CN102493685B - Underwater cleaning robot with cable torsion detection device - Google Patents
Underwater cleaning robot with cable torsion detection device Download PDFInfo
- Publication number
- CN102493685B CN102493685B CN201110389065.6A CN201110389065A CN102493685B CN 102493685 B CN102493685 B CN 102493685B CN 201110389065 A CN201110389065 A CN 201110389065A CN 102493685 B CN102493685 B CN 102493685B
- Authority
- CN
- China
- Prior art keywords
- torsion
- cable
- cleaning robot
- control device
- detecting device
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Images
Landscapes
- Cleaning By Liquid Or Steam (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses an underwater cleaning robot with a cable torsion detection device, which comprises a robot body, a floating cable and a torsion detection device and a control device, wherein the torsion detection device is used for judging whether the floating cable is twisted; the control device processes information given from the torsion detection device; the torsion detection device is arranged on the floating cable and comprises a shell and a torsion sensor arranged in the shell; the revolving shaft of the torsion sensor is replaced by the floating cable; the torsion force of the floating cable is converted into an electrical signal by the torsion sensor, and the electrical signal is transmitted to a processing module of the control device; the control device comprises an input module and the processing module, wherein the input module is connected with the processing module; and the processing module is also respectively connected with the robot body and the torsion sensor. According to the underwater cleaning robot with the cable torsion detection device, the effect of avoiding the phenomenon that the normal operation of the underwater cleaning robot body is affected because the floating cable is twisted, screwed and coiled can be realized.
Description
Technical field
The present invention relates to a kind of device that reverses control to controlling buoyant cable, specifically a kind of underwater cleaning robot with cable torsion detecting device.
Background technology
In most of operation at sea equipment, all use common water repellent electric cable as the cable of transferring electric power, its weight ratio is heavier, during use, all with equipment, sink to the bottom, this water repellent electric cable in actual use very easily with seabed or riverbed on hard thing generation scraped finish, cause cable fault, thereby reduced the application life of cable, and folding and unfolding is more difficult, thereby is not suitable for use in the cable that operation at sea needs frequent folding and unfolding.
At present intelligent swimming pool cleaner is generally all used buoyant cable to transmit electric power to the main part of the intelligent swimming pool cleaner of underwater operation in the process of operation under water.Although this has solved wearing and tearing and the folding and unfolding problem of cable, but because intelligent swimming pool cleaner can be subject to the shape of swimming pool when operation and the design of swimming pool bottom needs and the motion that there will be the turning motion of repetition and climb wall, upset and other large angle torsion when cleaning swimming pool sidewall under water, there is the distortion of tightening of the alternate manner that reverses, tighten, coil and occur along with the irregular movement of underwater cleaning robot main body in this buoyant cable that will cause being connected with underwater cleaning robot main body.
The torsion of buoyant cable, tighten and coiling can affect the normal operation of underwater cleaning robot main body, just such as: due to the coiling of cable, reverse, the length of buoyant cable is not reached according to the appointed area of program setting in advance carrying out clean distance, repeat to clean some regions and be not easy to advance, in climbing the clean process of wall, if it is tighter that buoyant cable reverses or twists, just there will be underwater cleaning robot main body not climb or from the generation of the situations such as wall falls down, easily damage the main part under water of intelligent swimming pool cleaner, thereby shortened the application life of entire machine, reduced operating efficiency, and if the torsion of the generation of buoyant cable is too large, also can cause underwater cleaning robot main body in the process of carrying out flip-flop movement, just to there will be upset difficulty, do not reach the effect of the rear normal operation of upset, at this time just need water under operator to overturn, like this troublesome poeration and reduced operating efficiency.
Summary of the invention
The object of this invention is to provide a kind of underwater cleaning robot with cable torsion detecting device, solve and how to avoid buoyant cable to occur reversing, tighten and coil the technical problem of the normal operation that affects underwater cleaning robot main body.
The technical solution adopted for the present invention to solve the technical problems is:
The underwater cleaning robot with cable torsion detecting device, comprises robot body, buoyant cable, judges the torsion detecting device whether buoyant cable reverses, the control device that the information that torsion detecting device is provided is processed; Torsion detecting device is located on buoyant cable, and this torsion detecting device comprises housing and is located at the torsion sensor in this housing, the wherein axis of rotation of torsion sensor employing buoyant cable replacement; This torsion sensor converts the twisting resistance of buoyant cable to electric signal transmission to the processing module of control device, and control device comprises input module, processing module; Input module is connected with processing module, and this processing module is also connected with robot body and torsion sensor respectively; Described torsion sensor is contactless torsion sensor or potentiometer type torsion sensor or metal resistance strain gauge torsion sensor.
Described processing module is integrated chip.
Described control device also comprises display.
The described control device of being located at outside the water surface is connected with buoyant cable.
The invention has the beneficial effects as follows: owing to being provided with torsion sensor and control device, and the axis of rotation using buoyant cable as torsion sensor, rather than simply torsion sensor is arranged on buoyant cable, when reversing appears in buoyant cable, tighten and coil torsion sensor while affecting underwater cleaning robot normal operation and just send signal to the integrated chip of control device accordingly, integrated chip and then control main body turn round in the opposite direction, make buoyant cable no longer occur reversing, tighten and coil the phenomenon that affects underwater cleaning robot normal operation.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment;
Fig. 2 is the electrical interconnection figure of each parts in Fig. 1;
1. cleaning machine human agents in figure, 2. buoyant cable, 3. torsion detecting device, 4. control device, 5. contactless torsion sensor, 6. housing, 7. display screen, 8. keyboard input module, 9. processing module.
The specific embodiment
Please refer to Fig. 1 and Fig. 2, the underwater cleaning robot buoyant cable torsion detecting device in embodiment comprises cleaning machine human agent 1, the buoyant cable 2 being connected with cleaning machine human agent 1, be fixed on buoyant cable 2 and near cleaning machine human agent 1 for controlling the torsion detecting device 3 that buoyant cable 2 reverses and the control device 4 being connected with buoyant cable 2.
Cleaning machine human agent 1 is at present common cleaning robot, contains such as the driving mechanism of motor with for the filter bag of holding water booty in cleaning machine human agent 1.This cleaning machine human agent 1 bottom and top offer respectively water inlet and delivery port, for Chi Shui is sucked to clean robot body interior from water inlet, and after filtering in delivery port sprays into pond, thereby realize the object of purifying pond water.Other related data of cleaning machine human agent 1 can be consulted the relevant patent documentation of announcing, and at this, no longer too much describes.
Thereby the global density of buoyant cable 2 is less than 1 and can floats on the water surface.In order to measure accurately the torsion situation of buoyant cable 2, position near cleaning machine human agent 1 on buoyant cable 2 is provided with a torsion detecting device 3, this torsion detecting device 3 comprises that measuring buoyant cable 2 reverses the torsion sensor of degree and be used for fixing the housing 6 that torsion sensor is installed, for convenient housing 6 and the torsion sensor of fixedly mounting on buoyant cable 2, the present embodiment is just selected contactless torsion sensor 5, in addition, 6 obturators of selecting corrosion-resistant material to make of housing.
Control procedure below by the present embodiment product is further described the present invention: first, cleaning machine human agent 1 and buoyant cable 2 thereof are put in swimming pool for clearance, and operating personnel drive cleaning machine human agent 1 to carry out swimming pool cleaning by control device waterborne 4.Cleaning machine human agent 1 is subject to the shape of swimming pool itself and the design of swimming pool bottom in swimming pool impact in clean process there will be repetition turning, climb the motion of wall, upset and other large angle torsion, the phenomenon that tightens distortion of the alternate manner that at this moment occurs torsion, coiling with regard to the buoyant cable 2 that likely causes being connected with cleaning machine human agent 1 and occur along with cleaning machine human agent 1 irregular movement, when there is above-mentioned phenomenon, the non-contact sensor 5 being arranged on buoyant cable 2 is just measured the moment of torsion of buoyant cable 2 in twist process in real time.While producing moment of torsion in the process that buoyant cable 2 reverses along with cleaning machine human agent 1, torsion sensor just senses the variation of moment of torsion, and output signal to the integrated intelligent chip in control device 4, this chip obtains concrete moment of torsion data and shows by display screen 7 through the data processing of corresponding relation, when the torque value showing is greater than or surpasses the moment of torsion that normal operation bears, chip just sends instruction to cleaning machine human agent 1 electric rotating machine, the opposite direction motion that cleaning machine human agent 1 is reversed towards buoyant cable 2, thereby make buoyant cable 2 revert to normal condition by twisting states, cleaning machine human agent 1 just can proceed cleaning like this.
What we selected in the above-described embodiments is the torsion that noncontact torsion sensor 5 is measured buoyant cable 2, and other can measure the sensor of moment of torsion certainly also can to use current potential pin type torsion sensor or potentiometer type torsion sensor or metal resistance strain gauge torsion sensor etc.
Claims (4)
1. the underwater cleaning robot with cable torsion detecting device, comprise robot body, buoyant cable, it is characterized in that: also comprise the torsion detecting device that judges whether buoyant cable reverses, the control device that the information that torsion detecting device is provided is processed; Torsion detecting device is located on buoyant cable, and this torsion detecting device comprises housing and is located at the torsion sensor in this housing, the wherein axis of rotation of torsion sensor employing buoyant cable replacement; This torsion sensor converts the twisting resistance of buoyant cable to electric signal transmission to the processing module of control device, and control device comprises input module, processing module; Input module is connected with processing module, and this processing module is also connected with robot body and torsion sensor respectively; Described torsion sensor is contactless torsion sensor or potentiometer type torsion sensor or metal resistance strain gauge torsion sensor.
2. according to the underwater cleaning robot with cable torsion detecting device claimed in claim 1, it is characterized in that: described processing module is integrated chip.
3. according to the underwater cleaning robot with cable torsion detecting device described in claim 1 or 2, it is characterized in that: described control device also comprises display.
4. according to the underwater cleaning robot with cable torsion detecting device described in claim 1 or 2, it is characterized in that: described control device is located at outside the water surface and is connected with buoyant cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110389065.6A CN102493685B (en) | 2011-11-30 | 2011-11-30 | Underwater cleaning robot with cable torsion detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110389065.6A CN102493685B (en) | 2011-11-30 | 2011-11-30 | Underwater cleaning robot with cable torsion detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102493685A CN102493685A (en) | 2012-06-13 |
| CN102493685B true CN102493685B (en) | 2014-03-05 |
Family
ID=46185539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110389065.6A Active CN102493685B (en) | 2011-11-30 | 2011-11-30 | Underwater cleaning robot with cable torsion detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102493685B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105581737A (en) * | 2014-11-14 | 2016-05-18 | 北京方道环保科技有限公司 | Radiation deep pool cleaning robot |
| JP6946947B2 (en) * | 2017-11-06 | 2021-10-13 | トヨタ自動車株式会社 | Submersible system |
| CN111516831B (en) * | 2020-04-21 | 2021-03-09 | 中国船舶科学研究中心 | Cable type monitoring underwater robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2740362Y (en) * | 2004-11-17 | 2005-11-16 | 中国科学院沈阳自动化研究所 | Underwater robot for aquatic product culture observation |
| CN101196551A (en) * | 2007-05-10 | 2008-06-11 | 北京深浪电子技术有限公司 | Ground wire patrol checking robot of high voltage power line |
-
2011
- 2011-11-30 CN CN201110389065.6A patent/CN102493685B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2740362Y (en) * | 2004-11-17 | 2005-11-16 | 中国科学院沈阳自动化研究所 | Underwater robot for aquatic product culture observation |
| CN101196551A (en) * | 2007-05-10 | 2008-06-11 | 北京深浪电子技术有限公司 | Ground wire patrol checking robot of high voltage power line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102493685A (en) | 2012-06-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102493685B (en) | Underwater cleaning robot with cable torsion detection device | |
| CN109229310A (en) | A kind of underwater outer round tube cleaning and detect robot | |
| CN212111376U (en) | Floating water quality monitoring station | |
| CN103698340B (en) | A kind of pick-up unit of submerged structure | |
| US10713918B2 (en) | Smart boat for swimming pool maintenance | |
| CN107128471A (en) | A kind of New Marine sail and its control method | |
| CN105974074A (en) | Amphibious water quality monitoring robot | |
| CN107905269A (en) | A kind of paired cable winch gear for ultrasonic wave pore-forming grooving quality testing | |
| CN111547191A (en) | Stable form coastal waters floating observation device who conveniently retrieves | |
| CN203996855U (en) | Screw propeller for marine survey platform drives wave energy transformation mechanism | |
| CN212904845U (en) | Marine environment on-line monitoring device | |
| CN210071863U (en) | River flow velocity mapping device | |
| CN201335749Y (en) | Three-pulley force transducer | |
| KR20150053396A (en) | Underwater cleaning robot | |
| CN211234629U (en) | Hydraulic engineering bathymetric survey device | |
| CN205396441U (en) | All -round intellectual detection system buoy | |
| CN209351572U (en) | A kind of robot that paddles with sonar contact device | |
| CN105239803B (en) | Underwater cleaning robot | |
| CN206184057U (en) | Over twisting protection device and test table is examined in calibration thereof | |
| CN206056720U (en) | A kind of hydraulic engineering Level monitor | |
| CN209530187U (en) | A kind of intelligence water decanter | |
| CN108951534A (en) | A kind of floating wharf with unattended automatic feeding fish material function | |
| CN114166314A (en) | Pretreatment pipeline device for online monitoring of water quality and water quantity | |
| CN219757418U (en) | River course ultrasonic wave flow monitor | |
| CN208399490U (en) | All-in-One water quality sensor ultrasonic cleaning equipment and water source tester |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |