

Of course, in other embodiments, the underwater camera 100 may also be electrically connected to an external device through a wire (e.g., a cable, etc.) to control the use of the underwater camera 100.

In some embodiments, the housing 20 further includes a connection ring 24, and the connection ring 24 is sleeved on an end of the second housing 23 facing the first housing 21, and a portion of the second housing 23 is located in the connection ring 24.

The connecting ring 24 is sleeved at the end part of the second shell 23, the connecting ring 24 can be fixed on the second shell 23 in a clamping and screwing mode, the connecting ring 24 and the second shell 23 can be integrally formed, and one part of the second shell 23 stretches into the connecting ring 24, so that the connecting ring 24 can shield a gap between the first shell 21 and the second shell 23, can also play a protective role on the rotating shaft 22, and is beneficial to improving the use reliability of the underwater camera 100.

In some embodiments, the first housing 21 includes a main body 211 and two connection portions 212, one end of the main body 211 is connected with the rotating shaft 22, the other end of the main body 211 is connected with the two connection portions 212, the two connection portions 212 are arranged at intervals along the extending direction of the first axis a, the camera 10 is located between the two connection portions 212, and two ends of the camera 10 are respectively connected with the two connection portions 212 in a rotating manner.

The main part 211 and two connecting portions 212 form a U-shaped structure, the camera 10 is located in a space surrounded by the U-shaped structure, and two sides of the camera 10 are respectively connected with the two connecting portions 212 in a rotating mode, so that two sides of the camera 10 are supported, the installation reliability of the camera 10 is good, and the stability of the movement of the camera 10 is improved.

In some examples, the pitching driving member 31 is mounted in the main body 211, the two connecting portions 212 are provided with mounting holes 2121, and the two sides of the camera 10 are provided with connecting shafts 11, wherein the connecting shafts 11 are inserted into the mounting holes 2121, and the pitching driving member 31 drives the connecting shafts 11 to rotate in the mounting holes 2121, so as to drive the camera 10 to swing up and down.

In some embodiments, the main body 211 has a cylindrical structure, the surfaces of the two connecting portions 212 facing away from the camera 10 have cylindrical cambered surfaces, and/or the second housing 23 has a cylindrical structure.

In some examples, the main body 211 is in a cylindrical structure, the surfaces of the two connecting parts 212 facing away from the camera 10 are cylindrical cambered surfaces, the outer circumferential surfaces of the main body 211 are cylindrical surfaces, the surfaces of the two connecting parts 212 facing away from the camera 10 are cylindrical cambered surfaces, the first housing 21 integrally forms a cylindrical rotating body structure, and in the pitching motion and the rotating motion of the underwater camera 100, the rotational inertia generated by the cylindrical rotating body structure is small, so that the shaking of the underwater camera 100 is reduced.

Illustratively, the cylindrical surface is coaxial with the cylindrical arc surface and has the same radius, so that the first housing 21 integrally forms a cylindrical rotating body structure, the shape of the first housing 21 is more regular, the moment of inertia generated by the first housing 21 is smaller, and the shake of the underwater camera 100 is smaller.

In some examples, the second housing 23 has a cylindrical structure, and the moment of inertia generated by the cylindrical structure is small during the pitching motion and the rotating motion of the underwater camera 100, which is advantageous for reducing the shake of the underwater camera 100.

In some examples, the main body 211 has a cylindrical structure, the surfaces of the two connecting portions 212 facing away from the camera 10 are cylindrical cambered surfaces, and the second housing 23 has a cylindrical structure, so that the rotational inertia generated by the cylindrical structure is small, which is beneficial to reducing the shake of the underwater camera 100.

Illustratively, the second housing 23 and the main body 211 are coaxially disposed, so that the housing 20 has a more regular shape, which is advantageous for reducing moment of inertia generated by the underwater camera 100 and reducing shake of the underwater camera 100.

In some embodiments, the end of the second housing 23 facing away from the second housing 23 is provided with a cable connector 231 for connection with a flexible cable.

By adopting the technical scheme of the embodiment, the flexible cable can be directly connected with the underwater camera 100 through the cable connector 231, so that the underwater camera 100 can be conveniently used.

The underwater camera 100 and the flexible cable in the embodiment of the application are mutually matched for use, so that the device can control the observation direction of the underwater camera 100 according to the observation requirement, an operator can easily obtain the view angle and the observation point of the camera 10, the time for adjusting the device in the image observation process is effectively shortened, and the video image quality is improved.

The underwater camera 100 of the embodiment of the application can control the observation direction of the camera 10 according to the use requirement, and the structural design of the inertia balance driving piece 40 realizes the self-stabilization function, so that an operator can easily obtain the optimal observation angle, and meanwhile, the image stability performance is ensured, and the video image quality is improved.

The foregoing description of various embodiments is intended to highlight differences between the various embodiments, which may be the same or similar to each other by reference, and is not repeated herein for the sake of brevity.

It should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit the technical solution of the present application, and although the detailed description of the present application is given with reference to the above embodiments, it should be understood by those skilled in the art that the technical solution described in the above embodiments may be modified or some or all technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present application, and all the modifications or substitutions are included in the scope of the claims and the specification of the present application. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims (10)

1. An underwater camera, comprising:

A camera;

the shell comprises a first shell, a rotating shaft and a second shell, wherein one end of the rotating shaft is fixedly connected with the first shell, the other end of the rotating shaft is rotationally connected with the second shell, and the camera is arranged on the first shell;

the driving motion module comprises a pitching driving piece and a rotating driving piece, wherein the pitching driving piece is arranged on the first shell and is connected with the camera, and the pitching driving piece is used for driving the camera to rotate around a first axis which is perpendicular to the axis of the rotating shaft;

The inertia balance driving piece is arranged on the second shell, a flywheel is arranged in the inertia balance driving piece, and the inertia balance driving piece is used for driving the flywheel to rotate so as to balance rotational inertia caused by movement of the camera.

2. The underwater camera of claim 1, wherein the flywheel is a non-uniform mass flywheel.

3. The underwater camera of claim 1, wherein the inertia balance driving member is a hollow motor, and the hollow motor is sleeved outside the rotating shaft.

4. The underwater camera of claim 1, further comprising a detection module mounted to the housing, the detection module configured to detect operational information of the underwater camera, the detection module being electrically coupled to the inertia balance driver.

5. The underwater camera of claim 4, wherein the detection module comprises a gyroscope and an acceleration sensor mounted to the housing, both of which are electrically connected to the inertia balance driver.

6. The underwater camera of any of claims 1-5, further comprising a wireless receiving and transmitting module, wherein the camera, the pitch drive, the rotation drive and the inertia balance drive are all electrically connected with the wireless receiving and transmitting module.

7. The underwater camera of any of claims 1-5, wherein the housing further comprises a connecting ring, the connecting ring is sleeved at the end of the second housing facing the first housing, and a part of the second housing is positioned in the connecting ring.

8. The underwater camera according to any one of claims 1 to 5, wherein the first housing comprises a main body portion and two connecting portions, one end of the main body portion is connected with the rotating shaft, the other end of the main body portion is connected with the two connecting portions, the two connecting portions are arranged at intervals along the extending direction of the first axis, the camera is located between the two connecting portions, and two ends of the camera are respectively connected with the two connecting portions in a rotating mode.

9. The underwater camera of claim 8, wherein the main body portion is of a cylindrical structure, surfaces of the two connecting portions facing away from the camera are cylindrical cambered surfaces, and/or the second shell is of a cylindrical structure.

10. The underwater camera of any of claims 1-5, wherein a cable connector for connecting with a flexible cable is provided at an end of the second housing facing away from the second housing.