CN108100190A - The machine system and underwater robot of underwater robot - Google Patents
The machine system and underwater robot of underwater robot Download PDFInfo
- Publication number
- CN108100190A CN108100190A CN201711112959.4A CN201711112959A CN108100190A CN 108100190 A CN108100190 A CN 108100190A CN 201711112959 A CN201711112959 A CN 201711112959A CN 108100190 A CN108100190 A CN 108100190A
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- China
- Prior art keywords
- unit
- machine system
- transmission unit
- underwater robot
- power supply
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Classifications
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/44—Circuits or arrangements for compensating for electromagnetic interference in converters or inverters
Abstract
The present invention provides the machine systems and underwater robot of a kind of underwater robot, are related to underwater robot technical field, which includes power supply unit, lamp control unit, power unit, Video Transmission Unit, wireless image transmission unit and signal transmission unit；Wherein, one or more of power supply unit, lamp control unit, power unit, Video Transmission Unit, signal transmission unit and wireless image transmission unit, are provided with EMC modules.The present invention can reduce radiation interference by EMC modules, the electromagnetic environment of machine system is preferably improved by setting EMC modules for machine system.
Description
Technical field
The present invention relates to underwater robot technical field, machine system more particularly, to a kind of underwater robot and underwater
Robot.
Background technology
The system that is made of electronic equipment group is more intelligent, more modernizes, caused by electromagnetic environment it is just more complicated.Under water
Robot is also referred to as unmanned remotely controlled submersible vehicle, be it is a kind of work in underwater Work robot, can pull the plug and complete certain instead of people
A little operations, are a kind of more typical smart machines.The machine system of the underwater robot is equally complex, and electromagnetic environment is
Underwater robot can normal table work and underwater robot machine system EMC radiation height key influence factor.
However, in the prior art, only by simply optimizing the modes such as cabling to the machine system of underwater robot, to electromagnetism ring
The improvement in border is little.
The content of the invention
In view of this, it is an object of the invention to provide the machine system and underwater robot of a kind of underwater robot, energy
Enough electromagnetic environments for preferably improving underwater robot.
To achieve these goals, the technical solution that the embodiment of the present invention uses is as follows：
In a first aspect, an embodiment of the present invention provides a kind of machine system of underwater robot, including：Power supply unit, lamp
Control unit, power unit, Video Transmission Unit, wireless image transmission unit and signal transmission unit；Wherein, power supply unit, lamp
One or more of unit, power unit, Video Transmission Unit, signal transmission unit and wireless image transmission unit are controlled, if
It is equipped with EMC modules.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiment of first aspect, wherein,
EMC modules include common mode inductance filter circuit, π filter circuits and RC absorbing circuits；The power input of power supply unit is provided with
Common mode inductance filter circuit or π filter circuits；The voltage conversion side of power supply unit is provided with RC absorbing circuits.
With reference to first aspect, an embodiment of the present invention provides second of possible embodiment of first aspect, wherein,
EMC modules include common mode inductance filter circuit, π filter circuits or RC absorbing circuits；The lamp output terminal of lamp control unit sets useful
In level-one filtering RC absorbing circuits and be provided with for the π filter circuits of secondary filter or common mode inductance filter circuit.
With reference to first aspect, an embodiment of the present invention provides the third possible embodiment of first aspect, wherein,
EMC modules include X2Y capacitor filters；The motor incoming end of power unit is provided with X2Y capacitor filters.
With reference to first aspect, an embodiment of the present invention provides the 4th kind of possible embodiment of first aspect, wherein,
EMC modules include build-out resistor, spread spectrum clock pulse generator and FPC lines；The high frequency that the camera master chip of Video Transmission Unit is connect
The both sides of clock signal MCLK transmission lines are provided with build-out resistor, when the clock signal terminal of Video Transmission Unit is provided with spread spectrum
Pulse generator, and Video Transmission Unit transmits clock signal by FPC lines.
With reference to first aspect, an embodiment of the present invention provides the 5th kind of possible embodiment of first aspect, wherein,
Magnet ring is provided on FPC lines.
The 4th kind with reference to first aspect or the 5th kind of possible embodiment, an embodiment of the present invention provides first aspects
The 6th kind of possible embodiment, wherein, FPC lines be three layers of FPC lines.
With reference to first aspect, an embodiment of the present invention provides the 7th kind of possible embodiment of first aspect, wherein,
EMC modules include low-pass filter circuit；The high frequency clock signal SD_CLK that the WIFI chips of wireless image transmission unit are connect is passed
The one side of defeated line is provided with low-pass filter circuit.
With reference to first aspect, an embodiment of the present invention provides the 8th kind of possible embodiment of first aspect, wherein,
EMC modules include shielding line, are connected between the modem of signal transmission unit and outer end interface by shielding line.
Second aspect, the embodiment of the present invention also provide a kind of underwater robot, any one including first aspect offer
The machine system of underwater robot further includes the remote controler with machine system wireless connection.
An embodiment of the present invention provides the machine system and underwater robot of a kind of underwater robot, by for machine system
In power supply unit, lamp control unit, power unit, Video Transmission Unit, in signal transmission unit and wireless image transmission unit
It is one or more EMC modules are set, can radiation interference be reduced by EMC modules, the electromagnetic environment of machine system is carried out
It is preferable to improve.
Other feature and advantage of the disclosure will illustrate in the following description, alternatively, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine or by implement the disclosure above-mentioned technology it can be learnt that.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in describing below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 shows a kind of structure diagram of the machine system for underwater robot that the embodiment of the present invention is provided；
Fig. 2 shows a kind of structure diagram for power supply unit that the embodiment of the present invention is provided；
Fig. 3 shows a kind of circuit diagram for π filter circuits for power supply unit that the embodiment of the present invention is provided；
Fig. 4 shows a kind of circuit diagram for RC absorbing circuits for power supply unit that the embodiment of the present invention is provided；
Fig. 5 shows a kind of structure diagram for lamp control unit that the embodiment of the present invention is provided；
Fig. 6 shows a kind of circuit diagram for lamp control unit that the embodiment of the present invention is provided；
Fig. 7 shows a kind of electricity for X2Y capacitor filters applied to power unit that the embodiment of the present invention is provided
Lu Tu；
Fig. 8 shows a kind of structure diagram for Video Transmission Unit that the embodiment of the present invention is provided；
Fig. 9 shows a kind of structure diagram for wireless image transmission unit that the embodiment of the present invention is provided；
Figure 10 shows a kind of low-pass filtering electricity applied to wireless image transmission unit that the embodiment of the present invention is provided
The circuit diagram on road；
Figure 11 shows a kind of structure diagram for machine system that the embodiment of the present invention is provided.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiment be part of the embodiment of the present invention rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower all other embodiments obtained, belong to the scope of protection of the invention.
Poor in view of the machine system electromagnetic environment of underwater robot of the prior art, radiation interference is stronger to ask
Topic, to improve this problem, the machine system and underwater robot of a kind of underwater robot provided in an embodiment of the present invention, Ke Yiying
For underwater robot field.It describes in detail below to the embodiment of the present invention.
Embodiment one：
A kind of machine system of underwater robot is present embodiments provided, including：Power supply unit, lamp control unit, power list
Member, Video Transmission Unit, wireless image transmission unit and signal transmission unit；
Wherein, power supply unit, lamp control unit, power unit, Video Transmission Unit, signal transmission unit and wireless image pass
One or more of defeated unit is provided with EMC (Electro Magnetic Compatibility, Electro Magnetic Compatibility) mould
Block.Electro Magnetic Compatibility refers to that the operation that meets the requirements in its electromagnetic environment of equipment or system does not set any in its environment
The standby ability for generating intolerable electromagnetic interference.
EMC modules can include that filtering device, screened film, FPC lines etc. are various to be helped to reduce radiation, improve electromagnetic environment
Device, specifically can corresponding device be selected according to actual setting environment.Specifically, for a functional unit (with
Each unit included by upper machine system can be described as functional unit), EMC modules can be wholy set in the functional unit,
It can also disperse to be laid in functional unit or be arranged at only with EMC moulds part of devices in the block in functional unit.Pass through
Functional unit in machine system sets EMC modules, can preferably improve the electromagnetism ring of the machine system of underwater robot
Border reduces electromagnetic radiation and noise jamming etc..
In order to make it easy to understand, may refer to a kind of structure diagram of the machine system of underwater robot shown in FIG. 1, show
It anticipates out the power supply unit 10 for being respectively arranged with EMC modules 1, lamp control unit 20, power unit 30, Video Transmission Unit 40, signal
Transmission unit 50 and wireless image transmission unit 60.Fig. 1 is only to illustrate that above-mentioned each functional unit is both provided with answering for EMC modules
Use occasion.In practical applications, it can select one or more of functional units that EMC moulds are set according to demand and flexibly
Block, the specific implementation of the EMC modules set by different function units can not also be same, such as, sets included by EMC modules
Device and EMC modules be arranged on position of functional unit etc..
An embodiment of the present invention provides the machine system and underwater robot of a kind of underwater robot, by for machine system
One or more of functional unit (such as：Power supply unit, lamp control unit, power unit, Video Transmission Unit, signal transmission
Unit and wireless image transmission unit etc.) EMC modules are set, can radiation interference be reduced by EMC modules, to machine system
Electromagnetic environment is preferably improved.
In order to make it easy to understand, below for the unit in above-mentioned machine system, a kind of tool of EMC modules is provided respectively
Body set-up mode：
(1) for power supply unit
Power supply unit can be used for other functional units power supply in the machine system for underwater robot.If power supply list
Member is provided with EMC modules, and the present embodiment provides a kind of embodiment：EMC modules can include common mode inductance filter circuit, π is filtered
Wave circuit and RC absorbing circuits etc.；Specifically, the power input of power supply unit is provided with common mode inductance filter circuit or π filtering
Circuit；The voltage conversion side of power supply unit is provided with RC absorbing circuits.This mode can preferably reduce power supply ripple noise
It is radiated with switching noise.
A kind of structure diagram of power supply unit shown in Figure 2 illustrates sequentially connected prime filter circuit, electricity
Source module, rear class filtering circuit, 12V power supplys, 5V power supplys and external output terminal, to be each function module (that is, function list
Member) power supply.Wherein " BAT-IN " represents plant-grid connection, and " BATGND " represents power ground end.In the power input of power supply unit
End can be specifically that the prime filter circuit in Fig. 2 can use common mode inductance or common mode inductance filter circuit or π filtered electricals
Road, so as to effectively reduce low-frequency power noise.
Specifically, it may refer to a kind of circuit diagram of π filter circuits for power supply unit shown in Fig. 3.In figure 3
π filter circuits are indicated in black box.Wherein, inductance L1 and capacitance C4, C7 form π filter circuits；Make between the ground of both ends
With single-contact 0 Ω resistance R133, R134, R142, the noise that can also preferably reduce the introducing of power input BATGND ends is done
It disturbs.The π filter circuits namely as the prime filter circuit in Fig. 2.It is applied in addition, illustrating π filter circuits in figure 3
The surrounding enviroment (capacitance C5, C6, diode D29, transistor D1 and chip P1 etc.) of power supply unit, not this implementation
π filter circuits, can also be arranged under other environmental circuitries by example emphasis in practical applications, therefore no longer introduce herein,
A kind of circuit diagram of RC absorbing circuits for power supply unit shown in Figure 4, wherein, resistance R156 and capacitance
C9, resistance R8 and capacitance C12 form RC absorbing circuits, and in practical applications, R156 and C9, which can delay, opens Bootstrap, R8 and
C12 can reduce switching noise radiation.The interface of RC absorptive units is only simply illustrated in Fig. 4, which is power supply unit
In port of the power module after voltage conversion.That is, the RC absorbing circuits are as rear class filtering circuit as shown in Figure 3.
In addition, illustrated in Fig. 4 RC absorbing circuits applied to power supply unit surrounding enviroment (such as diode D2 and inductance L2,
LC filter circuits of capacitance C14 compositions etc.), since surrounding enviroment are not the present embodiment emphasis, and can also flexibly set, therefore not
It introduces again.
In conclusion by the way that the EMC modules for including common mode inductance filter circuit, π filter circuits and RC absorbing circuits are set
Power supply unit is placed in, power supply ripple noise and switching noise radiation can be preferably reduced, improve electromagnetic environment.
(2) for lamp control unit
Lamp control unit can be used for controlling the lamps and lanterns (such as headlight, taillight) of underwater robot.If lamp control list
Member is provided with EMC modules, and the present embodiment provides a kind of embodiment：EMC modules include common mode inductance filter circuit, π filtered electricals
Road or RC absorbing circuits etc.；Specifically, the lamp output terminal of lamp control unit be provided with for level-one filtering RC absorbing circuits and
It is provided with for the π filter circuits of secondary filter or common mode inductance filter circuit, to reduce radiation interference.
Specifically, a kind of structure diagram of lamp control unit shown in Figure 5, illustrates sequentially connected driving mould
Block, level-one filter circuit, secondary filter circuit, also illustrate headlight and taillight.Wherein, drive module connects with external circuit,
For receiving the VIN input signals and GND common end grounding signals of external circuit conveying.
In practical applications, level-one filter circuit uses RC absorbing circuits, similar to the RC absorbing circuits in power supply unit,
Switching noise radiation can be reduced, secondary filter circuit is filtered using common mode inductance or π is filtered or magnetic bead can be reduced further
Radiation.A kind of circuit diagram of lamp control unit shown in Figure 6, illustrates RC absorbing circuits and π filter circuits, wherein, RC
R154 and C78 in absorbing circuit, which can delay, opens Bootstrap, and R72 and C79 can reduce switching noise radiation, which absorbs electricity
Level-one filter circuit of the road as lamp control unit；L7, C81, C136 form π filter circuits, the secondary filter as lamp control unit
Circuit.In figure 6, also illustrate inductance L4, diode D7 between RC absorbing circuits and π filter circuits etc., while also illustrate
Go out the LED light that π filter circuits are connect, such as LED10.And in another embodiment, the L7 of Fig. 6 could alternatively be magnetic bead or
Entire secondary filter circuit uses common mode inductance circuit.
By the way that the EMC modules for including common mode inductance filter circuit, π filter circuits and RC absorbing circuits are arranged at lamp control list
Member can preferably reduce Ripple Noise and switching noise radiation, improve electromagnetic environment.
(3) for power unit
Power unit includes motor and electric machine controller etc., can be used for providing power for the movement of underwater robot.
If power unit is provided with EMC modules, the present embodiment provides a kind of embodiment：EMC modules is driven to include X2Y capacitor filterings
Circuit；Specifically, the motor incoming end of power unit is provided with X2Y capacitor filters.This mode can be reduced preferably
Low frequency noises caused by power motor.
A kind of circuit diagram of X2Y capacitor filters applied to power unit shown in Figure 7；Wherein C86 is X electricity
Hold, common mode interference can be reduced；C87 and C88 is Y capacitance, can reduce DM EMI.C86, C87 and C88 collectively form X2Y
Capacitor filter.BAT+ represents positive pole, and BAT- represents power cathode；M+ represents motor Moter anodes, and M- represents motor
Moter cathode.GND represents ground connection.
By the way that the EMC modules for including X2Y capacitor filters are arranged at power unit, by reducing common mode interference and difference
Mould disturbs, and can preferably reduce low frequency noises caused by reducing power motor, improves electromagnetic environment.
(4) for Video Transmission Unit
Video Transmission Unit can be used for image datas such as transmission photo, video etc., if Video Transmission Unit is set
There are EMC modules, the present embodiment provides a kind of embodiment：EMC modules include build-out resistor, spread spectrum clock pulse generator and FPC lines；
Specifically, the both sides for the high frequency clock signal MCLK transmission lines that the camera master chip of Video Transmission Unit is connect are provided with matching electricity
Resistance, is provided with spread spectrum clock pulse generator, and Video Transmission Unit is transmitted by FPC lines in the clock signal terminal of Video Transmission Unit
Clock signal reduces the radiation of Video Transmission Unit through the above way.
A kind of structure diagram of Video Transmission Unit shown in Figure 8, illustrate camera master chip, build-out resistor and
SSCG (spread spectrum clock pulse generator) passes sequentially through high frequency clock signal MCLK (system clock) transmission line and is connected, and may be contained within phase
In mainboard；SSCG is connected with camera by high frequency clock signal MCLK transmission lines, which may be employed FPC lines,
On may be provided with magnet ring, with it is further reduce radiate.That is, it is provided with magnet ring on FPC lines.In practical applications, FPC lines can be with
For three layers of FPC lines.Wherein, FPC lines (alternatively referred to as FPC winding displacements) are flexible connecting line group.
Wherein, Proper Match electric resistance partial pressure value can reduce high-frequency clock letter under conditions of signal transmission quality is not influenced
Number emissive porwer；High-speed clock signal emission peak can be reduced by being handled using spread spectrum (SSCG)；In phase mainboard and camera
Between using 3 layers of FPC lines can reduce radiation on signal transmission path, if on FPC lines plus magnet ring will further decrease spoke
It penetrates.
By the way that the EMC modules for including build-out resistor, spread spectrum clock pulse generator and FPC lines are arranged at Video Transmission Unit,
High frequency clock signal MCLK transmission lines both ends increase build-out resistor, can effectively reduce high-speed clock signal emissive porwer namely
Reduce radiation of power；Spread-spectrum processing is carried out in clock signal terminal, can effectively reduce surge and noise；It in practical applications, can be with
Using 3 layers of clock transfer FPC lines, by levels floor file and add EMI screened films, can preferably isolate radiation, it is comprehensive to improve
Electromagnetic environment.
(5) for wireless image transmission unit
Wireless image transmission unit can be used for wirelessly transmitting image data.If wireless image transmission unit is set
EMC modules are equipped with, the present embodiment provides a kind of embodiment：EMC modules are including low-pass filter circuit etc.；Specifically, without line chart
As the one side for the high frequency clock signal SD_CLK transmission lines that the WIFI chips of transmission unit are connect is provided with low-pass filter circuit.
A kind of structure diagram of wireless image transmission unit shown in Figure 9 illustrates that WiFi module includes WiFi
Chip and the filter circuit being connected with WiFi chip by high frequency clock signal SD_CLK transmission lines.The filter circuit specifically may be used
Think low-pass filter circuit, may refer to a kind of low-pass filter circuit applied to wireless image transmission unit shown in Fig. 10
Circuit diagram；Wherein, R300 and C424 forms low-pass filter, and reasonable disposition parameter can reduce the dry of high-speed clock signal generation
It disturbs, so as to reduce dominant frequency or harmonious radio radiation.One end of R300 receives the SD_CLK_P signals that CLK clock ends are sent, R300
The other end to SDRAM (synchronous dynamic random-access memory, in synchronous dynamic random-access
Deposit) transmission SDRAM_CLK_P signals.Wherein, SDRAM is isochronous memory, synchronously refers to memory need of work synchronised clock, internal
Order transmission and data transmission all on the basis of it；SDRAM is there are one sync cap, meeting etc. before response control inputs
A clock signal is treated, with synchronous with CPU.
By the way that the EMC modules for including low-pass filter circuit are arranged at wireless image transmission unit, can preferably reduce
The interference that high-speed clock signal generates so as to reduce dominant frequency or harmonious radio radiation, is effectively improved electromagnetic environment.
(6) for signal transmission unit
Signal transmission unit is used for transmission signal, can include modem Modem, signal transmssion line etc..If letter
Number transmission unit is provided with EMC modules, and the present embodiment provides a kind of embodiment：EMC modules include shielding line, signal transmission list
It is connected between the modem and outer end interface of member by shielding line.Specifically, shielding line is using with screened film ground connection
Conducting wire, can effectively reduce radiation, reduce signal in transmission process be subject to being influenced.
By the way that the EMC modules for including shielding line are arranged at signal transmission unit, signal effectively can be effectively reduced
Radiation in transmission improves electromagnetic environment.
Based on above to power supply unit included in the machine system of underwater robot, lamp control unit, power unit, regard
Each functional unit that frequency transmission unit, signal transmission unit and wireless image transmission unit etc. are provided with EMC modules is illustrated
After introduction, with reference to Fig. 1, the structure diagram of another machine system shown in Figure 11 is may refer to, in fig. 11 not directly
It illustrates each functional unit and EMC modules, but directly illustrates the main devices of each functional unit and each main devices
Specific connection relation, such as illustrate power supply (the main device of power supply unit set on mainboard (abbreviation of main circuit board)
Part) and lamp controller (main devices of lamp control unit)；Also illustrate WiFi chip (the wireless image transmission unit being connected with power supply
Main devices), modem (main devices of signal transmission unit), motor (main devices of power unit), with figure
Phase mainboard (main devices of Video Transmission Unit) being connected as collector etc..Specific EMC modules can be accordingly arranged on
It (is no longer shown in fig. 11) in each functional unit, the above-mentioned functional unit example to each setting EMC modules can be corresponded to and performed,
Details are not described herein.Meanwhile Figure 11 is also illustrated and communications cable shielding line and phase owner is used between connecting pin and mainboard
Using FPC shielding lines between plate and image acquisition device, in practical applications, can be limited from this, according to actual demand
FPC shielding lines and communications cable shielding line are flexibly set.
In conclusion the machine system of underwater robot provided in this embodiment, by for the power supply list in machine system
One or more in member, lamp control unit, power unit, Video Transmission Unit, signal transmission unit and wireless image transmission unit
A setting EMC modules can reduce radiation interference by EMC modules, the electromagnetic environment of machine system is preferably improved.
Embodiment two：
A kind of underwater robot is present embodiments provided, the complete machine system including the underwater robot that previous embodiment provides
System, further includes the remote controler with the machine system wireless connection.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
Specific work process may be referred to the corresponding process in previous embodiment, and details are not described herein.
In addition, in the description of the embodiment of the present invention, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instructions such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Convenient for the description present invention and simplify description rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for description purpose, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above is only the specific embodiment of the present invention, to illustrate the present invention
Technical solution, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent substitution is carried out to which part technical characteristic；And these modifications, variation or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of machine system of underwater robot, which is characterized in that including：Power supply unit, lamp control unit, power unit regard
Frequency transmission unit, wireless image transmission unit and signal transmission unit；
Wherein, the power supply unit, the lamp control unit, the power unit, the Video Transmission Unit, the signal transmission
One or more of unit and the wireless image transmission unit, are provided with EMC modules.
2. machine system according to claim 1, which is characterized in that the EMC modules include common mode inductance filter circuit,
π filter circuits and RC absorbing circuits；
The power input of the power supply unit is provided with common mode inductance filter circuit or π filter circuits；The power supply unit
Voltage conversion side is provided with RC absorbing circuits.
3. machine system according to claim 1, which is characterized in that the EMC modules include common mode inductance filter circuit,
π filter circuits or RC absorbing circuits；
The lamp output terminal of the lamp control unit be provided with for level-one filtering the RC absorbing circuits and be provided with for two
The π filter circuits or common mode inductance filter circuit of grade filtering.
4. machine system according to claim 1, which is characterized in that the EMC modules include X2Y capacitor filters；
The motor incoming end of the power unit is provided with X2Y capacitor filters.
5. machine system according to claim 1, which is characterized in that the EMC modules include build-out resistor, spread spectrum clock pulse
Generator and FPC lines；
The both sides for the high frequency clock signal MCLK transmission lines that the camera master chip of the Video Transmission Unit is connect are provided with described
Build-out resistor is provided with spread spectrum clock pulse generator, and the transmission of video list in the clock signal terminal of the Video Transmission Unit
Member transmits clock signal by the FPC lines.
6. machine system according to claim 5, which is characterized in that be provided with magnet ring on the FPC lines.
7. machine system according to claim 5 or 6, which is characterized in that the FPC lines are three layers of FPC lines.
8. machine system according to claim 1, which is characterized in that the EMC modules include low-pass filter circuit；
The one side for the high frequency clock signal SD_CLK transmission lines that the WIFI chips of the wireless image transmission unit are connect is provided with
The low-pass filter circuit.
9. machine system according to claim 1, which is characterized in that the EMC modules include shielding line, and the signal passes
It is connected between the modem of defeated unit and outer end interface by the shielding line.
10. a kind of underwater robot, which is characterized in that include the complete machine of claim 1 to 9 any one of them underwater robot
System further includes the remote controler with the machine system wireless connection.
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| CN201711112959.4A CN108100190A (en) | 2017-11-10 | 2017-11-10 | The machine system and underwater robot of underwater robot |
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| CN201711112959.4A CN108100190A (en) | 2017-11-10 | 2017-11-10 | The machine system and underwater robot of underwater robot |
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| CN204481707U (en) * | 2015-03-25 | 2015-07-15 | 丹阳奇烨科技有限公司 | Wireless device power supply adaptor |
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Application publication date: 20180601 |