CN113759989A - Underwater electric holder control device and method - Google Patents
Underwater electric holder control device and method Download PDFInfo
- Publication number
- CN113759989A CN113759989A CN202011411210.1A CN202011411210A CN113759989A CN 113759989 A CN113759989 A CN 113759989A CN 202011411210 A CN202011411210 A CN 202011411210A CN 113759989 A CN113759989 A CN 113759989A
- Authority
- CN
- China
- Prior art keywords
- stepping motor
- control
- instruction
- embedded controller
- control command
- 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.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the field of ocean engineering, in particular to an underwater electric holder control device and method, which comprises the following steps: the power converter A, the stepping motor B, the embedded controller, the rotary potentiometer, the communication port, the power converter B and the driving chip are arranged in the underwater electric holder filled with the hydraulic compensation oil; one of the communication ports is connected with the water surface controller through a watertight cable, and any other port is connected with the embedded controller; the power adapter A converts external power supply voltage of the underwater electric holder into a rotary potentiometer; the power converter B respectively converts external power supply voltage of the underwater electric holder into voltage for the embedded controller and a driving chip; the driving chip is connected with the stepping motor A and the stepping motor B, controls the stepping motor to work, and detects and collects the state data of the stepping motor in real time. The device is suitable for underwater cloud platforms with different depths, and secondary development and design are not needed.
Description
Technical Field
The invention relates to the field of ocean engineering, in particular to an underwater electric holder control device and method.
Background
On deep sea underwater robots or manned submersibles, many viewing devices are often used, such as underwater cameras, underwater lights, etc., for viewing and recording underwater conditions, and on manned submersibles, the convenience of operating the submersibles is also provided for the operators in the cabin. And these see-through equipment need install on the cloud platform to realize its rotation of four directions about up, down, make to see-through equipment and can satisfy the scientific investigation demand, this is exactly the main effect of cloud platform. The electric cradle head can meet the requirements of accurate rotation and speed regulation in the working process, and has the characteristics of small size, low power, high rotation control precision and the like. The deep sea electric cradle head can work in the full sea depth range in a hydraulic oil compensation mode.
The traditional electric pan-tilt control device has the problems of no pressure resistance, overlarge power resistance heat, easiness in damage after long-time work and the like, and no deep-sea electric pan-tilt capable of working under the condition of full-sea deep pressure exists at present, and the existing electric pan-tilt control method has the defects of low rotation control precision, incapability of performing subdivision configuration and current size configuration on a stepping motor, low operation efficiency, complex instruction and the like. Furthermore, it is necessary to develop an underwater electric pan/tilt control device capable of driving the pan/tilt to rotate in a high-pressure environment filled with compensation oil.
Disclosure of Invention
The invention aims to develop a control device and a control method for an underwater electric holder, so that the underwater electric holder can normally work in a high-pressure environment filled with hydraulic oil. The problems that an electric pan-tilt control device is not pressure-resistant, power resistance is overlarge in heat, the electric pan-tilt control device is easy to damage after long-time work and the like are solved, and the defects that an existing electric pan-tilt control method is low in rotation control precision, cannot perform subdivision configuration and current size configuration on a stepping motor, is low in operation efficiency, is complex in instruction and the like are overcome.
The technical scheme adopted by the invention for realizing the purpose is as follows: the utility model provides an electronic cloud platform controlling means under water, is connected with surface of water controller, includes: the power converter A, the stepping motor B, the embedded controller, the rotary potentiometer, the communication port, the power converter B and the driving chip are arranged in the underwater electric holder filled with the hydraulic compensation oil;
one of the communication ports is connected with the water surface controller through a watertight cable, and any other port is connected with the embedded controller; the power adapter A converts external power supply voltage of the underwater electric holder into a rotary potentiometer; the power converter B respectively converts external power supply voltage of the underwater electric holder into voltage for the embedded controller and a driving chip;
the embedded controller is used for receiving a control command sent by the water surface controller, detecting current position data of the pitching direction or the left-right direction of the electric holder by the rotary potentiometer, sending a configuration command to the driving chip, receiving state data of the stepping motor of the driving chip, judging the state of the stepping motor, and sending operation data of the stepping motor to the water surface controller through the communication port;
the rotary potentiometer is used for acquiring the position data of the electric holder in the pitching direction or the left-right direction at present and sending the position data to the embedded controller, and meanwhile, the voltage value returned by the rotary potentiometer is also used as a judgment condition of a rotation instruction;
the driving chip is connected with the stepping motor A and the stepping motor B and used for receiving a configuration command of the embedded controller to control the stepping motor to work and detecting and acquiring state data of the stepping motor in real time.
And a resistor is arranged between the rotary potentiometer and the embedded controller, and the current input to the embedded controller falls into a specified set range.
And the power converter A and the power converter B are both linear voltage-stabilized power converters.
The two driving chips are respectively connected with the stepping motor A and the stepping motor B to control the transverse rotation and the longitudinal rotation of the underwater electric holder.
A control method of an underwater electric pan-tilt control device comprises the following steps:
1) the device is powered on, the embedded controller receives a control command sent by the water surface controller in a serial port interrupt mode to obtain the type of the control command, stores the control command and receives the current position of the electric holder in the pitching direction or the left-right direction, which is acquired by the rotary potentiometer;
2) after receiving the control command, the embedded controller reads the control command and verifies the control command;
3) analyzing the type of the control command passing the verification, and fusing the positions of the pitch direction or the left-right direction of the electric holder currently acquired according to the analyzed control command and the rotary potentiometer;
4) the embedded controller sends the configuration command to the driving chip and receives the state data of the stepping motor sent back by the driving chip for analysis;
5) and the embedded controller feeds back the judged state of the stepping motor to the water surface controller through the communication port.
The control instruction type in the step 1) comprises any one of a configuration instruction, an action instruction or a useless instruction.
After receiving, the embedded controller reads the control command and verifies the control command, specifically:
the embedded controller verification comprises the following steps: judging whether the length and the numerical value of the control instruction are within a preset range, if so, passing the verification, otherwise, failing to pass the verification;
if the control command is not verified, discarding the control command to wait for the next control command; and otherwise, waiting for data fusion with the position of the current electric holder in the pitching direction or the left-right direction acquired by the rotary potentiometer.
In step 3), the analyzing the type of the control command passing the verification specifically includes:
according to the type of the control instruction obtained in the step 1), if the control instruction is a configuration instruction, judging whether the configuration instruction is in a set range or whether the current underwater electric holder pitching direction or the current left-right direction meets the set requirement, and if so, outputting a control signal, namely a configuration instruction;
if the control instruction is a rotation instruction, firstly judging whether the pitch direction or the left-right direction of the current underwater electric holder is in a set range, and if so, outputting a control signal, namely a rotation instruction; if not, the control signal is not output, namely, the rotation command is not executed.
In step 3), fusing the current position of the electric holder in the pitch direction or the left-right direction, which is acquired according to the analyzed control command and the rotary potentiometer, specifically:
when the control instruction is a rotation instruction, determining that the rotation direction is a pitching or left-right direction according to the instruction, and then collecting the value of the rotary potentiometer in the direction; if the value of the currently collected rotary potentiometer is greater than or equal to the maximum value of the preset value or less than or equal to the minimum value of the preset value, the rotation control command is not executed; otherwise, executing a rotation instruction;
if the configuration instruction is a configuration instruction, determining to configure the pitching or left-right direction according to the instruction, then judging whether the configuration value of the configuration instruction is within a preset range, and if the configuration value exceeds the preset range, not executing the configuration; otherwise, the configuration instruction is executed.
In step 4), the step motor state data sent back by the receiving driving chip is analyzed, specifically:
the embedded controller receives the character string of the state data of the stepping motor returned by the driving chip through the bus and receives the character string into the array, and the state of the stepping motor is judged by referring to the SPI return value data table of the motor driving chip according to each zone bit of the character string.
The invention has the following beneficial effects and advantages:
1. the invention has high integration level, adopts universal design, can be applied to underwater cloud platforms with different depths, and does not need secondary development and design.
2. The invention can work in a high pressure environment filled with hydraulic oil.
3. The torque, the rotation smoothness and the vibration of the cradle head can be adjusted according to different use requirements. Meanwhile, the requirements of the high-precision holder on rotation can be met by efficient program operation and high-precision rotation control. The simple and understandable instruction also reduces the learning cost of the secondary development holder control device.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention;
FIG. 2 is a block diagram of the process of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in figure 1, the invention is arranged in a power converter A, a stepping motor B, an embedded controller, a rotary potentiometer connected with the embedded controller, a communication port, a power converter B and a driving chip which are filled with hydraulic compensation oil and arranged in an underwater electric holder;
one of the communication ports is connected with the water surface controller through a watertight cable, and any other port is connected with the embedded controller; the power adapter A converts external power supply voltage of the underwater electric holder into a rotary potentiometer; the power converter B respectively converts external power supply voltage of the underwater electric holder into voltage for the embedded controller and a driving chip;
the embedded controller is used for receiving a control command sent by the water surface controller and detecting the current position data of the pitching direction or the left-right direction of the electric holder by the rotary potentiometer, sending a configuration command to the driving chip, receiving the state data of the stepping motor of the driving chip, judging the state of the stepping motor and sending the operation data of the stepping motor to the water surface controller through the communication port;
the rotary potentiometer is used for acquiring the position data of the electric holder in the pitching direction or the left-right direction at present and sending the position data to the embedded controller, and meanwhile, the voltage value returned by the rotary potentiometer is also used as a judgment condition of a rotation instruction;
the driving chip is connected with the stepping motor A and the stepping motor B and used for receiving a configuration command of the embedded controller to control the stepping motor to work and detecting and acquiring state data of the stepping motor in real time.
A resistor is arranged between the rotary potentiometer and the embedded controller, and the current input to the embedded controller falls within a specified set range.
The power converter A and the power converter B are both linear voltage-stabilized power converters.
The two driving chips are respectively connected with the stepping motor A and the stepping motor B to control the transverse rotation and the longitudinal rotation of the underwater electric holder.
The embedded controller is an MCU packaged by SSOP with a digital-to-analog conversion interface.
The crystal oscillator of the embedded controller adopts a programmable active crystal oscillator packaged by 8MHz and MSOP.
The rotary potentiometer is a panel-mounted potentiometer with a maximum resistance of 1K Ω.
The power converter is a linear voltage-stabilized power converter packaged by adopting an MSOP.
The driving chip is a two-phase stepping motor driving chip with a power tube packaged by QFP.
The device adopts a digital communication technology and performs data interaction with the outside through a serial communication port; and analyzing and checking the data packet transmitted from the serial communication port by adopting the embedded controller to obtain a control instruction. Can work in a high pressure environment full of oil.
The power converter B is a linear regulated power converter that converts an externally supplied 24V dc voltage to a 5V dc voltage required by the embedded controller and other chips.
The power converter a is a linear regulated power converter that converts an externally supplied 24V dc voltage to a 16V dc voltage required for the rotary potentiometer.
The underwater electric pan-tilt control device can normally work under 127MPa high-pressure environment through tests.
As shown in fig. 2, a flow chart of the method of the present invention includes the following steps:
1) the device is powered on, the embedded controller receives a control command sent by the water surface controller in a serial port interrupt mode to obtain the type of the control command, stores the control command and receives the current position of the electric holder in the pitching direction or the left-right direction, which is acquired by the rotary potentiometer;
2) after receiving the control command, the embedded controller reads the control command and verifies the control command;
3) analyzing the type of the control command passing the verification, and fusing the positions of the pitch direction or the left-right direction of the electric holder currently acquired according to the analyzed control command and the rotary potentiometer;
4) the embedded controller sends the configuration command to the driving chip and receives the state data of the stepping motor sent back by the driving chip for analysis;
5) and the embedded controller feeds back the judged state of the stepping motor to the water surface controller through the communication port.
The control command type includes any of a configuration command, an operation command, and a useless command.
The embedded controller receives a control command sent by the water surface controller in a serial port interrupt mode, and the method specifically comprises the following steps: when the serial port of the embedded controller receives the mark position, the embedded controller enters the serial port interruption, the received bytes are sequentially put into a group of arrays, the arrays are sequentially analyzed, and whether the command is a configuration command or an action command or a useless command is judged.
After the embedded controller receives the control command, reading the control command, and verifying the control command, specifically:
the embedded controller verification comprises the following steps: judging whether the length and the numerical value of the control instruction are within a preset range, if so, passing the verification, otherwise, failing to pass the verification;
if the control command is not verified, discarding the control command to wait for the next control command; and otherwise, waiting for data fusion with the position of the current electric holder in the pitching direction or the left-right direction acquired by the rotary potentiometer.
In step 3), the analyzing the type of the control command passing the verification specifically includes:
according to the type of the control instruction obtained in the step 1), if the control instruction is a configuration instruction, judging whether the configuration instruction is in a set range or whether the current underwater electric holder pitching direction or the current left-right direction meets the set requirement, and if so, outputting a control signal, namely a configuration instruction;
if the control instruction is a rotation instruction, firstly judging whether the pitch direction or the left-right direction of the current underwater electric holder is in a set range, and if so, outputting a control signal, namely a rotation instruction; if not, the control signal is not output, namely, the rotation command is not executed.
In step 3), fusing the current position of the electric holder in the pitch direction or the left-right direction, which is acquired according to the analyzed control command and the rotary potentiometer, specifically:
when the control instruction is a rotation instruction, determining that the rotation direction is a pitching or left-right direction according to the instruction, and then collecting the value of the rotary potentiometer in the direction; if the value of the currently collected rotary potentiometer is greater than or equal to the maximum value of the preset value or less than or equal to the minimum value of the preset value, the rotation control command is not executed; otherwise, executing a rotation instruction;
if the configuration instruction is a configuration instruction, determining to configure the pitching or left-right direction according to the instruction, then judging whether the configuration value of the configuration instruction is within a preset range, and if the configuration value exceeds the preset range, not executing the configuration; otherwise, the configuration instruction is executed.
In step 4), the step motor state data sent back by the receiving driving chip is analyzed, specifically:
the embedded controller receives the character string of the state data of the stepping motor returned by the driving chip through the bus and receives the character string into the array, and the state of the stepping motor is judged by referring to the SPI return value data table of the motor driving chip according to each zone bit of the character string.
Claims (10)
1. The utility model provides an electronic cloud platform controlling means under water, its characterized in that is connected with the surface of water controller, includes: the power converter A, the stepping motor B, the embedded controller, the rotary potentiometer, the communication port, the power converter B and the driving chip are arranged in the underwater electric holder filled with the hydraulic compensation oil;
one of the communication ports is connected with the water surface controller through a watertight cable, and any other port is connected with the embedded controller; the power adapter A converts external power supply voltage of the underwater electric holder into a rotary potentiometer; the power converter B respectively converts external power supply voltage of the underwater electric holder into voltage for the embedded controller and a driving chip;
the embedded controller is used for receiving a control command sent by the water surface controller, detecting current position data of the pitching direction or the left-right direction of the electric holder by the rotary potentiometer, sending a configuration command to the driving chip, receiving state data of the stepping motor of the driving chip, judging the state of the stepping motor, and sending operation data of the stepping motor to the water surface controller through the communication port;
the rotary potentiometer is used for acquiring the position data of the electric holder in the pitching direction or the left-right direction at present and sending the position data to the embedded controller, and meanwhile, the voltage value returned by the rotary potentiometer is also used as a judgment condition of a rotation instruction;
the driving chip is connected with the stepping motor A and the stepping motor B and used for receiving a configuration command of the embedded controller to control the stepping motor to work and detecting and acquiring state data of the stepping motor in real time.
2. The control device of claim 1, wherein a resistor is disposed between the rotary potentiometer and the embedded controller to trap the current input to the embedded controller within a predetermined range.
3. The underwater electric pan-tilt head control device according to claim 1, wherein the power converter a and the power converter B are linear voltage-stabilized power converters.
4. The underwater electric pan-tilt head control device according to claim 1, wherein two driving chips are respectively connected to the stepping motor a and the stepping motor B to control the horizontal rotation and the vertical rotation of the underwater electric pan-tilt head.
5. The control method of the underwater electric pan-tilt control device according to claim 1, characterized by comprising the following steps:
1) the device is powered on, the embedded controller receives a control command sent by the water surface controller in a serial port interrupt mode to obtain the type of the control command, stores the control command and receives the current position of the electric holder in the pitching direction or the left-right direction, which is acquired by the rotary potentiometer;
2) after receiving the control command, the embedded controller reads the control command and verifies the control command;
3) analyzing the type of the control command passing the verification, and fusing the positions of the pitch direction or the left-right direction of the electric holder currently acquired according to the analyzed control command and the rotary potentiometer;
4) the embedded controller sends the configuration command to the driving chip and receives the state data of the stepping motor sent back by the driving chip for analysis;
5) and the embedded controller feeds back the judged state of the stepping motor to the water surface controller through the communication port.
6. The control method of the underwater electric pan-tilt head control device according to claim 5, wherein the control command type in step 1) comprises any one of a configuration command, an action command or a useless command.
7. The control method of the underwater electric pan-tilt control device according to claim 5, wherein after the embedded controller receives the control command, the embedded controller reads the control command and verifies the control command, specifically:
the embedded controller verification comprises the following steps: judging whether the length and the numerical value of the control instruction are within a preset range, if so, passing the verification, otherwise, failing to pass the verification;
if the control command is not verified, discarding the control command to wait for the next control command; and otherwise, waiting for data fusion with the position of the current electric holder in the pitching direction or the left-right direction acquired by the rotary potentiometer.
8. The control method of the underwater electric pan-tilt control device according to claim 5, wherein in the step 3), the type of the control command passing the verification is analyzed, specifically:
according to the type of the control instruction obtained in the step 1), if the control instruction is a configuration instruction, judging whether the configuration instruction is in a set range or whether the current underwater electric holder pitching direction or the current left-right direction meets the set requirement, and if so, outputting a control signal, namely a configuration instruction;
if the control instruction is a rotation instruction, firstly judging whether the pitch direction or the left-right direction of the current underwater electric holder is in a set range, and if so, outputting a control signal, namely a rotation instruction; if not, the control signal is not output, namely, the rotation command is not executed.
9. The control method of the underwater electric pan-tilt control device according to claim 5, wherein in the step 3), the fusion is performed according to the analyzed control command and the current position of the electric pan-tilt in the pitch direction or the left-right direction acquired by the rotary potentiometer, specifically:
when the control instruction is a rotation instruction, determining that the rotation direction is a pitching or left-right direction according to the instruction, and then collecting the value of the rotary potentiometer in the direction; if the value of the currently collected rotary potentiometer is greater than or equal to the maximum value of the preset value or less than or equal to the minimum value of the preset value, the rotation control command is not executed; otherwise, executing a rotation instruction;
if the configuration instruction is a configuration instruction, determining to configure the pitching or left-right direction according to the instruction, then judging whether the configuration value of the configuration instruction is within a preset range, and if the configuration value exceeds the preset range, not executing the configuration; otherwise, the configuration instruction is executed.
10. The control method of the underwater electric pan-tilt control device according to claim 5, wherein in the step 4), the step motor state data sent back by the receiving driving chip is analyzed, specifically: the embedded controller receives the character string of the state data of the stepping motor returned by the driving chip through the bus and receives the character string into the array, and the state of the stepping motor is judged by referring to the SPI return value data table of the motor driving chip according to each zone bit of the character string.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011411210.1A CN113759989B (en) | 2020-12-03 | 2020-12-03 | Underwater electric cradle head control device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011411210.1A CN113759989B (en) | 2020-12-03 | 2020-12-03 | Underwater electric cradle head control device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113759989A true CN113759989A (en) | 2021-12-07 |
| CN113759989B CN113759989B (en) | 2023-07-25 |
Family
ID=78786174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011411210.1A Active CN113759989B (en) | 2020-12-03 | 2020-12-03 | Underwater electric cradle head control device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113759989B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102506277A (en) * | 2011-11-11 | 2012-06-20 | 桂林电子科技大学 | Underwater cloud platform servo system based on electronic compass |
| CN204887257U (en) * | 2015-07-31 | 2015-12-16 | 中国海洋石油总公司 | Portable monitoring arrangement under water |
| CN105487430A (en) * | 2014-09-19 | 2016-04-13 | 中国科学院沈阳自动化研究所 | Method and system for automatic cleaning of underwater holder |
| CN105650323A (en) * | 2014-11-30 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Control device and method of underwater hydraulic valve box |
| CN107499476A (en) * | 2017-08-21 | 2017-12-22 | 江苏科技大学 | Underwater robot control system and motion control method |
| CN107524653A (en) * | 2017-09-26 | 2017-12-29 | 哈尔滨航士科技发展有限公司 | A kind of hydraulic system of deep ocean work type underwater robot |
| CN108750051A (en) * | 2018-07-05 | 2018-11-06 | 重庆欧锐特科技有限公司 | A kind of Intelligent Underwater Robot device |
| CN109460070A (en) * | 2018-12-27 | 2019-03-12 | 天津瑞金华鼎科技有限公司 | A kind of camera pan-tilt control device having cable robot under water |
-
2020
- 2020-12-03 CN CN202011411210.1A patent/CN113759989B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102506277A (en) * | 2011-11-11 | 2012-06-20 | 桂林电子科技大学 | Underwater cloud platform servo system based on electronic compass |
| CN105487430A (en) * | 2014-09-19 | 2016-04-13 | 中国科学院沈阳自动化研究所 | Method and system for automatic cleaning of underwater holder |
| CN105650323A (en) * | 2014-11-30 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Control device and method of underwater hydraulic valve box |
| CN204887257U (en) * | 2015-07-31 | 2015-12-16 | 中国海洋石油总公司 | Portable monitoring arrangement under water |
| CN107499476A (en) * | 2017-08-21 | 2017-12-22 | 江苏科技大学 | Underwater robot control system and motion control method |
| CN107524653A (en) * | 2017-09-26 | 2017-12-29 | 哈尔滨航士科技发展有限公司 | A kind of hydraulic system of deep ocean work type underwater robot |
| CN108750051A (en) * | 2018-07-05 | 2018-11-06 | 重庆欧锐特科技有限公司 | A kind of Intelligent Underwater Robot device |
| CN109460070A (en) * | 2018-12-27 | 2019-03-12 | 天津瑞金华鼎科技有限公司 | A kind of camera pan-tilt control device having cable robot under water |
Non-Patent Citations (2)
| Title |
|---|
| YANG CONG等: "Novel event analysis for human-machine collaborative underwater exploration", 《ES》, pages 1 - 11 * |
| 陈宣成 等: "全海深载人深潜器水下云台控制系统的研究与设计", 《制造业自动化》, vol. 41, no. 12, pages 18 - 21 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113759989B (en) | 2023-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203214043U (en) | Well drilling simulation device | |
| CN203502017U (en) | Full-automatic sliding type inclinometry system | |
| CN105569630A (en) | Monitoring method for coal mine drilling machine | |
| CN113759989A (en) | Underwater electric holder control device and method | |
| CN1807949A (en) | Electric valve device | |
| CN112067619B (en) | Visual peeping instrument for detecting cracks on surface of geological micropore and crack detection method | |
| CN209855772U (en) | 4-3/4-inch integrated logging-while-drilling system | |
| CN106959251B (en) | Wind load experimental measurement device for self-elevating platform in actual marine environment | |
| CN206281956U (en) | VCM motor posture difference performance testing device | |
| CN205269051U (en) | Panorama shooting remote control ship | |
| CN209780861U (en) | Top drive well drilling control auxiliary device | |
| CN207067783U (en) | A kind of underwater robot | |
| CN114658362B (en) | Electrically-driven full-casing full-slewing drilling machine and control method thereof | |
| CN204177545U (en) | Polyphasic flow sail body motor-driven afterbody skidding forces proving installation | |
| AU2021102163A4 (en) | Overwater deployment and recovery monitoring system for deep-sea mining collector | |
| CN101182755B (en) | Down-hole horizontal boring machine distribution control method | |
| CN216381273U (en) | Drill rod coupling equipment based on guide positioning system | |
| CN109138968A (en) | A kind of control system of rig | |
| CN214365866U (en) | Illumination and camera shooting follow-up system of drill jumbo and drill jumbo | |
| CN205642834U (en) | Vertical axis reduction gear test bench | |
| CN112554779A (en) | Rock soil layer drilling exploration equipment for engineering construction | |
| CN209148348U (en) | A kind of multifunctional water downsampling device of polymorphic type complex sample uniform sampling | |
| CN202718646U (en) | Oil well coring tester | |
| CN203584393U (en) | Self-adjusting controller for novel inserted linkage self-adjusting water distributor | |
| CN211577151U (en) | Water sampling system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |