CN115855341A - Optical deep-sea touch sensor and installation method and sensing detection method thereof - Google Patents
Optical deep-sea touch sensor and installation method and sensing detection method thereof Download PDFInfo
- Publication number
- CN115855341A CN115855341A CN202211513726.6A CN202211513726A CN115855341A CN 115855341 A CN115855341 A CN 115855341A CN 202211513726 A CN202211513726 A CN 202211513726A CN 115855341 A CN115855341 A CN 115855341A
- Authority
- CN
- China
- Prior art keywords
- semi
- pressure
- type flexible
- deep sea
- shell type
- 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.)
- Pending
Links
Images
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses an optical deep sea touch sensor, an installation method and a sensing detection method thereof, which solve the defects of complex structure, poor pressure resistance and difficult good contact sensing of the existing deep sea touch sensor and have the technical scheme key points that the optical deep sea touch sensor comprises a touch sensing module, an O-shaped ring and an element storage cabin; the touch sensing module comprises a semi-ellipsoidal shell type flexible thin film, a limiting ring and a glass window in sealing connection; liquid is filled between the semi-ellipsoidal shell type flexible film and the glass window; the element storage cabin comprises a pressure-resistant shell fixedly connected through a limiting ring, a detection element arranged in the pressure-resistant shell and a support piece arranged at a port of the pressure-resistant shell; the optical deep sea touch sensor, the installation method and the sensing detection method thereof have good sealing characteristics, can adapt to the contact deformation capability under deep sea high pressure, and realize the touch sensing under deep sea high pressure.
Description
Technical Field
The invention relates to a deep sea detection sensing technology, in particular to an optical deep sea touch sensor and an installation method and a sensing detection method thereof.
Background
Deep sea robots are of great significance for ocean engineering, however, deep sea robot operation remains challenging. The mainstream control feedback of current underwater robots is visual feedback, since advanced sonar technology cannot be used for near fields. Therefore, in a deep sea environment where visibility is low and highly unstructured, the fine operation capability of the robot is greatly limited.
Endowing the deep sea robot with tactile perception helps to improve the accuracy and the compliance of the robot operation. Generally, the touch sensor can provide distribution information about the shape of an object and the contact force, and the robot can respond to the touch information through a control system based on perception-execution cycle, and the contact force can be adjusted in time to achieve the optimal operation.
Due to the complexity of the deep sea environment, many tactile sensors used in land environments are difficult to apply in deep sea environments. At present, the precision, the resolution and the like of an underwater touch sensor are far inferior to those of a touch sensor used in a land environment. Even so, most underwater touch sensors can only be used in shallow waters, relatively offshore, and the sensors are exposed to the risk of short circuits underwater, the high pressure of the deep sea also placing higher demands on the structural strength of the sensors.
Disclosure of Invention
The invention aims to provide an optical deep sea touch sensor, an installation method thereof and a sensing detection method, which have good sealing characteristics, can adapt to the contact deformation capacity under deep sea high pressure and realize touch sensing under deep sea high pressure.
The technical purpose of the invention is realized by the following technical scheme:
an optical deep sea touch sensor comprises a touch sensing module, an O-shaped ring and an element storage cabin;
the tactile sensation module comprises a semi-ellipsoidal shell type flexible thin film, a limiting ring sleeved on the semi-ellipsoidal shell type flexible thin film and a glass window hermetically connected to the semi-ellipsoidal shell type flexible thin film; liquid for counteracting the external hydrostatic pressure is filled between the semi-ellipsoidal shell type flexible film and the glass window;
the component storage cabin comprises a pressure-resistant shell fixedly connected with the touch sensing module through a limiting ring, a detection component arranged in the pressure-resistant shell and a support piece arranged at a port of the pressure-resistant shell and used for supporting a glass window;
and a groove for clamping and embedding the O-shaped ring for sealing is formed in the periphery of the supporting piece at the port of the pressure-resistant shell.
Preferably, the semi-ellipsoidal shell type flexible film comprises a semi-ellipsoidal film and a mounting ring which are integrally connected, and a hemispherical protrusion for sealing and abutting against the glass window is circumferentially arranged on the inner side wall of the mounting ring.
Preferably, a boss extends outwards and circumferentially from the edge of the mounting ring, and a plurality of limiting holes are formed in the boss;
the end part of the limiting ring is provided with a limiting block which is inserted into the limiting hole in a penetrating and clamping manner;
the port periphery of withstand voltage shell is provided with the draw-in groove that supplies the stopper assembly, the screw hole that supplies the screw to wear to establish and carry out fixed mounting is seted up in the intercommunication on draw-in groove and the stopper.
Preferably, the detection element comprises a camera, and a through hole for the camera to penetrate through for detection is formed in the surface of the support piece.
Preferably, an underwater connector connected to the detection element in the cabin is installed at the rear side of the pressure-resistant casing.
A sensing detection method based on an optical deep sea touch sensor is characterized by comprising the following steps:
the touch sensor is assembled on a deep sea robot, the external contact information is sensed by simulating a finger belly through the semi-ellipsoidal shell type flexible thin film, and contact deformation is generated when external force is applied to the semi-ellipsoidal shell type flexible thin film;
the camera acquires three-dimensional information in the semi-ellipsoidal shell type flexible film through the glass window;
and transmitting signals through the underwater connector to analyze and process the signals, so as to complete the touch sensing detection.
Preferably, the step of obtaining the three-dimensional information in the semi-ellipsoidal shell type flexible thin film specifically comprises the following steps:
reconstructing the space three-dimensional information of the tactile deformation field by a photometric stereo method, wherein the hardware part adopts a common camera (32) and RGB light sources (35) with different colors, or
The three-dimensional space information of the tactile deformation field is reconstructed by a stereo vision method, wherein the three-dimensional space information comprises any one of a binocular stereo vision method, a structured light method and a TOF method, and correspondingly, the built-in cameras (32) of the sensor respectively correspond to a binocular camera, a structured camera and a TOF camera.
A method for installing a touch sensor applied to deep sea is characterized by comprising the following steps:
the semi-ellipsoidal shell type flexible thin film is subjected to limiting installation through a limiting ring of the touch sensing module;
vertically immersing the port of the semi-ellipsoidal shell type flexible thin film after limited installation in a container filled with filling liquid in an upward mode;
pushing the glass window into a port of the semi-ellipsoidal shell type flexible thin film along the vertical direction to complete the sealing and fixing of the glass window on the semi-ellipsoidal shell type flexible thin film;
placing a detection element in a pressure-resistant shell of the element storage cabin, and installing a support at a port of the pressure-resistant shell;
placing an O-shaped ring in a groove of the pressure-resistant shell;
vacuumizing the component storage cabin through vacuumizing equipment, installing the assembled touch sensing module at one side of the support part, and assembling and fixing the assembled touch sensing module after absorbing through internal and external pressure difference;
the underwater connector is sealed, and the component is disassembled by recovering the air pressure in the component storage cabin through disassembling the underwater connector.
In conclusion, the invention has the following beneficial effects:
through the semi-ellipsoidal shell type flexible thin film, the limiting ring and the glass window of the touch sensing module, liquid is filled between the semi-ellipsoidal shell type flexible thin film and the glass window to realize hydraulic compensation balance, so that the touch sensing module no longer has sensitivity to environmental pressure, can have good contact deformation capability in a deep sea environment, and realizes touch sensing in the deep sea environment; the touch sensing module, the O-shaped ring and the element storage cabin are limited and fixedly connected, so that the sensor can be integrally and well sealed, the integral installation is suggested, the structure is simple, and the touch sensing module has great application potential in underwater and deep sea.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an optical deep sea touch sensor;
FIG. 2 is an exploded view of the components of the haptic sensation module;
FIG. 3 is an exploded view of the semi-ellipsoidal shell-type flexible membrane and the stop collar;
FIG. 4 is an assembled cross-sectional view of a haptic sensation module;
FIG. 5 is a schematic diagram of a haptic sensation module;
FIG. 6 is a schematic view of the component storage compartment;
fig. 7 is a schematic view of a camera observation of the sensor.
In the figure: 1. a haptic sensation module; 11. a glass window; 12. a semi-ellipsoidal shell-type flexible film; 121. a limiting hole; 122. a semicircular bulge; 13. a limiting ring; 131. a limiting block; 132. a limit ring threaded hole; 2. an O-shaped ring; 3. a component storage compartment; 31. an underwater connector; 32. a camera; 33. a pressure-resistant housing; 331. a pressure-resistant shell threaded hole; 332. a card slot; 333. a trench; 34. a support member; 35. a light source.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
According to one or more embodiments, an optical deep sea touch sensor is disclosed, as shown in fig. 1, comprising a touch sensing module 1, an O-ring 2, and a component storage chamber 3.
As shown in fig. 2, the tactile sensation module 1 includes a semi-ellipsoidal shell type flexible film 12, a limiting ring 13, and a glass window 11, all of which are assembled to form a semi-ellipsoidal elastomer. As shown in fig. 3 and 4, the semi-ellipsoidal shell type flexible thin film 12 is sleeved with the limit ring 13, the glass window 11 is hermetically connected to the inner side of the semi-ellipsoidal shell type flexible thin film 12, a sealed space is formed between the glass window 11 and the semi-ellipsoidal shell type flexible thin film 12, liquid is filled in the sealed space, external hydrostatic pressure can be counteracted, when the touch sensor is installed on a deep sea robot for deep sea detection, the semi-ellipsoidal shell type flexible thin film 12 simulates a finger belly to sense external contact information, when external force is applied to the semi-ellipsoidal shell type flexible thin film 12, contact deformation is generated, and on the basis, the contact deformation information is converted into an electric signal or an optical signal which can be understood by a computer, so that touch sensing can be achieved. The hydraulic compensation balance is realized by filling liquid into the inner area of the flexible film, and the water-film composite elastomer is not sensitive to the environmental pressure any more, so that the water-film composite elastomer has almost the same contact deformation capacity in the whole sea depth. The touch sensing module 1 generates contact deformation by utilizing liquid fluidity, not only realizes pressure compensation to enable a sensor to directly measure relative pressure, but also ensures that the touch sensing module 1 still has contact deformation capability under high pressure by utilizing incompressibility of the touch sensing module. Most touch sensors used in land environments have difficulty in measuring relative pressure underwater, and the existing underwater touch sensors have difficulty in guaranteeing the contact deformation capability of an elastic body under high pressure.
The semi-ellipsoidal shell type flexible film 12 comprises a semi-ellipsoidal film and a mounting ring which are integrally connected. The inside wall circumference ring of collar is equipped with hemisphere arch 122, and the sealed butt of the periphery of glass window 11 is on hemisphere arch 122, realizes the sealed between glass window 11 and the flexible film 12 of half ellipsoid shell type. The edge of collar has the boss to outside circumference extension, has seted up a plurality of spacing holes 121 on the boss. The end of the limiting ring 13 protrudes to be provided with a limiting block 131 which is inserted in the limiting hole 121 in a penetrating manner, and when the semi-ellipsoidal shell type flexible thin film 12 is sleeved with the limiting ring 13, the limiting block 131 penetrates through the limiting hole 121 to limit the semi-ellipsoidal shell type flexible thin film 12.
The perception principle of the touch perception module 1 in deep sea environment is shown in fig. 5To facilitate description, the tactile sensation module 1 is simplified to be a hemispherical film with a sealed bottom and filled with liquid, as shown in fig. 5 (1). At hydrostatic pressure P H Under the action, the pressure of the internal liquid is offset with the pressure of the environment. Thus, it is believed that the sensing modules will always be in the same shape at different depths, regardless of the thickness variation of the flexible membrane. When an object is pressed against the surface of the flexible film, the film is deformed to assume the shape of the surface of the object, as shown in fig. 5 (2). Since the deformation of the flexible film depends only on the shape of the pressed object, the tactile sensation module 1 has almost the same contact deformation capability in the whole sea depth, which is a characteristic that the tactile sensor used in the normal pressure environment does not have.
As shown in fig. 6, the component storage chamber 3 includes a pressure-resistant housing 33 and a support 34 supported on the glass window 11, a detection component is installed in the pressure-resistant housing 33 of the component storage chamber 3, the support 34 is fixedly installed at a port of the pressure-resistant housing 33, and is supported and installed between the pressure-resistant housing 33 and the glass window 11, and the support 34 is preferably made of a metal material, so that the maximum main stress of the glass window 11 under deep sea pressure is greatly reduced, and the pressure-resistant capability of the device is greatly improved. The port of the pressure-resistant housing 33 is provided with a groove 333 for sealing by the O-ring 2 being fitted around the support member 34, and the O-ring 2 is used to support and seal between the element storage chamber 3 and the tactile sensation module 1, thereby preventing the risk of short circuit due to liquid leakage.
A plurality of clamping grooves 332 are arranged on the peripheral side wall of the port of the pressure-resistant shell 33 at intervals, the clamping grooves 332 are correspondingly matched with the limiting blocks 131 on the limiting ring 13, circumferential limiting is realized through the combination of the clamping grooves 332 and the limiting blocks 131, threaded holes are communicated on the clamping grooves 332 and the limiting blocks 131, the clamping grooves are respectively a limiting ring threaded hole 132 arranged on the limiting ring 13 and a pressure-resistant shell threaded hole 331 arranged on the clamping groove 332 of the pressure-resistant shell 33, axial fixing is realized through the penetration of screws, and further the fixed connection of the touch sensing module 1 and the element storage cabin 3 is realized.
The detection element comprises a camera 32, a through hole communicated with the inside of the pressure-resistant shell 33 is formed in the surface of the support 34, and the camera 32 is installed through the through hole to shoot and collect images on one side of the touch sensing module 1.
A submarine connector 31 is connected to the rear side of the pressure-resistant casing 33, and the submarine connector 31 is connected to a detection element in the element storage chamber 3 to transmit signals. The outer side wall of the underwater connector 31 is hermetically connected with the pressure-resistant shell 33. The underwater connector 31 on the pressure-resistant shell 33 can be used as a sealing plug of the pressure-resistant shell, and the element storage cabin 3 can be in a high negative pressure state by vacuumizing between the element storage cabin 3 and the touch sensing module 1 through dismounting of the underwater connector 31, so that the installation and dismounting are convenient. Through the vacuum installation, the glass window 11 is not required to be fixed on the element storage cabin 3 through connecting pieces such as bolts, and the structure compactness is greatly improved. In deep sea, the huge internal and external pressure difference can provide enough pretightening force, so that the O-shaped ring 2 generates enough extrusion sealing to prevent seawater from entering the element storage cabin 3.
As shown in fig. 6, the hardware part can use a single common camera 32 and three sets of RGB light sources 35 with different colors by the haptic deformation information conversion method based on photometric stereo. Under the irradiation of the RGB light source 35, the camera can observe the rich color and shade information on the inner surface of the semi-ellipsoidal shell type flexible thin film 12, and the reflected image of the inner surface can be used to reconstruct the spatial three-dimensional information of the tactile deformation field. Specifically, the spatial position of the inner surface of the semi-ellipsoidal shell-type flexible film 12 is the unknown quantity to be acquired, which is also three groups because it relates to three dimensions of x, y and z. Based on a certain physical model, such as a lambertian reflection model, a directional light source 35 model and the like, a functional relation between the reflection light intensity R of the inner surface of the flexible film and the space position (x, y, z) of the inner surface of the film can be established, namely R = f (x, y, z), wherein the reflection light intensity R can be directly obtained by shooting through a camera. Since the illumination light source 35 has three colors of RGB, three sets of equations are established according to the reflection conditions of the different colors. The number of unknowns (x, y, z) is equal to the number of equations, so that the three-dimensional information of the film can be obtained through solving.
The stereo reconstruction can be carried out based on a stereo vision method, and one of a binocular stereo vision method, a structured light method and a TOF method can be adopted, and other stereo reconstruction methods can also be adopted. A binocular stereo vision method is adopted, and the built-in camera 32 is a binocular camera; and a structured light rule is adopted to embed a structured camera, and a TOF rule is adopted to embed a TOF camera so as to reconstruct the photographed image change generated by the contact deformation of one side of the touch perception module 1.
For clarity, an example is given:
as shown in fig. 7, the built-in camera may be a 130 ° wide-angle fisheye lens, the distance between the lens and the glass window 11 is 5mm, and the thickness of the glass window 11 itself is 20mm. Taking into account the refraction of light inside the sensor, the refractive index n of the glass window 11 is taken 1 Index of refraction n of water =1.5 2 =1.33, refractive index n of air 3 And =1. Under refraction, the angle of view of camera head 32 decreases from 130 ° to 86 °, as shown by the area enclosed by the dashed line in fig. 7. Considering that the sensor will only generate a deformation field in the central area in most tasks, the field of view area can already cover most working conditions, although the view angle of the camera head 32 is reduced due to refraction. The finite element results show that the maximum value of the maximum principal stress of the sensor glass window 11 is reduced from 52.1MPa to 6.89MPa and is reduced by 87% under the pressure of 10 MPa. The design enables the sensor to bear the environmental pressure under the condition of ten thousand meters of sea depth.
According to one or more embodiments, a sensing method of an optical deep sea touch sensor is disclosed, which comprises the following steps:
the touch sensor is assembled on a deep sea robot, the external contact information is sensed by simulating a finger belly through the semi-ellipsoidal shell type flexible thin film 12, and contact deformation is generated when external force is applied to the semi-ellipsoidal shell type flexible thin film 12;
the camera 32 obtains three-dimensional information in the semi-ellipsoidal shell type flexible film 12 through the glass window 11;
the signal is transmitted through the underwater connector 31 for signal analysis and processing, and the touch sensing detection is completed.
Specifically, the three-dimensional information in the semi-ellipsoidal shell type flexible thin film 12 can be obtained by:
three groups of RGB light sources 35 with different colors are arranged on the support 34 through the detection element to irradiate the semi-ellipsoidal shell type flexible film 12;
the camera 32 acquires and obtains the color and shadow information of the inner surface of the semi-ellipsoidal shell type flexible thin film 12;
and reconstructing the space three-dimensional information of the tactile deformation field through the inner surface reflection image.
Specifically, the three-dimensional information in the semi-ellipsoidal shell type flexible film 12 can be obtained by: the built-in camera 32 adopts a binocular stereo vision method for a binocular camera or a structured light method for a structured light camera or a TOF method for a TOF camera, and carries out stereo reconstruction based on the stereo vision method.
According to one or more embodiments, a method for installing an optical deep sea touch sensor is disclosed, comprising the steps of:
the semi-ellipsoidal shell type flexible thin film 12 is limited and installed through a limiting ring 13 of the touch sensing module 1;
vertically immersing the port of the semi-ellipsoidal shell type flexible thin film 12 after limited installation in a container filled with filling liquid in an upward mode;
pushing the glass window 11 into a port of the semi-ellipsoidal shell type flexible thin film 12 along the vertical direction to complete the sealing and fixing of the glass window 11 on the semi-ellipsoidal shell type flexible thin film 12;
placing the detection element in a pressure-resistant casing 33 of the element storage compartment 3, and mounting a support 34 at a port of the pressure-resistant casing 33;
placing the O-ring 2 in the groove 333 of the pressure-resistant housing 33;
vacuumizing the element storage cabin 3 by using vacuumizing equipment, installing the assembled touch sensing module 1 at one side of the support part 34, and assembling and fixing the assembled touch sensing module after absorbing by using internal and external pressure difference;
the underwater connector 31 is sealed, and the component detachment is performed by recovering the air pressure inside the component storage chamber 3 by detaching the underwater connector 31.
Through the installation method, bubbles can be prevented from being generated when liquid is filled into the film, and the sealing performance of the liquid in the film can be guaranteed under the design requirement of compact structure.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (8)
1. An optical deep sea touch sensor, comprising: comprises a touch sensing module (1), an O-shaped ring (2) and an element storage cabin (3);
the touch sensing module (1) comprises a semi-ellipsoidal shell type flexible thin film (12), a limiting ring (13) sleeved on the semi-ellipsoidal shell type flexible thin film (12), and a glass window (11) connected to the semi-ellipsoidal shell type flexible thin film (12) in a sealing mode; liquid for counteracting the external hydrostatic pressure is filled between the semi-ellipsoidal shell type flexible film (12) and the glass window (11);
the element storage cabin (3) comprises a pressure-resistant shell (33) fixedly connected with the tactile perception module (1) through a limiting ring (13), a detection element arranged in the pressure-resistant shell (33), and a support (34) arranged at a port of the pressure-resistant shell (33) and supported on the glass window (11);
and a groove (333) for clamping and sealing the O-shaped ring (2) is formed in the periphery of the support piece (34) at the port of the pressure-resistant shell (33).
2. The optical deep sea touch sensor of claim 1, wherein: the semi-ellipsoid shell type flexible thin film (12) comprises a semi-ellipsoid thin film and a mounting ring which are integrally connected, and a hemispherical protrusion (122) for sealing and abutting the glass window (11) is circumferentially arranged on the inner side wall of the mounting ring.
3. The optical deep sea touch sensor according to claim 2, wherein: a boss extends outwards and circumferentially from the edge of the mounting ring, and a plurality of limiting holes (121) are formed in the boss;
a limiting block (131) which is inserted into the limiting hole (121) in a penetrating and clamping manner is protruded at the end part of the limiting ring (13);
the port periphery of withstand voltage shell (33) is provided with draw-in groove (332) that supplies stopper (131) to assemble, the screw hole that supplies the screw to wear to establish and carry out fixed mounting is seted up in draw-in groove (332) and stopper (131) intercommunication.
4. The optical deep sea touch sensor of claim 1, wherein: the detection element comprises a camera (32), and a through hole for the camera (32) to penetrate through for detection is formed in the surface of the support piece (34).
5. The optical deep sea touch sensor of claim 1, wherein: and an underwater connector (31) connected with a detection element in the cabin is arranged at the rear side of the pressure-resistant shell (33).
6. A sensing method based on the optical deep sea touch sensor of claim 1, comprising the steps of:
the touch sensor is assembled on a deep sea robot, the finger belly is simulated through the semi-ellipsoidal shell type flexible film (12) to sense external contact information, and contact deformation is generated when external force is applied to the semi-ellipsoidal shell type flexible film (12);
the camera (32) acquires three-dimensional information in the semi-ellipsoidal shell type flexible film (12) through the glass window (11);
and transmitting the signal through the underwater connector (31) to analyze and process the signal, thereby completing the tactile sensing detection.
7. The sensing method according to claim 6, wherein the three-dimensional information in the semi-ellipsoidal shell type flexible film (12) is acquired by:
reconstructing the space three-dimensional information of the tactile deformation field by a photometric stereo method, wherein the hardware part adopts a common camera (32) and RGB light sources (35) with different colors, or
The three-dimensional space information of the tactile deformation field is reconstructed by a stereo vision method, wherein the three-dimensional space information comprises any one of a binocular stereo vision method, a structured light method and a TOF method, and correspondingly, the built-in cameras (32) of the sensor respectively correspond to a binocular camera, a structured camera and a TOF camera.
8. An installation method of the deep sea touch sensor applied to the claim 1, which is characterized by comprising the following steps:
the semi-ellipsoidal shell type flexible film (12) is limited and mounted through a limiting ring (13) of the touch sensing module (1);
vertically immersing the port of the semi-ellipsoidal shell type flexible thin film (12) which is limited and installed in an upward mode into a container filled with filling liquid;
pushing the glass window (11) into a port of the semi-ellipsoidal shell type flexible film (12) along the vertical direction to complete the sealing and fixing of the glass window (11) on the semi-ellipsoidal shell type flexible film (12);
placing the detection element in a pressure-resistant shell (33) of the element storage cabin (3), and installing a support (34) at a port of the pressure-resistant shell (33);
placing the O-shaped ring (2) in a groove (333) of a pressure-resistant shell (33);
vacuumizing the element storage cabin (3) by using vacuumizing equipment, and meanwhile, installing the assembled touch sensing module (1) at one side of a support piece (34), and assembling and fixing the assembled touch sensing module after absorbing by using internal and external pressure difference;
the underwater connector (31) is sealed, and the component is disassembled by recovering the air pressure in the component storage cabin (3) by disassembling the underwater connector (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211513726.6A CN115855341A (en) | 2022-11-29 | 2022-11-29 | Optical deep-sea touch sensor and installation method and sensing detection method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211513726.6A CN115855341A (en) | 2022-11-29 | 2022-11-29 | Optical deep-sea touch sensor and installation method and sensing detection method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115855341A true CN115855341A (en) | 2023-03-28 |
Family
ID=85667925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211513726.6A Pending CN115855341A (en) | 2022-11-29 | 2022-11-29 | Optical deep-sea touch sensor and installation method and sensing detection method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115855341A (en) |
-
2022
- 2022-11-29 CN CN202211513726.6A patent/CN115855341A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10336420B2 (en) | Single-joint underwater robot fish | |
| Oleari et al. | An underwater stereo vision system: From design to deployment and dataset acquisition | |
| CN112634379B (en) | Three-dimensional positioning measurement method based on mixed vision field light field | |
| CN110035207B (en) | Pressure-resistant sealing structure of imaging system | |
| CN111846169A (en) | Be used for withstand voltage sealed cabin of long distance wireless communication under water | |
| CN105334408B (en) | A kind of device of autonomous detection deep-sea watertight performance of connector | |
| CN107741588B (en) | High-efficient self-adaptation aperture side scan sonar | |
| CN115855341A (en) | Optical deep-sea touch sensor and installation method and sensing detection method thereof | |
| CN107941715A (en) | Full-sea-depth high-strength pressure-resistant spectrum analysis device based on underwater detection | |
| RU2645427C2 (en) | Depth-activated sensor switch and method of switching it off | |
| CN211346718U (en) | Underwater three-dimensional scanner | |
| CN109341660B (en) | Universal level meter | |
| CN114739389B (en) | Underwater navigation device of deep sea operation type cable-controlled submersible vehicle and use method thereof | |
| CN105577218B (en) | A kind of underwater transponder pressure hull | |
| CN113759343A (en) | Small-size laser rangefinder under water equipment based on point laser | |
| CN212521767U (en) | Silica gel sensor and sensing device | |
| CN209656220U (en) | A kind of watertightness detection component for watertight connector | |
| TWI659898B (en) | Water downloading device | |
| CN207742102U (en) | Full-sea-depth high-strength pressure-resistant spectrum analysis device based on underwater detection | |
| CN204255393U (en) | One is attitude measurement watertight cartridge under water | |
| CN203658665U (en) | Direct-viewing wide-angle focusing industrial endoscope | |
| CN202171718U (en) | Waterproof camera capable of measuring diving depth and altitude height | |
| CN114859631B (en) | Underwater binocular camera structure | |
| CN215931066U (en) | High-sensitivity hydrophone for ocean science engineering | |
| CN221930021U (en) | Underground coal mine camera device |
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 |