WO2020244400A1 - 拍摄装置及巡检设备 - Google Patents

拍摄装置及巡检设备 Download PDF

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Publication number
WO2020244400A1
WO2020244400A1 PCT/CN2020/092054 CN2020092054W WO2020244400A1 WO 2020244400 A1 WO2020244400 A1 WO 2020244400A1 CN 2020092054 W CN2020092054 W CN 2020092054W WO 2020244400 A1 WO2020244400 A1 WO 2020244400A1
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WO
WIPO (PCT)
Prior art keywords
photographing
housing
light
camera
inspection equipment
Prior art date
Application number
PCT/CN2020/092054
Other languages
English (en)
French (fr)
Inventor
陈永灿
张华�
王皓冉
李永龙
李佳龙
刘昭伟
汪双
Original Assignee
清华四川能源互联网研究院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 清华四川能源互联网研究院 filed Critical 清华四川能源互联网研究院
Priority to US17/438,970 priority Critical patent/US20220150387A1/en
Publication of WO2020244400A1 publication Critical patent/WO2020244400A1/zh

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Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/03—Combinations of cameras with lighting apparatus; Flash units
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/06—Special arrangements of screening, diffusing, or reflecting devices, e.g. in studio
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G03B17/08—Waterproof bodies or housings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/52—Elements optimising image sensor operation, e.g. for electromagnetic interference [EMI] protection or temperature control by heat transfer or cooling elements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H19/00—Marine propulsion not otherwise provided for
    • B63H19/08—Marine propulsion not otherwise provided for by direct engagement with water-bed or ground

Definitions

  • the present disclosure relates to the field of acquisition devices, and in particular, to a photographing device and inspection equipment.
  • the purpose of the present disclosure includes, for example, providing a photographing device that can solve the problem of underwater photographing in turbid waters.
  • the purpose of the present disclosure also includes providing a patrol inspection device, which can solve the problem of underwater shooting and inspection in turbid waters.
  • An embodiment of the present disclosure provides a photographing device, including:
  • the camera has a lens, the camera is located in the housing and is connected to the housing; the housing has at least one photographing part configured to fit the object to be photographed, and there is a space between the lens and the photographing part; the light supplement structure is located in the housing and connected to the housing, The light supplement structure is configured to emit light to the object to be photographed through the space and the imaging unit, and the lens is configured to take an image of the object to be photographed through the imaging unit.
  • the light supplement structure includes a light supplement light strip which is arranged circumferentially around the photographing part; the lens is arranged toward the middle area of the photographing part and is configured to take an image of the object to be photographed passing through the middle area.
  • the light supplement structure further includes a light supplement lamp
  • the light emitted by the fill light is parallel to the inner wall of the imaging department.
  • the housing has a rectangular parallelepiped structure, and the bottom plate of the housing forms a photographing part.
  • the imaging device further includes an insulating plate, the insulating plate is located in the housing and connected to the housing, a space is formed between the insulating plate and the bottom plate, and the camera is mounted on the insulating plate.
  • the embodiment of the present disclosure also provides a patrol inspection equipment, which includes a rack and a photographing device;
  • the shell is connected to the frame.
  • the inspection equipment also includes a lifting device arranged on the rack;
  • the casing is slidably connected with the frame, and the lifting device is configured to drive the casing to move up and down to move the photographing part away from or close to the object to be photographed.
  • the patrol inspection equipment also includes a dredging device arranged on the rack;
  • the side of the imaging part away from the space forms an image acquisition area
  • the dredging device is configured to agitate the covering around the image acquisition area, so that the object to be photographed covered by the covering is exposed in the image acquisition area.
  • the inspection equipment also includes a shooting camera
  • the shooting camera is connected to the rack and the shooting angle is adjustable to shoot different positions of the image collection area.
  • the inspection equipment further includes an adjustable buoyancy device installed on the rack to balance the state of the rack in the water.
  • the beneficial effects of the photographing device and inspection equipment of the embodiments of the present disclosure include, for example:
  • the transparent photographing part is attached to the object to be photographed, and the space is under the action of the supplementary light structure, so that the lens can photograph the object to be photographed through the photographing part through the space and the photographing part, realizing underwater in the turbid waters Shooting and inspection.
  • FIG. 1 is a schematic structural diagram of a photographing device provided by an embodiment of the disclosure
  • FIG. 2 is a schematic structural diagram of a photographing device provided by an embodiment of the disclosure.
  • FIG. 3 is a schematic structural diagram of a housing and a lifting device provided by an embodiment of the disclosure
  • Figure 4 is a schematic structural diagram of a dredging pipe provided by an embodiment of the disclosure.
  • FIG. 5 is a schematic diagram of the structure of a shooting camera and a rack provided by an embodiment of the disclosure
  • FIG. 6 is a schematic diagram of the structure of a shooting camera and a mounting frame provided by an embodiment of the disclosure
  • FIG. 7 is a schematic diagram of the structure of the shooting camera, the underwater fill light and the frame provided by the embodiments of the disclosure.
  • Icon 001-inspection equipment; 100-rack; 200-camera; 210-housing; 211-camera department; 220-insulation board; 230-camera; 241-fill light strip; 242-fill light; 250 -Space; 260-waterproof terminal; 270-control module; 300-lifting device; 310-waterproof electric push rod; 320-linear bearing; 330-polished rod; 400-cleaning device; 410-cleaning pipe; 420-cleaning Silt thruster; 430-filter; 500-first thruster; 501-second thruster; 600-shooting camera; 610-mounting frame; 620-underwater fill light; 630-curved gap; 700-buoyancy Adjustable device; 701-buoyancy block; 800-waterproof track; 900-water acoustic positioning mechanism.
  • the embodiment of the present disclosure provides a photographing device 200, which is at least configured to realize underwater photographing in turbid waters.
  • FIG. 1 is a schematic structural diagram of a camera 200 according to an embodiment of the disclosure.
  • the embodiment of the present disclosure provides a photographing device 200, including: a camera 230, a light-filling structure, and a sealed housing 210; the camera 230 has a lens, and the camera 230 is located in the housing 210 and connected to the housing 210; the housing 210 has at least one camera
  • the photographing section 211 is configured to fit the object to be photographed, and there is a space 250 between the lens and the photographing section 211;
  • the light supplement structure is located in the housing 210 and is connected to the housing 210, and the light supplement structure is configured to pass through the space 250 and the photographing section 211
  • the light is emitted to the object to be photographed, and the lens is configured to take an image of the object to be photographed passing through the imaging section 211.
  • the object to be photographed can be an object in the air, water or land.
  • the description is mainly based on an object to be photographed in the water.
  • the function of the photographing unit 211 includes separating the air inside the housing 210 from the external environment of the housing 210, and the material is light-transmissive and does not hinder the camera 230 from taking pictures.
  • the photographing unit 211 is made of a transparent material, and the appropriate transparency can be selected according to the actual use environment. range.
  • the function of the light supplement structure includes supplement light for the camera 230 to shoot.
  • the camera 230 may be a camera 230, a video camera, a depth camera 230, or a binocular camera 230, where the depth camera 230 and the binocular camera 230 are used, and the two-dimensional image, three-dimensional depth image and three-dimensional point cloud image of the object to be photographed can be generated simultaneously, And the three images can be matched, so that the underwater image collection and the three-dimensional features of the surface of the object to be photographed can be analyzed and quantified simultaneously.
  • the depth camera 230 and the binocular camera 230 can reflect the three-dimensional characteristics of underwater, and solve the problem that the underwater two-dimensional image cannot reflect the flatness information and cannot directly reflect the three-dimensional quantitative characteristic information of the object to be photographed.
  • two depth cameras 230 are provided to help expand the shooting field of view.
  • the two depth cameras 230 are set symmetrically to achieve a wider shooting range and better effect.
  • the working principle of a photographing device 200 provided in this embodiment is: continuing to refer to FIG. 1, the photographing part 211 is attached to the object to be photographed, and under the action of the light supplement structure, there is light in the space 250 between the lens and the photographing part 211
  • the object to be photographed through the photographing unit 211 can also be illuminated, so the lens can photograph the object to be photographed through the photographing unit 211 through the space 250 and the photographing unit 211 for quantitative analysis of the object to be photographed.
  • the photographing device 200 provided by the embodiment of the present disclosure can be used (of course, it can also be used when the external environment is not turbid.
  • the light in the space 250 In addition to being provided by the light supplement structure, it is also provided by the natural light outside the housing 210. In a turbid environment, part of the light in the space 250 also comes from the natural light outside the housing 210, but compared to a non-turbid environment, the light in the space 250 in a turbid environment There is little or no natural light from the outside), and the imaging unit 211 can separate the air inside the housing 210 from the muddy environment outside the housing 210. For example, in turbid waters, the housing 210 is moved so that the imaging unit 211 fits the bottom of the water, and the lens can capture the underwater environment through the imaging unit 211 through the space 250 and the imaging unit 211, so as to achieve underwater bottom photography and inspection.
  • the housing 210 has a rectangular parallelepiped structure, and the bottom plate of the housing 210 forms the imaging part 211.
  • the housing 210 is sealed and can be waterproof.
  • the arrangement of the imaging unit 211 for example, the housing 210 includes a first plate, a second plate, a third plate, and a fourth plate that are sequentially sealed and connected, and both ends are sealed by the fifth plate and the sixth plate, wherein the third plate serves as The imaging unit 211, or the second, third, and fourth boards together serve as the imaging unit 211, or the second, third, fourth, fifth, and sixth boards together serve as the imaging unit 211, or the The first board, the second board, the third board, the fourth board, the fifth board, and the sixth board collectively serve as the imaging unit 211.
  • the top (first plate) of the housing 210 is set as a sealing cover, and the remaining parts of the housing 210 (the second plate, the third plate, the fourth plate, the fifth plate, and the sixth plate) are formed
  • the imaging part 211 forms a sealing structure between the sealing cover and the transparent imaging part 211.
  • the function of the imaging part 211 includes forming a sealed structure with air inside in combination with the sealing cover.
  • a waterproof terminal 260 is fixed on the sealing cover.
  • the function of the waterproof connector 260 includes leading out the equipment cables inside the housing 210 or charging the battery inside the housing 210 when necessary.
  • the waterproof terminal 260 adopts a composite cable. A variety of cables are combined, including power supply, communication and load-bearing cables, and are sealed in the housing 210.
  • the camera 200 further includes an insulating plate 220 located in the housing 210 and connected to the housing 210, a space 250 is formed between the insulating plate 220 and the bottom plate, and the camera 230 is mounted on the insulating plate 220 .
  • the two ends of the insulating plate 220 are connected to the second plate and the fourth plate.
  • all electrical equipment are installed on the insulating board 220.
  • the electrical equipment includes a control module 270 and a binocular camera 230.
  • the control module 270 includes components such as a battery and a controller, and functions as the depth camera 230, motor, and compensation. Power is supplied by the light structure, etc., to control the image acquisition of the depth camera 230, control the light supplement structure, and adjust the light supplement and the illumination angle.
  • the light supplement structure includes a light supplement light strip 241 which is arranged circumferentially around the photographing part 211; the lens is set toward the middle area of the photographing part 211 and is configured to shoot through the middle area The image of the subject to be photographed.
  • the third board serves as the imaging part 211, the middle area of the third board is the middle area of the imaging part 211, the fill light strip 241 is arranged along the edge of the second board, and it can also be placed between the insulating board 220 and the second board.
  • Additional light strips 241 are added at the corners where the fourth board intersects; the second board, the third board, and the fourth board serve as the imaging part 211, and the middle area of the second board is the position of the middle area of the imaging part 211 and the middle of the third board The area is the middle area of the imaging part 211 and the middle area of the fourth plate is the middle area of the imaging part 211.
  • the fill light strips 241 are respectively arranged along the edges of the second, third, and fourth plates, or An additional light strip 241 is added at the corners where the insulating plate 220 intersects with the second plate and the fourth plate.
  • the functions of the fill light strip 241 include supplementing light for the depth camera 230 when capturing images underwater.
  • the fill light strip 241 covers a wide area and is evenly distributed, and does not form a spotlight. Compared with the traditional light fill light, fill light The light strip 241 can make the light more uniform and will not produce strong reflections, and will not cause light spots in the taken photos.
  • the light supplement structure further includes a light supplement lamp 242; the light emitted by the light supplement lamp 242 is parallel to the inner wall of the imaging part 211. It is also possible to provide a plurality of fill lights 242, so that the light rays between the fill lights 242 cancel each other out, so that no condensing spot is formed on the photographing part 211, and no light spots are generated in the photographed photo.
  • the third board serves as the imaging unit 211, and the light of the fill light 242 is parallel to the third board and perpendicular to the second board and the third board.
  • the fill light 242 is perpendicular to the second board and the fourth board, it is very likely to form a condensing point on the second board and the fourth board, resulting in the resulting photos.
  • the light direction of the fill light 242 can be changed to make it parallel to the second plate and the fourth plate.
  • the fill light 242 is rotatably connected to the housing 210 and driven by a motor, with an adjustable angle.
  • the motor is controlled by the control module 270 on the insulating board 220.
  • the number of light supplement lamps 242 is two, and the two light supplement lamps 242 are symmetrically arranged on both sides of the lens, respectively located at the intersection of the insulating plate 220 and the second plate and the fourth plate.
  • the function of the fill light 242 includes assisting in enhancing the fill light effect of the fill light strip 241. Compared with the traditional fixed fill light 242, this adjustable angle fill light can make the camera 200 equipped with unmanned equipment. During operation, it is possible to change the angle of supplementary lighting according to the operation situation and the subjective judgment of the operator, which is more flexible.
  • FIG. 2 is a schematic structural diagram of a photographing device provided by an embodiment of the disclosure.
  • the embodiment of the present disclosure also provides a patrol inspection device 001, which includes a rack 100 and a photographing device 200; the housing 210 is connected to the rack 100. At least it is configured to shoot underwater in turbid waters to achieve inspection.
  • FIG. 3 is a schematic structural diagram of the housing 210 and the lifting device 300 provided by an embodiment of the present disclosure.
  • the inspection equipment 001 also includes a lifting device 300 arranged on the rack 100; the housing 210 is slidably connected to the rack 100, and the lifting device 300 is configured to drive the housing 210 to move up and down to make the photographing unit 211 move away from or close to the object to be photographed.
  • a polished rod 330 is connected to the frame 100 (the polished rod 330 is arranged in the vertical direction, the vertical direction when the inspection device 001 is running normally), the housing 210 is connected with a linear bearing 320, and the linear bearing 320 slides with the polished rod 330 Connected to realize the sliding connection between the housing 210 and the rack 100.
  • the lifting device 300 adopts a waterproof electric push rod 310; the waterproof electric push rod 310 is arranged on the frame 100, and the lifting driving end of the waterproof electric push rod 310 is connected to the housing 210, and the housing 210 is driven to move back and forth along the polished rod 330.
  • the waterproof electric push rod 310 drives the housing 210 to move downward, so that the photographing part 211 can protrude from the bottom of the rack 100 to be close to the underwater object to be photographed and fit, and the waterproof electric push rod 310 drives the housing
  • the upward movement of 210 can make the imaging part 211 far away from the underwater object to be photographed.
  • the inspection equipment 001 further includes a dredging device 400 arranged on the frame 100; the side of the photographing part 211 away from the space 250 forms an image capturing area, and the dredging device 400 is configured to agitate the image capturing area
  • the surrounding covering makes the object to be photographed covered by the covering exposed in the image capture area.
  • the dredging device 400 includes a dredging pipe 410, which is arranged vertically, the top of the dredging pipe 410 is a water inlet, and the bottom end of the dredging pipe 410 is provided with an opening facing the At the water outlet of the photographing unit 211, the clean clean water on the upper part is guided from the inlet to the water outlet to wash away the silt and turbid water.
  • the dredging device 400 includes at least two dredging pipes 410, the at least two dredging pipes 410 are divided into two groups, and the two groups of dredging pipes 410 are symmetrically arranged on the underwater photographing device 200 sides.
  • the number of dredging pipes 410 is four, and the four dredging pipes 410 are arranged symmetrically on both sides of the housing 210 in pairs.
  • FIG. 4 is a schematic structural diagram of a dredging pipe 410 provided by an embodiment of the present disclosure.
  • the dredging pipe 410 includes a dredging propeller 420 provided at the bottom end and a filter screen 430 provided at the top end.
  • the propeller drives water flow into the dredging pipe 410 through the inlet and discharges the silt from the water outlet.
  • the function of the filter 430 includes preventing large impurities such as tree branches from flowing in from the inlet and damaging the propeller.
  • the working principle of the dredging device 400 provided in this embodiment includes: referring again to FIG. 2, the inspection equipment 001 moves to the position to be detected (the object to be photographed), and the dredging device 400 is always working at this time to keep the silt in the traveling path
  • the scouring and silt dredging device 400 works to wash away the silt under the housing 210.
  • the lifting device 300 moves and moves the housing 210 down to the photographing section 211 until the object stops moving.
  • the camera 230 can photograph The object to be photographed through the photographing section 211.
  • the dredging device 400 and the lifting device 300 work together, and the housing 210 is raised and lowered by the lifting device 300, and the dredging pipe 410 is flushed to remove the silt around the image collection area, so as to realize underwater shooting in turbid waters.
  • the inspection equipment 001 further includes a waterproof crawler 800 arranged on the frame 100.
  • waterproof crawlers 800 are provided at the bottom ends of both sides of the frame 100 respectively.
  • the waterproof track 800 mainly includes a rust-proof track chassis and a waterproof motor.
  • the waterproof motor includes a casing and a motor sealed in the casing, and the sealing between the motor shaft and the casing refers to the existing technology.
  • the function of the waterproof track 800 includes the ability to travel under the water when the inspection equipment 001 reaches the bottom.
  • the inspection device 001 further includes a first propeller 500 and a second propeller 501, the first propeller 500 is configured to change the height position of the frame 100, and the second propeller 501 is configured To change the horizontal position of the rack 100.
  • four first propellers 500 are provided, divided into two groups, and the two groups of first propellers 500 are symmetrically disposed on both sides of the housing 210, and the propelling direction is in the vertical plane;
  • the second propeller 501 is provided There are four, divided into two groups, and the two groups of second propellers 501 are symmetrically arranged on both sides of the housing 210, and the propelling direction is in the horizontal plane.
  • the first thruster 500 is arranged at the top of the frame 100, and the second thruster 501 is located below the first thruster 500.
  • the functions of the first propeller 500 and the second propeller 501 include the ability to move the inspection device 001 in six degrees of freedom. When the inspection device 001 encounters an obstacle that cannot be crossed by the crawler at the bottom, it can pass the first The propeller 500 lifts the robot, crosses obstacles, improves the environmental adaptability of the inspection equipment 001 for underwater inspections, and provides upward power when the inspection equipment 001 needs to surface.
  • the inspection equipment 001 further includes an adjustable buoyancy device 700 arranged on the rack 100 to balance the state of the rack 100 in the water.
  • the buoyancy adjustable device 700 includes a sleeve and a piston slidingly fitted with the sleeve. The piston is drawn out and the overall volume becomes larger. The buoyancy of the inspection equipment 001 in the water increases, and the piston returns to the sleeve, reducing the overall volume. , The buoyancy of the inspection equipment 001 in the water is reduced.
  • the number of adjustable buoyancy devices 700 is two, which are installed on both sides of the rack 100, and the number can be multiple, as long as the buoyancy of the inspection equipment 001 is evenly distributed.
  • the function of the buoyancy adjustable device 700 includes changing the buoyancy of the inspection device 001 in the water by changing its own volume.
  • the inspection equipment 001 further includes a buoyancy block 701 to balance the state of the rack 100 in the water.
  • multiple buoyancy blocks 701 are provided, which are equally divided into two groups.
  • the two sets of buoyancy blocks 701 are provided on both sides of the frame 100 so that the direction of the resultant force of buoyancy coincides with the direction of the center of gravity of the inspection equipment 001.
  • the function of the buoyancy block 701 includes allocating buoyancy to the inspection equipment 001.
  • the resultant direction of the buoyancy should be in a vertical line with the overall center of gravity of the inspection equipment 001, so that the inspection equipment 001 can float, sink or float in the water. Keep your posture in a normal working posture at all times.
  • the inspection device 001 further includes a photographing camera 600; the photographing camera 600 is connected to the rack 100 and has an adjustable shooting angle to photograph different positions of the image collection area.
  • the photographing camera 600 is installed in front of the inspection device 001.
  • FIGS. 5, 6 and 7 FIG. 5 is a schematic structural diagram of a photographing camera 600 and a rack 100 provided by an embodiment of the disclosure;
  • FIG. 6 is a schematic structural diagram of a photographing camera 600 and a mounting frame 610 provided by an embodiment of the disclosure;
  • FIG. 7 is a schematic structural diagram of a photographing camera 600, an underwater fill light 620, and a frame 100 provided by an embodiment of the disclosure.
  • the inspection device 001 further includes a mounting frame 610 and an underwater fill light 620, the mounting frame 610 is connected to the frame 100, and the shooting camera 600 is rotatably connected to the mounting frame 610.
  • the photographing camera 600 and the mounting frame 610 are rotatably connected by a rotating shaft, and the axis of the rotating shaft is located in a horizontal plane.
  • the photographing camera 600 rotates in a vertical plane.
  • the frame 100 is provided with an arc-shaped notch 630 with an opening facing downward, and the shooting camera 600 can be inserted into the arc-shaped notch 630 when it rotates upward.
  • the arc-shaped notch 630 can at least limit the upper limit position of the shooting camera 600 to rotate upward.
  • the shooting direction of the lens of the shooting camera 600 is parallel to the horizontal plane and perpendicular to the vertical plane.
  • the number of underwater fill lights 620 is two, and the two fill lights 242 are arranged on both sides of the shooting camera 600.
  • the number of underwater fill lights 620 may be multiple, and the number of underwater fill lights 620 may be evenly distributed on the periphery of the shooting camera 600.
  • By adjusting the angle of the underwater fill light 620 a better fill light angle is found.
  • the function of the photographing camera 600 includes real-time observation of the environment in front of the inspection equipment 001, and the angle can be adjusted, and the inspection equipment 001 can be photographed for dredging and the inspection process.
  • the line of sight of the shooting camera 600 and the ray of the underwater fill light 620 are just at one point at a certain distance, which can fill the camera well.
  • the inspection equipment 001 further includes a hydroacoustic positioning mechanism 900 arranged on the top of the rack 100.
  • the underwater acoustic positioning mechanism 900 is installed on the top of the frame 100, and its functions include interacting with the equipment mounted on the surface vessel on the water to locate and determine the attitude of the underwater robot; it also includes reducing the underwater acoustic positioning of the complicated environment at the bottom of the frame 100 The positioning of the organization 900 is affected.
  • the embodiment of the present disclosure provides a photographing device 200 and inspection equipment 001.
  • the frame 100 is approximately a rectangular parallelepiped structure, and the middle of the frame 100 forms an accommodation space 250 for installing the housing 210; the dredging device 400
  • the dredging pipes 410 are vertically arranged on the frame 100, and are symmetrically distributed on both sides of the housing 210 in pairs (two respectively);
  • the four first thrusters 500 are respectively arranged at the four corners of the top of the frame 100,
  • the four second propellers 501 are respectively arranged at the four edges corresponding to the four corners;
  • two waterproof crawlers 800 are located on both sides of the bottom end of the frame 100;
  • two buoyancy adjustable devices 700 are located above the waterproof crawlers 800;
  • Two sets of buoyancy blocks 701 are located on both sides of the top of the frame 100.
  • the photographing device 200 and the inspection equipment 001 provided by the embodiments of the present disclosure are used in turbid waters, for example, the inspection equipment 001 moves underwater, and the dredging device 400 continues to dredge.
  • the lifting device 300 drives the housing 210 to move downward, so that the photographing part 211 protrudes from the frame 100 to fit the bottom of the water.
  • the depth camera 230 photographs the object to be photographed through the bottom of the photographing part 211
  • the captured image of the object to be photographed is sent to the computer for analysis to obtain the quantitative characteristics of the underwater environment.
  • the inspection device 001 provided in this embodiment has at least the following advantages: the photographing device 200 can photograph an underwater object to be photographed in turbid waters, and can also photograph the underwater bottom for bottom inspection.
  • the dredging device 400 can wash away the covering of the image collection area, so that the photographing part 211 can be directly attached to the object to be photographed, so as to ensure that the depth camera 230 can complete underwater photographing.
  • it When encountering a complex operating environment, it can be pushed by the first propeller 500 and/or the second propeller 501, and the buoyancy adjustable structure can change the overall buoyancy of the inspection equipment 001, so as to realize free movement in the water with six degrees of freedom to avoid obstacles.

Abstract

本公开的实施例提供了一种拍摄装置及巡检设备，涉及采集装置领域。旨在解决在浑浊水域水下拍摄的问题。拍摄装置其包括相机、补光结构以及密闭的外壳；相机具有镜头，相机位于外壳内且与外壳连接；外壳具有至少一个拍摄部，拍摄部配置成贴合待拍摄物，镜头与拍摄部之间具有空间；补光结构位于外壳内且与外壳连接，补光结构配置成通过空间以及拍摄部向待拍摄物发射光线，镜头配置成拍摄透过拍摄部的待拍摄物的图像。巡检设备包括机架和拍摄装置，外壳与机架连接。在浑浊水域，透明的拍摄部贴合于待拍摄物，空间在补光结构的作用下，使得镜头能够通过空间和拍摄部对透过拍摄部的待拍摄物进行拍摄，实现在浑浊水域水下拍摄和巡检。

Description

拍摄装置及巡检设备
相关申请的交叉引用
本公开要求于2019年06月05日提交中国专利局的申请号为CN201910488289.9、名称为“拍摄装置及巡检设备”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及采集装置领域，具体而言，涉及一种拍摄装置及巡检设备。
背景技术
现有技术中，还没有能够在浑浊水域水下进行拍摄和巡检的装置。
发明内容
本公开的目的包括，例如，提供了一种拍摄装置，其能够解决在浑浊水域水下拍摄的问题。
本公开的目的还包括，提供了一种巡检设备，其能够解决在浑浊水域水下拍摄巡检的问题。
本公开的实施例可以这样实现：
本公开的实施例提供了一种拍摄装置，包括：
相机、补光结构以及密闭的外壳；
相机具有镜头，相机位于外壳内且与外壳连接；外壳具有至少一个拍摄部，拍摄部配置成贴合待拍摄物，镜头与拍摄部之间具有空间；补光结构位于外壳内且与外壳连接，补光结构配置成通过空间以及拍摄部向待拍摄物发射光线，镜头配置成拍摄透过拍摄部的待拍摄物的图像。
可选地：补光结构包括补光灯带，补光灯带绕拍摄部周向设置；镜头朝向拍摄部的中间区域设置，且配置成拍摄透过中间区域的待拍摄物的图像。
可选地：补光结构还包括补光灯；
补光灯发射的光线与拍摄部内壁平行。
可选地：外壳为长方体结构，外壳的底板形成拍摄部。
可选地：拍摄装置还包括绝缘板，绝缘板位于外壳内且与外壳连接，绝缘板与底板之间形成空间，相机安装于绝缘板上。
本公开的实施例还提供了一种巡检设备，巡检设备包括机架和拍摄装置；
外壳与机架连接。
可选地：巡检设备还包括设置于机架的升降装置；
外壳与机架滑动连接，升降装置配置成驱动外壳上下往复移动，以使拍摄部远离或者靠近待拍摄物。
可选地：巡检设备还包括设置于机架的清淤装置；
拍摄部远离空间的一侧形成图像采集区域，清淤装置配置成搅动图像采集区域周围的覆盖物，使得被覆盖物覆盖的待拍摄物暴露在图像采集区域内。
可选地：巡检设备还包括拍摄相机；
拍摄相机连接于机架且拍摄角度可调，以拍摄图像采集区域的不同位置。
可选地：巡检设备还包括设置于机架的浮力可调装置，以平衡机架在水中的状态。
本公开实施例的拍摄装置及巡检设备的有益效果包括，例如：
在浑浊水域，透明的拍摄部贴合于待拍摄物，空间在补光结构的作用下，使得镜头能够通过空间和拍摄部对透过拍摄部的待拍摄物进行拍摄，实现在浑浊水域水下的拍摄和巡检。
附图说明
为了更清楚地说明本公开实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本公开的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本公开实施例提供的拍摄装置的结构示意图；
图2为本公开实施例提供的拍摄设备的结构示意图；
图3为本公开实施例提供的外壳与升降装置的结构示意图；
图4为本公开实施例提供的清淤管的结构示意图；
图5为本公开实施例提供的拍摄相机与机架的结构示意图；
图6为本公开实施例提供的拍摄相机与安装架的结构示意图；
图7为本公开实施例提供的拍摄相机、水下补光灯和机架的结构示意图。
图标：001-巡检设备；100-机架；200-拍摄装置；210-外壳；211-拍摄部；220-绝缘板；230-相机；241-补光灯带；242-补光灯；250-空间；260-防水接线头；270-控制模块；300-升降装置；310-防水电推杆；320-直线轴承；330-光杆；400-清淤装置；410-清淤管；420-清淤推进器；430-滤网；500-第一推进器；501-第二推进器；600-拍摄相机；610-安装架；620-水下补光灯；630-弧形缺口；700-浮力可调装置；701-浮力块；800-防水履带；900-水声定位机构。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚和完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本公开实施例的组件可以以各种不同的配置来布置和设计。
因此，以下对在附图中提供的本公开的实施例的详细描述并非旨在限制要求保护的本公开的范围，而是仅仅表示本公开的选定实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
在本公开的描述中，需要说明的是，若出现术语“上”、“下”、“内”和“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，或者是该发明产品使用时惯常摆放的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位或者必须以特定的方位构造和操作，因此不能理解为对本公开的限制。
此外，若出现术语“第一”或“第二”等仅用于区分描述，而不能理解为指示或暗示 相对重要性。
需要说明的是，在不冲突的情况下，本公开的实施例中的特征可以相互结合。
本公开的实施例提供了一种拍摄装置200，至少配置成实现在浑浊水域的水下拍摄。
请参考图1，图1为本公开实施例提供的拍摄装置200的结构示意图。本公开的实施例提供了一种拍摄装置200，包括：相机230、补光结构以及密闭的外壳210；相机230具有镜头，相机230位于外壳210内且与外壳210连接；外壳210具有至少一个拍摄部211，拍摄部211配置成贴合待拍摄物，镜头与拍摄部211之间具有空间250；补光结构位于外壳210内且与外壳210连接，补光结构配置成通过空间250以及拍摄部211向待拍摄物发射光线，镜头配置成拍摄透过拍摄部211的待拍摄物的图像。
需要说明的是：待拍摄物可以是空中、水中和陆地里的物体。本实施例中，主要以水中的待拍摄物为例进行说明。拍摄部211作用包括，将外壳210内部空气与外壳210外部环境分离开，材质透光，不阻碍相机230拍照，例如，拍摄部211由透明材料制成，根据实际使用环境，可以选择适合的透明度范围。补光结构的作用包括为相机230拍摄进行补光。相机230可以采用照相机230、摄像机、深度相机230或者双目相机230，其中，采用深度相机230和双目相机230，待拍摄物的二维图像、三维深度图像和三维点云图像能够同步生成，且三种图像能够相匹配，使得水下图像采集和待拍摄物的表面三维特征能够同步进行分析以及量化处理。深度相机230和双目相机230能够反映水下的三维特征，解决水下二维图片不能体现平整度信息和不能直观反应待拍摄物三维定量特征信息的难题。也可以采用两个以上的镜头组件，实现与深度相机230和双目相机230等同的效果。如图所示，深度相机230设置两个，有助于扩大拍摄视野，两个深度相机230对称设置，拍摄范围更广，效果更好。
本实施例提供的一种拍摄装置200，工作原理是：继续参照图1，将拍摄部211贴合待拍摄物，在补光结构的作用下，镜头与拍摄部211之间的空间250有光线，透过拍摄部211的待拍摄物也能够得到照射，因此镜头能够通过空间250和拍摄部211将透过拍摄部211的待拍摄物拍摄下来，以对待拍摄物进行量化分析。当待拍摄物处于浑浊环境中(浑浊的空气环境、浑浊的水域或者泥泞环境)，可以使用本公开实施例提供的拍摄装置200(外部环境不浑浊时当然也可以使用，此时空间250的光线除了由补光结构提供，还由外壳210外部的自然光提供，在浑浊环境中，空间250内的光线也有部分来自外壳210外部的自然光，只是相比不浑浊的环境，浑浊环境中空间250内的光线来自外部的自然光线较少或者 几乎没有)，拍摄部211能够将外壳210内部空气与外壳210外部的浑浊环境分离开。例如，在浑浊水域，移动外壳210，使得拍摄部211贴合水底，镜头能够通过空间250和拍摄部211对透过拍摄部211的水底环境进行拍摄，实现水底贴底拍摄和巡检。
可选地：继续参照图1，外壳210为长方体结构，外壳210的底板形成拍摄部211。外壳210密封，能够防水。拍摄部211的设置方式，例如，外壳210包括依次密封连接的第一板、第二板、第三板和第四板，两端利用第五板和第六板密封，其中，第三板作为拍摄部211，或者第二板、第三板和第四板共同作为拍摄部211，或者第二板、第三板、第四板、第五板和第六板共同作为拍摄部211，或者第一板、第二板、第三板、第四板、第五板和第六板共同作为拍摄部211。
可选地：继续参照图1，外壳210的顶部(第一板)设置为密封盖，外壳210剩余的部分(第二板、第三板、第四板、第五板和第六板)形成拍摄部211，密封盖与透明的拍摄部211之间形成密封结构。拍摄部211的作用包括，与密封盖组合形成一个内部为空气的密封结构。
可选地：继续参照图1，密封盖上固定有防水接线头260。防水接线头260作用包括，引出外壳210内部设备线缆或者需要时为外壳210内部电池充电。可选地：防水接线头260采用复合线缆。复合了多种线缆，包括供电、通讯以及承力线缆，密封于外壳210内。
可选地：继续参照图1，拍摄装置200还包括绝缘板220，绝缘板220位于外壳210内且与外壳210连接，绝缘板220与底板之间形成空间250，相机230安装于绝缘板220上。可选地：绝缘板220的两端连接第二板和第四板。可选地：所有电器设备都安装在绝缘板220上，电器设备包括控制模块270和双目相机230等，控制模块270内部包括电池和控制器等部件，作用包括为深度相机230、电机和补光结构等供电，控制深度相机230的图像采集，控制补光结构，调整补光和照明角度。
可选地：继续参照图1，补光结构包括补光灯带241，补光灯带241绕拍摄部211周向设置；镜头朝向拍摄部211的中间区域设置，且配置成拍摄透过中间区域的待拍摄物的图像。例如，第三板作为拍摄部211，第三板的中间区域为拍摄部211的中间区域位置，补光灯带241沿着第二板的边沿设置，还可以在绝缘板220与第二板和第四板相交的棱角处增设补光灯带241；第二板、第三板和第四板作为拍摄部211，第二板的中间区域为拍摄部211的中间区域位置、第三板的中间区域为拍摄部211的中间区域位置以及第四板的中间区域为拍摄部211的中间区域位置，补光灯带241分别沿着第二板、第三板和第四板的边沿 设置，也可以在绝缘板220与第二板和第四板相交的棱角处增设补光灯带241。补光灯带241作用包括，为深度相机230在水下采集图像时进行补光，补光灯带241覆盖面积广，分布均匀，不会形成聚光，相较传统的灯补光，补光灯带241能够使光更加均匀且不会产生强烈的反光，也不会使得拍摄出来的照片中有光斑。
可选地：继续参照图1，补光结构还包括补光灯242；补光灯242发射的光线与拍摄部211内壁平行。也可以设置多个补光灯242，使得补光灯242之间的光线相互抵消，不在拍摄部211上形成聚光点，也就不会使得拍摄出来的照片中有光斑。可选地，第三板作为拍摄部211，补光灯242的光线平行于第三板，垂直于第二板和第三板。当第二板和第三板作为拍摄部211，补光灯242垂直于第二板和第四板，很有可能在第二板和第四板上形成聚光点，导致形成的照片中有光斑，此时，可以改变补光灯242的光线方向，使其平行于第二板和第四板。
可选地：继续参照图1，补光灯242与外壳210转动连接且由电机驱动，角度可调。电机由绝缘板220上的控制模块270控制。可选地：参照图，补光灯242的数量为两个，两个补光灯242对称设置于镜头的两侧，分别位于绝缘板220与第二板和第四板的相交处。补光灯242作用包括，辅助增强补光灯带241的补光效果，相较传统固定式补光灯242，这种可调角度的补光可以使得拍摄装置200在搭载着无人化设备上作业时，能够根据作业情况和操作人员主观判断，改变补光照明角度，具备更加灵活性。
请参照图2，图2为本公开实施例提供的拍摄设备的结构示意图。本公开的实施例还提供了一种巡检设备001，巡检设备001包括机架100和拍摄装置200；外壳210与机架100连接。至少配置成在浑浊水域进行水下拍摄，以实现巡检。
可选地：请参照图3，图3为本公开实施例提供的外壳210与升降装置300的结构示意图。巡检设备001还包括设置于机架100的升降装置300；外壳210与机架100滑动连接，升降装置300配置成驱动外壳210上下往复移动，以使拍摄部211远离或者靠近待拍摄物。可选地：机架100上连接有光杆330(光杆330沿着竖向方向设置，巡检设备001正常行驶时的竖向方向)，外壳210连接有直线轴承320，直线轴承320与光杆330滑动连接，实现外壳210与机架100滑动连接。可选地：升降装置300采用防水电推杆310；防水电推杆310设置于机架100上，防水电推杆310的升降驱动端与外壳210连接，驱动外壳210沿着光杆330往复移动。例如，巡检设备001贴近水底时，防水电推杆310驱动外壳210向下移动，能够使拍摄部211突出机架100底部以靠近水底的待拍摄物且贴合，防 水电推杆310驱动外壳210向上移动，能够使拍摄部211远离水底的待拍摄物。
可选地：再次参照图2，巡检设备001还包括设置于机架100的清淤装置400；拍摄部211远离空间250的一侧形成图像采集区域，清淤装置400配置成搅动图像采集区域周围的覆盖物，使得被覆盖物覆盖的待拍摄物暴露在图像采集区域内。可选地：继续参照图2，清淤装置400包括清淤管410，清淤管410竖向设置，清淤管410的顶端为水流入口，清淤管410的底端设置有开口朝向所述拍摄部211的出水口，上部干净清水从流入口导到出水口以冲开淤泥及浑浊水。可选地：所述清淤装置400包括至少两根清淤管410，所述至少两根清淤管410分为两组，两组所述清淤管410对称设置于所述水下拍摄装置200的两侧。可选地：清淤管410的数量为四个，四个清淤管410两两对称布置在外壳210的两侧。可选地：请参照图4，图4为本公开实施例提供的清淤管410的结构示意图。清淤管410包括设置于底端的清淤推进器420和设置于顶端的滤网430，推进器驱动水流从清淤管410的流入口流入，从出水口排出冲淤。滤网430作用包括防止树枝等大的杂质从流入口流入，损伤推进器。
本实施例提供的清淤装置400的工作原理包括：再次参照图2，巡检设备001移动到要检测位置(有待拍摄物)，此时清淤装置400一直工作，将行进路线中的淤泥持续冲刷，清淤装置400工作，将外壳210下方淤泥冲掉，待一段时间后，升降装置300动作，将外壳210下移至拍摄部211贴紧待拍摄物停止动作，此时，相机230可拍摄透过拍摄部211的待拍摄物。清淤装置400与升降装置300协同工作，通过升降装置300将外壳210升降，清淤管410冲刷，清除图像采集区域周围的淤泥，实现在浑浊水域水下拍摄。
可选地：再次参照图2，巡检设备001还包括设置于机架100的防水履带800。可选地，机架100的两侧底端分别设置有防水履带800。防水履带800主要包括防锈履带底盘和防水电机。其中，防水电机包括机壳和密封于机壳内的电机，电机轴于机壳之间的密封参照现有的技术。防水履带800作用包括，当巡检设备001到达水底时，能够在水下行进。
可选地：再次参照图2，巡检设备001还包括第一推进器500和第二推进器501，第一推进器500配置成改变所述机架100的高度位置，第二推进器501配置成改变所述机架100的水平位置。可选地：第一推进器500设置四个，分为两组且两组第一推进器500对称设置于所述外壳210的两侧，推进方向在竖向平面内；第二推进器501设置四个，分为两组且两组第二推进器501对称设置于所述外壳210的两侧，推进方向在水平面内。可选地：第一推进器500设置于机架100的顶端，第二推进器501位于第一推进器500的下方。第 一推进器500和第二推进器501作用包括，能够实现巡检设备001在六个自由度上移动，当巡检设备001在水底遇到不可通过履带跨越的障碍物时，能够通过第一推进器500抬升机器人，跨越障碍物，提升巡检设备001在水底巡检的环境适应性，以及在巡检设备001需要浮出水面时，提供向上的动力使其浮出水面。
可选地：再次参照图2，巡检设备001还包括设置于机架100的浮力可调装置700，以平衡机架100在水中的状态。可选地：浮力可调装置700包括套筒和与套筒滑动配合的活塞，活塞抽出，整体体积变大，巡检设备001在水中的浮力增大，活塞回到套筒，整体体积减小，巡检设备001在水中的浮力减小。可选地：浮力可调装置700的数量为两个，安装在机架100两侧，数量可以为多个，只要使巡检设备001浮力分布均匀即可。浮力可调装置700的作用包括，通过改变自身的体积，从而改变巡检设备001在水中浮力的大小。工作原理：当巡检设备001要下潜或者在水底移动检测时，浮力可调装置700体积变到最小，以减小浮力，使得巡检设备001能够在水底有足够的摩擦力供履带底盘移动；同时保证当清淤装置400清淤时清淤推进器420产生向上推力时，巡检设备001依然能够稳定着地；当巡检设备001要上浮时，浮力可调装置700将体积增到最大，以便能够将巡检设备001整体的浮力增大，使得它能够通过自身浮力便可以浮出水面，减少第一推进器500的动作，节约电能。
可选地：再次参照图2，巡检设备001还包括浮力块701，以平衡机架100在水中的状态。可选地：浮力块701设置多块，均分为两组，两组浮力块701设置于机架100的两侧，以使浮力的合力方向与巡检设备001的重心方向重合。浮力块701的作用包括为巡检设备001分配浮力，要使浮力的合力方向，与巡检设备001整体重心方向在一垂直线上，以便巡检设备001在水中上浮、下沉或悬浮时能够时刻保持自身姿态处于正常工作姿态。
可选地：再次参照图2，巡检设备001还包括拍摄相机600；拍摄相机600连接于机架100且拍摄角度可调，以拍摄图像采集区域的不同位置。可选地：拍摄相机600安装于巡检设备001的前方。结合图5、图6和图7，图5为本公开实施例提供的拍摄相机600与机架100的结构示意图；图6为本公开实施例提供的拍摄相机600与安装架610的结构示意图；图7为本公开实施例提供的拍摄相机600、水下补光灯620和机架100的结构示意图。可选地，巡检设备001还包括安装架610和水下补光灯620，安装架610与机架100连接，拍摄相机600与安装架610转动连接。可选地：拍摄相机600与安装架610之间通过转动轴转动连接，转动轴的轴心线位于水平面内。拍摄相机600在竖向平面内转动。可选地：机架100设置有开口朝下的弧形缺口630，拍摄相机600向上转动时能够卡入弧形缺口630。 弧形缺口630至少能够限制拍摄相机600向上转动的极限位置。可选地，拍摄相机600卡入弧形缺口630时，拍摄相机600的镜头的拍摄方向平行于水平面，与竖向平面垂直。水下补光灯620的数量为两个，两个补光灯242设置于拍摄相机600的两侧，水下补光灯620的数量可以是多个，在拍摄相机600外周均匀分布即可。通过调节水下补光灯620角度，寻找较佳的补光角度。拍摄相机600作用包括，实时观测巡检设备001行进前方的环境，且可以调整角度，拍摄巡检设备001清淤和拍摄巡检过程。拍摄相机600视线与水下补光灯620射线，在一定距离上刚好在一点，可以很好地为摄像机补光。
可选地：请再次参照图2，巡检设备001还包括设置于机架100顶部的水声定位机构900。水声定位机构900安装在机架100顶部，作用包括与水面上的水面船上搭载的设备进行交互，以便为水下机器人定位及定姿态；还包括减少机架100底端复杂环境对水声定位机构900的定位影响。
本公开实施例提供了一种拍摄装置200及巡检设备001，请再次参照图2，例如，机架100近似长方体结构，机架100的中部形成安装外壳210的容纳空间250；清淤装置400中的清淤管410竖向设置于机架100，两两(分别两个)对称分布在外壳210两侧；四个第一推进器500分别对应设置在机架100顶部的四个棱角处，四个第二推进器501分别对应设置于四个棱角对应的四个棱边处；两个防水履带800位于机架100底端的两侧；两个浮力可调装置700位于防水履带800的上方；两组浮力块701位于机架100顶端的两侧。
本公开实施例提供的拍摄装置200及巡检设备001，在浑浊水域使用时，例如，巡检设备001在水下前进，清淤装置400持续清淤。在巡检设备001贴近水底，升降装置300驱动外壳210向下移动，使拍摄部211突出机架100与水底贴合，深度相机230对透过拍摄部211的水底的待拍摄物进行拍摄后，将拍摄到的待拍摄物的图像传送给计算机进行分析，以得到水底环境状况的量化特征。
本实施例提供的一种巡检设备001至少具有以下优点：拍摄装置200，能够在浑浊水域对水下待拍摄物进行拍摄，还能够对水底进行拍摄，进行贴底巡检。清淤装置400能够冲走图像采集区域的覆盖物，使拍摄部211能够与待拍摄物直接贴合，保证深度相机230能够完成水下拍摄。遇到复杂作业环境时又能够通过第一推进器500和/或第二推进器501推动，以及浮力可调结构改变巡检设备001整体浮力，实现在水中以六个自由度自由移动避障。
以上所述，仅为本公开的具体实施方式，但本公开的保护范围并不局限于此，任何熟 悉本技术领域的技术人员在本公开揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应以所述权利要求的保护范围为准。

Claims (10)

  1. 一种拍摄装置，其特征在于，包括：
    相机、补光结构以及密闭的外壳；
    所述相机具有镜头，所述相机位于所述外壳内且与所述外壳连接；所述外壳具有至少一个拍摄部，所述拍摄部配置成贴合待拍摄物，所述镜头与所述拍摄部之间具有空间；
    所述补光结构位于所述外壳内且与所述外壳连接，所述补光结构配置成通过所述空间以及所述拍摄部向所述待拍摄物发射光线，所述镜头配置成拍摄透过所述拍摄部的所述待拍摄物的图像。
  2. 根据权利要求1所述的拍摄装置，其特征在于：
    所述补光结构包括补光灯带，所述补光灯带绕所述拍摄部周向设置；所述镜头朝向所述拍摄部的中间区域设置，且配置成拍摄透过所述中间区域的所述待拍摄物的图像。
  3. 根据权利要求2所述的拍摄装置，其特征在于：
    所述补光结构还包括补光灯；
    所述补光灯发射的光线与所述拍摄部内壁平行。
  4. 根据权利要求3所述的拍摄装置，其特征在于：
    所述外壳为长方体结构，所述外壳的底板形成所述拍摄部。
  5. 根据权利要求4所述的拍摄装置，其特征在于：
    所述拍摄装置还包括绝缘板，所述绝缘板位于所述外壳内且与所述外壳连接，所述绝缘板与所述底板之间形成所述空间，所述相机安装于所述绝缘板上。
  6. 一种巡检设备，其特征在于：
    所述巡检设备包括机架和权利要求1-5任一项所述的拍摄装置；
    所述外壳与所述机架连接。
  7. 根据权利要求6所述的巡检设备，其特征在于：
    所述巡检设备还包括设置于所述机架的升降装置；
    所述外壳与所述机架滑动连接，所述升降装置配置成驱动所述外壳上下往复移动，以 使所述拍摄部远离或者靠近所述待拍摄物。
  8. 根据权利要求6所述的巡检设备，其特征在于：
    所述巡检设备还包括设置于所述机架的清淤装置；
    所述拍摄部远离所述空间的一侧形成图像采集区域，所述清淤装置配置成搅动所述图像采集区域周围的覆盖物，使得被所述覆盖物覆盖的所述待拍摄物暴露在所述图像采集区域内。
  9. 根据权利要求8所述的巡检设备，其特征在于：
    所述巡检设备还包括拍摄相机；
    所述拍摄相机连接于所述机架且拍摄角度可调，以拍摄所述图像采集区域的不同位置。
  10. 根据权利要求6所述的巡检设备，其特征在于：
    所述巡检设备还包括设置于所述机架的浮力可调装置，以平衡所述机架在水中的状态。
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