CN101296370B - Underwater monitoring apparatus for pump station entrance - Google Patents
Underwater monitoring apparatus for pump station entrance Download PDFInfo
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- CN101296370B CN101296370B CN2008101042909A CN200810104290A CN101296370B CN 101296370 B CN101296370 B CN 101296370B CN 2008101042909 A CN2008101042909 A CN 2008101042909A CN 200810104290 A CN200810104290 A CN 200810104290A CN 101296370 B CN101296370 B CN 101296370B
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Abstract
The invention discloses an underwater monitor at the estuary of a pump station, which essentially comprises a flexible installation supporting system, an underwater image pickup system which is carried on the flexible installation supporting system, a grounding alarm system, a monitoring system and a controller; the controller is respectively connected with the flexible installation supporting system, the underwater image pickup system, the grounding alarm system and the monitoring system by control lines to drive or control the operation of the systems. The invention not only has the advantages of small volume, convenient and efficient installation, wide applicability, good reliability and visualized and simple operation, but also is particularly applicable to underwater places of the estuaries of a nuclear power station and the pump station, or underwater fields with fast water or underwater fields in which people can not arrive in.
Description
Technical field
The present invention is a kind of watch-dog, particularly a kind of deep-sea torrent underwater monitoring.
Technical background
Along with the fast development of China's economy, the demand of electric energy is also increasing, and it is the inexorable trend that China utilizes nuclear energy that the huge breach of electric power is facilitated the development nuclear power.Along with the development of Chinese nuclear power cause, various to be applied to the development and application of instrument under water of nuclear island spent fuel pond and apparatus for pump station entrance increasing.But because environment is special, domestic relate to less, as the monitoring under water of the reactor during the overhaul, the blowdown at apparatus for pump station entrance place rake guide-track groove trouble shooting and regularly the marine growth growing state of the grid net of estuary is checked that the monitoring of the key position of water power water channel etc. are all fewer.
General underwater operation is to dive by the diver to carry out to the bottom, and its fail safe, convenience are all very poor, and a lot of operations also can't be carried out., rely on the diver fully and dive and in seawater, observe operation at present to the guide-track groove trouble shooting of apparatus for pump station entrance CFI blowdown rake and the marine growth of grid net, the inspection of foreign material adhesion condition as nuclear power station.The turbulent river crashes its way through owing to estuary, and diver's underwater operation has bigger industrial safety risk, and means are backward also unreliable.
Summary of the invention
The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, a kind of light harvesting, mechanical, electrical in one is provided, reliability height, underwater monitoring apparatus for pump station entrance easy and simple to handle, this watch-dog can overcome the influence of the higher eddy current that fluid produced of flow velocity to image quality, overcome that foreign material and aquatic organism can also adapt to different installation sites and observe demand on a large scale, flexibly the influence of human visual in deep water brightness of illumination deficiency, the water.
The technical solution adopted in the present invention is: underwater monitoring apparatus for pump station entrance is characterized in that mainly comprising: motion mounting bracket system is equipped on underwater camera system, surveillance, controller in the motion mounting bracket system; Controller is connected with motion mounting bracket system, underwater camera system, surveillance respectively by control line, drives or control its work; Controller sends control command makes motion mounting bracket system make the one dimension rectilinear motion, stops in the optional position thereby drive underwater camera system needs according to the observation; The underwater camera system is under the control of operation control, carry out the TV monitoring and controlling and the illumination of height, horizontal multi-angle under water, and can be according to the needs of monitored object, the change of control optical system doubly, focusing, realize in the water far and near different, observe flexibly on a large scale; The while controller exports observed vision signal to surveillance through processing and amplifying and carries out Video processing (as storage, printing, video recording etc.).
Described monitor also comprise be positioned at be connected with controller in the motion mounting bracket system touch end warning system, when monitor enters the deep-sea and touch the bottom, touch end warning system and report to the police automatically.
The present invention's advantage compared with prior art:
(1) the present invention not only has advantages such as volume is little, quick and easy for installation, adaptability is strong, reliability is high, easy and simple to handle, can satisfy in fresh water, seawater and monitor, particularly environment compares under the condition of severe under water, as The turbulent river crashes its way through, corrosive properly is strong, foreign material, the low environment of illumination in the water, or have nuclear radiation or poisonous and hazardous under water, in the atmospheric environment or the personnel scene of being beyond one's reach monitors use.
(2) the present invention is realizing convenient linking the between realization motion mounting bracket system, underwater camera system under the small and exquisite situation of profile as far as possible, motion mounting bracket system is connected with firm suspension between beam guideway, and motion mounting bracket system can conveniently connect and dismantle according to different beam guideways; Motion mounting bracket system motion speed realizes infinitely variable speeds 0 ~ 3m/min, two-dimentional turntable slewing area: horizontal direction+150 °/-150 °, height direction+45 °/-45 °, functions such as 18 times of camera system optics multiplying powers, high-power underwater lighting.
Description of drawings
Fig. 1 is a theory of constitution block diagram of the present invention;
Fig. 2 is the combined front view of motion mounting bracket system of the present invention and underwater camera system;
Fig. 3 is the combination of side view of motion mounting bracket system of the present invention and underwater camera system;
Fig. 4 is a controller principle block diagram of the present invention;
Fig. 5 is the theory diagram of the rocking bar input processing circuit among Fig. 4;
Fig. 6 is the theory diagram of the Electric Machine Control drive circuit among Fig. 4.
Fig. 7 is the theory diagram of the light regulating circuit among Fig. 4;
Fig. 8 is the commutation circuit theory diagram among Fig. 4;
Fig. 9 is the video camera control circuit theory diagram among Fig. 4.
Embodiment
As shown in Figure 1, the present invention includes: motion mounting bracket system, be equipped on underwater camera system, surveillance and controller in the motion mounting bracket system, controller links to each other with the bus cable socket by the long 24 core submerged cable control lines of 30m, and bus hub is connected with motion mounting bracket system, underwater camera system, surveillance respectively.
Controller sends control command makes motion mounting bracket system make the one dimension rectilinear motion, stops in the optional position thereby drive underwater camera system needs according to the observation; The underwater camera system carries out under water the TV monitoring and controlling and the illumination of height, horizontal multi-angle under the control of controller, and can be according to the needs of monitored object, the change of control optical system doubly, focusing, realize in the water far and near different, observe flexibly on a large scale; Controller exports observed vision signal to surveillance through processing and amplifying and carries out Video processing.
In addition, monitor of the present invention also comprise be positioned at be connected with controller in the motion mounting bracket system touch end warning system, when described monitor enters the deep-sea and touch the bottom, touch end warning system and report to the police automatically.
Shown in Fig. 2,3, be the constitutional diagram of motion mounting bracket system and underwater camera system.Motion mounting bracket system mainly comprises: but folding hinge " U " type frame structure 1, motion in one dimension drive motors 2 ', gearbox 3, adjustable elastic guiding train 4, supporting wheel systems 5, friction pulley 6, retaining mechanism 7; Motion in one dimension drive motors 2 ' output shaft link to each other with the power shaft of gearbox 3, the output shaft of gearbox 3 links to each other with friction pulley 6, friction pulley 6 output axle journal places adopt the sealing of twin-stage " Y " RunddichtringOs; But adjustable elastic directive wheel 4 pedestals are fixed on folding hinge " U " the type frame structure 1, by adjustable elastic directive wheel 4, motion mounting bracket system can be suitable for the irregular guide rail beam 2 of different size, and guide rail beam 2 is the existing equipment parts at on-the-spot pumping plant place; Supporting wheel systems 5 is the little rolling train that is used for supporting movement mounting bracket system of friction, and it is rolling member independently; Retaining mechanism 7 is made up of wedge type press strip 15, screw rod 16 and dovetail groove 14, as shown in Figure 2: when turn screw rod 16 downward or upward, screw rod promotes or draws high the rectilinear motion that wedge type press strip 15 is done downward or upward, the inclined-plane of wedge type press strip 15 is closely contacted with the ramp of two-dimentional turntable 12, the lower inclined plane that is delivered to two-dimentional turntable 12 simultaneously closely contacts with the inclined-plane of dovetail groove 14 or throws off, thereby but realizes being connected and separating of two-dimentional turntable 12 and folding hinge " U " type frame structure 1.But retaining mechanism 7 is fixed on folding hinge " U " the type framework 1, realizes underwater camera system and firm being connected of two-dimentional turntable with motion mounting bracket system; But folding hinge " U " type frame structure 1 is " U " type structure that Open Side Down, and opening part closes with flap, forms " mouth " type, guarantees motion mounting bracket system and the both convenient and swift installation of guide rail beam, hangs firm linking again.
Motion mounting bracket system specific implementation process is: but folding hinge " U " type frame structure 1 is supported by two groups of support wheels 5, seven groups of adjustable elastic directive wheel 4 guiding, drive friction pulley 6 rotations by direct current machine 2 ' process gearbox 3, friction pulley and guide rail beam 2 mutual friction mutually produce power, thereby drive motion mounting bracket system and make the one dimension rectilinear motion, can regulate directive wheel 4 according to the size of guide rail beam simultaneously, guarantee the operation comfort of mounting bracket; Motion mounting bracket system is again simultaneously the carrier of underwater camera system 11 and the one-dimensional scanning motion of touching end warning system 9, leans on retaining mechanism 7 convenient and swift connections between them; Therefore in motion mounting bracket system motion, the underwater camera system follows and carries out the one dimension straight line together and transport to.
Shown in Fig. 2,3, the underwater camera system is made up of video camera 11, illuminating lamp 8, two-dimentional turntable 12, streamlined cylinder 10, video camera 11 and illuminating lamp 8 are positioned on the two-dimentional turntable 12, the static part of the matrix on the two dimension turntable 12 is square wedge shape, be convenient to be connected with the retaining mechanism 7 of motion mounting bracket system, video camera 11 is sealed in the streamlined cylinder 10, and can make height and rotate, the one side that streamlined cylinder is carried current have a rectangle form 10 ', seal by tempered glass; Illuminating lamp 8 is fixed on streamlined cylinder 10 both sides, and angled when satisfying video camera 8 and make height and rotate, under the cooperation of motion mounting bracket system, and the comprehensive real-time monitoring in implementation space.
As shown in Figure 2, touch end warning system by the mechanical fixed streamlined shell outside of camera system under water, it mainly comprises: interior dress buffer spring touch end alarm switch 9, alarm lamp and sound reporting system, when monitor entered the deep-sea and touch the bottom, buffer spring at first contacted, and started alarm switch simultaneously voluntarily in buffering, make alarm lamp bright, the sound reporting system sends alarm sound simultaneously.
As shown in Figure 1, surveillance of the present invention is system independently, can whether to insert according to user's actual needs decision, as needs taking the photograph image is handled, stored or prints, can get final product by the video plug that vision cable is connected on the controller, thereby realize the target of being monitored is observed, stored, so that as salvage person's reference frame or as the observation contrast of next target.
As shown in Figure 4, controller of the present invention mainly comprises: motion mounting bracket and two-dimensional pan-tilt Single-chip Controlling unit, Electric Machine Control drive circuit, commutation circuit, light regulating circuit, video camera control circuit, rocking bar input processing circuit, oblique wave generating circuit, voltage comparator unit.Commutation circuit realizes the selection of control signal, and outside main input all at first is input to commutation circuit; The input of light regulating circuit, video camera control circuit, rocking bar input processing circuit etc. is all from the output of commutation circuit; Motion mounting bracket and two-dimentional turntable Single-chip Controlling unit receive output signal from the rocking bar input processing circuit, the output of voltage comparator unit the control motor speed pwm signal and from the overcurrent protection signal of Electric Machine Control drive circuit, control to motor driving controling circuit is realized according to the signal of input in motion mounting bracket and two-dimentional turntable Single-chip Controlling unit, simultaneously the frequency of motion mounting bracket and the two-dimentional turntable Single-chip Controlling unit ramp voltage signal also controlling oblique wave generating circuit and produced; Motor driving controling circuit receives the motor control signal of autokinesis mounting bracket system, two-dimentional turntable control unit to realize various motors are comprised: height electric rotating machine 11 ', horizontally rotate motor 12 ' and one dimension drive motors 2 ' control.In order to guarantee the normal operation of various motors, motor driving controling circuit of the present invention adopts two Redundancy Design, in case a motor driving controling circuit breaks down, another still can operate as normal.
The dynamic duty process of controller is as follows: by the operation switching controls passage to switching push button, the light regulating circuit is according to the brightness of controlling light from the light conditioning signal of commutation circuit output; The video camera control circuit is according to the work of controlling video camera from the video camera conditioning signal of commutation circuit output; The rocking bar input processing circuit is handled the rocking bar signal of commutation circuit institute gating, obtain the control signal of control direction of motor rotation and velocity of rotation, the control signal of rotation direction is directly as the input of motion mounting bracket system and two-dimentional turntable Single-chip Controlling unit, and the ramp voltage signal that the control voltage signal of velocity of rotation produces as the input and the oblique wave generating circuit of voltage comparator unit compares the pwm signal of controlled motor speed; Motion mounting bracket system and two-dimentional turntable Single-chip Controlling unit provide last motor control signal according to the pwm signal of the direction of motor rotation control signal of input and control motor speed and from the overcurrent protection signal of Electric Machine Control drive circuit; Motor driving controling circuit is according to the control of the control signal realization that receives autokinesis mounting bracket system and two-dimentional turntable Single-chip Controlling unit to motion mounting bracket system and two-dimentional turntable driving motor, thus the various motions of realization motion mounting bracket and turntable.
On-the-spot for convenience the use, underwater camera system of the present invention and motion mounting bracket system, touch end warning system and can freely dismantle, therefore the design of each control circuit also is fully independently, and control circuit is made the control judgement according to the input of rocking bar and the feedback information of Electric Machine Control driver element.
As shown in Figure 5, theory diagram for the rocking bar input processing circuit among Fig. 4, the rocking bar input processing circuit is mainly by buffer circuit, differential amplifier circuit, the reference voltage initialization circuit, amplify off-centre circuit, direction identification circuit and output circuit are formed, after handling by buffer circuit, the output signal of commutation circuit inputs to the input of two differential amplifier circuits (operational amplifier single power supply) and direction identification circuit, the reference voltage initialization circuit is adjusted the reference voltage set point according to the tapped magnitude of voltage of potentiometer under the rocking bar reset mode, makes two differential amplifier circuits be output as zero under the rocking bar reset mode; The output of two differential amplifier circuits realizes by the stack of two diodes.Because the influence of the forward voltage drop of diode, the signal by the diode stack is as the input of amplifying off-centre circuit, thereby the speed control voltage signal is adjusted to suitable scope; The direction identification circuit adopts comparator to realize, can discern the action of joystick six direction, and the output of direction identification circuit realizes the photoelectricity isolation of output by output circuit.
As shown in Figure 6, be the theory diagram of the motor driving controling circuit among Fig. 4.Motor driving controling circuit mainly is made up of first photoelectric isolating circuit, second photoelectric isolating circuit, H bridge circuit for controlling motor, current foldback circuit, the 3rd photoelectric isolating circuit, the direction signal of peripheral operation control motor, rate signal are imported H bridge circuit for controlling motor after all handling by first photoelectric isolating circuit and second photoelectric isolating circuit again, H bridge circuit for controlling motor according to the motor drive direction of input and speed control signal realize to height electric rotating machine 11 ', horizontally rotate motor 12 ' and one dimension drive motors 2 ' control; Current foldback circuit by H bridge circuit for controlling motor to motor height electric rotating machine 11 ', horizontally rotate motor 12 ' and one dimension drive motors 2 ' operating current take a sample and handle; obtain the overcurrent protection signal according to preset threshold, this overcurrent protection signal is handled back output by the 3rd photoelectric isolating circuit.
Be illustrated in figure 7 as the theory diagram of light regulating circuit among Fig. 4.The realization of light regulating circuit is to the brightness regulation of 150 ~ 250 watts lamp, and requirement can be regulated in full power range.The light regulating circuit mainly comprises: zero cross detection circuit, light are regulated the ramp generator circuit, light is regulated comparator, silicon controlled toggle, zero cross detection circuit detects the alternating current zero crossing signal light that just resets at every turn and regulates oblique wave generating circuit, and the cycle of obtaining is the ramp voltage signal of 100Hz; Dimmer voltage and ramp voltage signal are imported simultaneously in the light adjusting comparator and are obtained pwm signal, and this pwm signal just can be controlled the brightness of light as the input of thyristor gating circuit.Because lamp power line and camera video signal line are in the same cable, and image is easy to generate interference problem.In the present invention, suppress controllable silicon by inductance of serial connection on the lamp power line and open electric current, reached the interference of eliminating vision signal.
Be illustrated in figure 8 as the schematic diagram of the commutation circuit among Fig. 4, commutation circuit mainly is made up of relay drive circuit and relay array two parts, the switching signal of peripheral operation is input to relay drive circuit, relay drive circuit is realized control to relay array according to the signal of input, thereby realizes gating to various electricity and control signal input by relay array.
Be illustrated in figure 9 as the video camera control circuit schematic diagram among Fig. 4, the video camera control circuit mainly is made up of power subsystem, voltage comparator unit, Single-chip Controlling unit.Power subsystem provides power supply for voltage comparator unit, Single-chip Controlling unit and video camera.The voltage comparator unit compares the control signal of input with different reference voltage, obtain digitized video camera control command; The Single-chip Controlling unit reads the digitized video camera control command of voltage comparator unit output, simultaneously the instruction interpretation coding is sent to the control of video camera realization to video camera by serial ports.
The whole dynamic duty process of the present invention is as follows: the whole dynamic duty process of underwater monitoring apparatus for pump station entrance is as follows: at first motion mounting bracket system is suspended on the blowdown rake crossbeam at apparatus for pump station entrance place, after regulating the elastic guide wheel, the underwater camera system is put in the wedge groove of mounting bracket, the locking retaining mechanism connects control cable.Watch-dog enters into the seawater that The turbulent river crashes its way through in the elevating movement of blowdown rake lift, open controller, start illuminator, camera system,, move, scan, throw light on, observe monitoring by the control rocking bar on the controller control panel and each function button and switch.As on control panel, the rocking bar by pulling the turntable control unit left, to the right, upwards, action downwards, video camera is correspondingly done various rotatablely moving, and observes different parts; Rocking bar by pulling the motion in one dimension control unit left, action to the right, mounting bracket drives camera system can make scanning back and forth on crossbeam.Need control the different needs of main body respectively to carry out corresponding task by control corresponding zone on the control panel at task.
Claims (9)
1. underwater monitoring apparatus for pump station entrance, it is characterized in that mainly comprising: motion mounting bracket system is equipped on underwater camera system, surveillance, controller and two-dimentional turntable in the motion mounting bracket system; Controller is connected with motion mounting bracket system, underwater camera system, surveillance respectively by control line; Controller sends control command makes motion mounting bracket system make the one dimension rectilinear motion on the beam guideway of pumping plant blowdown rake, utilize the oscilaltion campaign of pumping plant blowdown rake simultaneously, realize the three-dimensional motion of watch-dog in water, stop in the optional position thereby drive underwater camera system needs according to the observation; The underwater camera system carries out under water the TV monitoring and controlling and the illumination of height, horizontal multi-angle under the control of controller, and can be according to the needs of monitored object, the change of control optical system doubly, focusing, realize in the water far and near different, observe flexibly on a large scale; Controller exports observed vision signal to surveillance through processing and amplifying and carries out Video processing;
Described motion mounting bracket system mainly comprises: but folding hinge " U " type frame structure (1), motion in one dimension drive motors (2 '), gearbox (3), adjustable elastic guiding train (4), supporting wheel systems (5), friction pulley (6), retaining mechanism (7); The output shaft of motion in one dimension drive motors (2 ') links to each other with the power shaft of gearbox (3), and the output shaft of gearbox (3) links to each other with friction pulley (6); Adjustable elastic directive wheel (4) but pedestal be fixed on folding hinge " U " the type frame structure (1), by adjustable elastic directive wheel (4), motion mounting bracket system can be suitable for the irregular guide rail beam (2) of different size; Supporting wheel systems (5) is for being used for the rolling train of supporting movement mounting bracket system; Retaining mechanism (7) is made up of wedge type press strip (15), screw rod (16) and dovetail groove (14), when turn screw rod (16) downward or upward, screw rod promotes or draws high wedge type press strip (15) work rectilinear motion downward or upward, the inclined-plane of wedge type press strip (15) is closely contacted with the ramp of two-dimentional turntable (12), the lower inclined plane that is delivered to two-dimentional turntable (12) simultaneously closely contacts with the inclined-plane of dovetail groove (14) or throws off, realize two-dimentional turntable (12) but with being connected and separating of folding hinge " U " type frame structure (1); Retaining mechanism (7) but be fixed on folding hinge " U " the type framework 1, thereby realize underwater camera system and of firm being connected of two-dimentional turntable with motion mounting bracket system; But folding hinge " U " type frame structure (1) is " U " type structure that Open Side Down, and opening part closes with flap, forms " mouth " type, guarantees motion mounting bracket system and the both convenient and swift installation of guide rail beam (2), hangs firm linking again.
2. underwater monitoring apparatus for pump station entrance according to claim 1, it is characterized in that: described watch-dog also comprise be positioned at be connected with controller in the motion mounting bracket system touch end warning system, when described watch-dog enters the deep-sea and touch the bottom, touch end warning system and report to the police automatically.
3. underwater monitoring apparatus for pump station entrance according to claim 1 and 2, it is characterized in that: described underwater camera system is by video camera (11), illuminating lamp (8), streamlined cylinder (10) is formed, video camera (11) and illuminating lamp (8) are positioned at (12) on the two-dimentional turntable, the static part of the matrix on the two dimension turntable (12) is square wedge shape, be convenient to be connected with the retaining mechanism (7) of motion mounting bracket system, video camera (11) is sealed in the streamlined cylinder (10), and can make height and rotate, streamlined cylinder has a rectangle form (10 ') in face of the one side of current, is sealed by tempered glass; Illuminating lamp (8) is fixed on streamlined cylinder both sides, and angled when satisfying video camera (11) and make height and rotate, under the cooperation of motion mounting bracket system, and the comprehensive real-time monitoring in implementation space.
4. underwater monitoring apparatus for pump station entrance according to claim 2 is characterized in that: the described end warning system of touching mainly comprises: interior dress buffer spring touch end alarm switch (9), alarm lamp and sound reporting system; When watch-dog entered the deep-sea and touch the bottom, buffer spring at first contacted, and started alarm switch voluntarily simultaneously in buffering, made alarm lamp bright, and the sound reporting system sends alarm sound simultaneously.
5. underwater monitoring apparatus for pump station entrance according to claim 1 and 2, it is characterized in that: described surveillance is system independently, can whether to insert according to user's actual needs decision, if desired taking the photograph image is handled, stored or prints, the video plug that is connected on the controller by vision cable gets final product, thereby realize the target of being monitored is observed, stored, so that as salvage person's reference frame or as the observation contrast of next target.
6. underwater monitoring apparatus for pump station entrance according to claim 1 is characterized in that: described controller mainly comprises: motion mounting bracket and two-dimentional turntable Single-chip Controlling unit, motor driving controling circuit, commutation circuit, light regulating circuit, video camera control circuit, rocking bar input processing circuit, oblique wave generating circuit, voltage comparator unit; By the operation switching controls passage to switching push button, the light regulating circuit is according to the brightness of controlling light from the light conditioning signal of commutation circuit output; The video camera control circuit is according to the work of controlling video camera from the video camera conditioning signal of commutation circuit output; The rocking bar input processing circuit is handled the rocking bar signal of commutation circuit institute gating, obtain the control signal of control direction of motor rotation and velocity of rotation, the control signal of rotation direction is directly as the input of motion mounting bracket and two-dimentional turntable Single-chip Controlling unit, and the ramp voltage signal that the control voltage signal of velocity of rotation produces as the input and the oblique wave generating circuit of voltage comparator unit compares the pwm signal of controlled motor speed; Motion mounting bracket and two-dimentional turntable Single-chip Controlling unit provide last motor control signal according to the pwm signal of the direction of motor rotation control signal of input and control motor speed and from the overcurrent protection signal of motor driving controling circuit; Motor driving controling circuit is according to the control of the control signal realization that receives autokinesis mounting bracket and two-dimentional turntable Single-chip Controlling unit to motion mounting bracket and two-dimentional turntable driving motor, thus the various motions of realization motion mounting bracket and turntable.
7. underwater monitoring apparatus for pump station entrance according to claim 6, it is characterized in that: described rocking bar input processing circuit is mainly by buffer circuit, differential amplifier circuit, the reference voltage initialization circuit, amplify off-centre circuit, direction identification circuit and output circuit are formed, after handling by buffer circuit, the output signal of commutation circuit inputs to the input of two differential amplifier circuits and direction identification circuit, the reference voltage initialization circuit is adjusted the reference voltage set point according to the tapped magnitude of voltage of potentiometer under the rocking bar reset mode, makes two differential amplifier circuits be output as zero under the rocking bar reset mode; The signal of the output of two differential amplifier circuits by diode stack is as the input of amplifying off-centre circuit, thereby the speed control voltage signal is adjusted to suitable scope, the direction identification circuit adopts comparator to realize, be used to discern the action of rocking bar six direction, the output of direction identification circuit realizes output by output circuit photoelectricity every.
8. underwater monitoring apparatus for pump station entrance according to claim 6, it is characterized in that: described motor driving controling circuit is mainly by first photoelectric isolating circuit, second photoelectric isolating circuit, H bridge circuit for controlling motor, current foldback circuit, the 3rd photoelectric isolating circuit is formed, the direction signal of peripheral operation input control motor, rate signal is imported H bridge circuit for controlling motor after all handling by first photoelectric isolating circuit and second photoelectric isolating circuit again, and H bridge circuit for controlling motor is realized motion in one dimension drive motors (2 ') according to the motor drive direction and the speed control signal of input, height electric rotating machine (11 ') and horizontally rotate the control of motor (12 '); Current foldback circuit is taken a sample to motion in one dimension drive motors (2 '), height electric rotating machine (11 ') and the operating current that horizontally rotates motor (12 ') by H bridge circuit for controlling motor and is handled; obtain the overcurrent protection signal according to preset threshold, this overcurrent protection signal is handled back output by the 3rd photoelectric isolating circuit.
9. underwater monitoring apparatus for pump station entrance according to claim 6, it is characterized in that: described light regulating circuit mainly is the brightness regulation of realization to 150 ~ 250 watts lamp, it comprises: zero cross detection circuit, light are regulated the ramp generator circuit, light is regulated comparator, silicon controlled toggle, zero cross detection circuit detects the alternating current zero crossing signal light that just resets at every turn and regulates oblique wave generating circuit, and the cycle of obtaining is the ramp voltage signal of 100Hz; Dimmer voltage and ramp voltage signal are imported simultaneously in the light adjusting comparator and are obtained pwm signal, and this pwm signal just can be controlled the brightness of light as the input of thyristor gating circuit.
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| CN2008101042909A CN101296370B (en) | 2008-04-17 | 2008-04-17 | Underwater monitoring apparatus for pump station entrance |
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| CN2008101042909A CN101296370B (en) | 2008-04-17 | 2008-04-17 | Underwater monitoring apparatus for pump station entrance |
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| CN101296370B true CN101296370B (en) | 2011-07-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108393810A (en) * | 2018-03-06 | 2018-08-14 | 北京石油化工学院 | A kind of water knife imderwater cutting device monitored |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102202209A (en) * | 2010-03-22 | 2011-09-28 | 天津市技术物理研究所 | Mobile video monitoring system for radiation field |
| CN103499943B (en) * | 2013-10-21 | 2016-08-17 | 济南微控科技发展有限公司 | A kind of micro-control automaton |
| CN104253982A (en) * | 2014-10-20 | 2014-12-31 | 国家电网公司 | Underground observation instrument for cable conduit in power well and application method |
| CN105578001B (en) * | 2015-11-06 | 2018-10-16 | 遂宁市合利诚数码科技有限公司 | Big visual field security protection camera |
| CN106226770B (en) * | 2016-08-30 | 2020-10-09 | 阳江核电有限公司 | Underwater environment monitoring system for water intake of nuclear power station |
| CN108007732B (en) * | 2017-11-29 | 2020-10-09 | 马鞍山威莎自动化设备科技有限公司 | Sampling equipment for air detection of underground hoistway |
| CN112363542B (en) * | 2020-11-23 | 2022-09-27 | 上海航天测控通信研究所 | Ground equipment for rocket-borne phased array antenna initial phase balancing |
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2008
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393810A (en) * | 2018-03-06 | 2018-08-14 | 北京石油化工学院 | A kind of water knife imderwater cutting device monitored |
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