CN208120466U - Drawing cable system and the robot that paddles - Google Patents
Drawing cable system and the robot that paddles Download PDFInfo
- Publication number
- CN208120466U CN208120466U CN201820388746.8U CN201820388746U CN208120466U CN 208120466 U CN208120466 U CN 208120466U CN 201820388746 U CN201820388746 U CN 201820388746U CN 208120466 U CN208120466 U CN 208120466U
- Authority
- CN
- China
- Prior art keywords
- cable
- robot
- base station
- propulsion device
- horizontal
- 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.)
- Expired - Fee Related
Links
- 238000004804 winding Methods 0.000 claims abstract description 52
- 230000007935 neutral effect Effects 0.000 claims abstract description 5
- 238000005259 measurement Methods 0.000 claims description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 238000002604 ultrasonography Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 7
- 239000007788 liquid Substances 0.000 description 4
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 238000010626 work up procedure Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Abstract
The utility model relates to unmanned boat technical field more particularly to a kind of drawing cable system and the robots that paddles.The drawing cable system is used for folding and unfolding cable, and including range unit and the cable winding apparatus paddled in robot is arranged in；The cable is for connecting the cable winding apparatus and base station；The range unit is for measuring paddle the distance between the robot and the base station；The cable winding apparatus is according to cable described in the corresponding control folding and unfolding of distance that the range unit measures.The robot that paddles includes that the cable is neutral buoyancy cable.The purpose of this utility model is to provide drawing cable system and the robot that paddles, the technical issues of to solve cable winds existing in the prior art.
Description
Technical field
The utility model relates to unmanned boat technical field more particularly to a kind of drawing cable system and the robots that paddles.
Background technique
With the continuous progress of technology, unmanned plane, unmanned vehicle, unmanned boat development are like a raging fire.
Present underwater unmanned boat is controlled by being used for transmission the cable of signal, not readily portable, and line
The length of cable is also very long, it may appear that the situation of winding brings very big trouble to user, seriously affects the experience of user
Degree.
Therefore, the application provides a kind of new drawing cable system and the robot that paddles regarding to the issue above, on solving
State the problem of cable is wound.
Utility model content
The purpose of this utility model is to provide drawing cable systems, to solve cable winds existing in the prior art
Technical problem.
The purpose of this utility model also resides in offer and paddles robot, to solve cable winds existing in the prior art
Technical problem.
Based on above-mentioned first purpose, drawing cable system provided by the utility model is used for folding and unfolding cable, including ranging fills
Set and be arranged in the cable winding apparatus paddled in robot；
The cable is for connecting the cable winding apparatus and base station；
The range unit is for measuring paddle the distance between the robot and the base station；
The cable winding apparatus is according to cable described in the corresponding control folding and unfolding of distance that the range unit measures.
The optional technical solution of the utility model is that the drawing cable system includes propulsion device；The propulsion dress
It installs and paddles in robot described, and for controlling the robot ambulation of paddling；
The cable winding apparatus is according to cable described in the corresponding control folding and unfolding of the propulsion device.
The optional technical solution of the utility model is that the propulsion device includes horizontal propulsion device and promotes dress up and down
It sets；The horizontal propulsion device is used for for controlling the Robot horizontal direction walking of paddling, the propulsion device up and down
Robot depth direction of paddling described in control walking；
The cable winding apparatus is according to the horizontal propulsion device and the corresponding control folding and unfolding institute of propulsion device up and down
State cable.
The optional technical solution of the utility model is that the speed that the cable winding apparatus discharges the cable is v；
The speed of travel of the robot far from the base station of paddling described in the horizontal propulsion device order is v1；
The speed of travel of the robot far from the base station of paddling described in the order of propulsion device up and down is v2；
Work as v1≥0,v2>=0, then：
Work as v1≤0,v2≤ 0, then：
Work as v1<0,v2>0,|v1|>|v2|, then：0>v>|v2|-|v1|；
Work as v1<0,v2>0,|v1|<|v2|, then：v>|v2|-|v1|；
Work as v1>0,v2<0,|v1|>|v2|, then：v>|v1|-|v2|；
Work as v1>0,v2<0,|v1|<|v2|, then：0>v>|v1|-|v2|。
The optional technical solution of the utility model is that the range unit includes horizontal range unit and Range finder dress
It sets；The horizontal range unit is used to measure the horizontal distance paddled between robot and the base station, and the depth is surveyed
It is used to measure the vertical distance paddled between robot and the base station away from device；
When the horizontal distance paddled between robot and the base station described in the horizontal range unit measurement increases, then v1
>0；
When the vertical distance paddled between robot and the base station described in the horizontal range unit measurement reduces, then v1
<0；
When the vertical distance paddled between robot and the base station described in Range finder device measurement increases, then v2
>0；
When the horizontal distance paddled between robot and the base station described in Range finder device measurement reduces, then v2
<0。
The optional technical solution of the utility model is that the horizontal range unit includes radar, sonar and ultrasonic distance measurement
From one or more of sensor；
And/or the Range finder device includes hydraulic pressure sensor.
The optional technical solution of the utility model is, the horizontal range unit setting it is described paddle robot and/or
On the base station；
And/or the Range finder device setting is paddled in robot described.
Based on above-mentioned second purpose, the robot provided by the utility model that paddles, including the drawing cable system.
The optional technical solution of the utility model is that the robot that paddles further includes cable；
One end of the cable is fixedly connected with the cable winding apparatus, and the cable can be accommodated in the cable
On draw off gear.
The optional technical solution of the utility model is that the cable is neutral buoyancy cable.
The beneficial effects of the utility model：
Drawing cable system provided by the utility model, including range unit and cable winding apparatus；Pass through range unit
Paddle the distance between robot and base station are measured, so that cable winding apparatus can correspond to control folding and unfolding cable, so as to paddle
Length of cable between robot and base station controls in reasonable range, avoids or reduces cable and be in the presence of winding,
Improve the Experience Degree of user.Especially for the underwater robot that paddles, the cable of reasonable length can reduce cable to relating to
The influence of water robot operation.
The robot provided by the utility model that paddles, by the way that drawing cable system is applied to the robot that paddles, so as to relate to
Length of cable between water robot and base station controls in reasonable range, avoids or reduces cable and the shape wound occur
Condition improves the Experience Degree of user.Especially for the underwater robot that paddles, the cable of reasonable length can reduce cable pair
Paddle robot operation influence.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the first structure diagram for the drawing cable system that the utility model embodiment one provides；
Fig. 2 is the structural schematic diagram for not showing liquid level of drawing cable system shown in FIG. 1；
Fig. 3 is the second structural schematic diagram of the drawing cable system that the utility model embodiment one provides；
Fig. 4 is the structural schematic diagram for not showing liquid level of drawing cable system shown in Fig. 3.
Icon：100- drawing cable system；110- range unit；The horizontal range unit of 111-；112- Range finder device；
120- cable winding apparatus；130- propulsion device；131- horizontal propulsion device；132- or more propulsion device；200- cable；300-
Paddle robot；The base station 400-.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Embodiment one
Shown in referring to figures 1-4, a kind of drawing cable system is present embodiments provided；Fig. 1 and Fig. 2 is that the utility model is real
Two kinds of structural schematic diagrams of the drawing cable system of example offer are provided；In order to more clearly show that structure, Fig. 2 is shown in FIG. 1
The structural schematic diagram for not showing liquid level of drawing cable system, Fig. 4 do not show liquid level for drawing cable system shown in Fig. 3
Structural schematic diagram.
Shown in referring to figures 1-4, drawing cable system provided in this embodiment is used for folding and unfolding cable 200, particularly for relating to
The folding and unfolding of cable 200 between water robot 300 and base station 400.
The drawing cable system includes range unit 110 and the cable winding apparatus paddled in robot 300 is arranged in
120。
Cable 200 is used for connection cables draw off gear 120 and base station 400；Namely cable 200 is for connecting the robot that paddles
300 and base station 400.
Range unit 110 is for measuring paddle the distance between robot 300 and base station 400；Range unit 110 can lead to
Distance measuring sensor is crossed to monitor paddle the distance between robot 300 and base station 400, the robot 300 that paddles can also be passed through
Power device estimates paddle the distance between robot 300 and base station 400.
Cable winding apparatus 120 is according to the corresponding control folding and unfolding cable 200 of distance that range unit 110 measures.For example, paddling
The distance between robot 300 and base station 400 increase, and cable winding apparatus 120 discharges cable 200；It paddles robot 300 and base
Stand the distance between 400 reduce, cable winding apparatus 120 store cable 200.
Optionally, cable winding apparatus 120 includes drawing cable motor and drawing cable roller, and the drawing cable motor drives
The dynamic link drawing cable roller, so that the drawing cable roller is rotated with the drawing cable motor；The drawing cable roller
For winding, storing cable.
Optionally, the robot 300 that paddles is that can dive into the robot that paddles that can also navigate by water on the water surface under water.
Optionally, paddle robot 300 be, for example, unmanned boat.
Drawing cable system described in the present embodiment, including range unit 110 and cable winding apparatus 120；Pass through ranging
Device 110 measures paddle the distance between robot 300 and base station 400, so that cable winding apparatus 120 can correspond to control and receive
Unwrapping wire cable 200 avoids so that 200 length of cable paddled between robot 300 and base station 400 controls in reasonable range
Or reduce cable 200 and be in the presence of winding, improve the Experience Degree of user.Especially for the underwater robot that paddles
300, the cable 200 of reasonable length can reduce influence of the cable 200 to the operation of robot 300 of paddling.
In the optinal plan of the present embodiment, the drawing cable system includes propulsion device 130；Propulsion device 130 is arranged
It is paddling in robot 300, and for controlling the walking of robot 300 of paddling；For example, propulsion device 130 is for controlling machine of paddling
Device people 300 advances, retreats, walking upwards, to inferior direction.Propulsion device 130 for example may include motor, hydraulic press, air pressure
Machine etc..
Cable winding apparatus 120 is according to the corresponding control folding and unfolding cable 200 of propulsion device 130.For example, before propulsion device 130
Into when namely the order of propulsion device 130 paddle the increase of the distance between robot 300 and base station 400, cable winding apparatus 120 releases
Unwrapping wire cable 200；When propulsion device 130 retreats namely propulsion device 130 enables paddle the distance between robot 300 and base station 400
It reduces, cable winding apparatus 120 stores cable 200；For another example, when propulsion device 130 is sunk namely the order of propulsion device 130 is paddled
The distance between robot 300 and base station 400 increase, and cable winding apparatus 120 discharges cable 200；Propulsion device 130 rises
When namely propulsion device 130 order paddle the distance between robot 300 and base station 400 reduction, cable winding apparatus 120 storage
Cable 200.
As shown in figure 3 and figure 4, in the optinal plan of the present embodiment, propulsion device 130 includes horizontal propulsion device 131 to ginseng
With upper and lower propulsion device 132；Horizontal propulsion device 131 is walked in the horizontal direction for controlling the robot 300 that paddles, and is promoted up and down
Device 132 is walked for controlling the robot 300 that paddles along depth direction.Pass through horizontal propulsion device 131 and upper and lower propulsion device
132, so that the walking for the robot 300 that paddles is more flexible.Horizontal propulsion device 131 and upper and lower propulsion device 132 for example can be with
Respectively include motor, hydraulic press, aerostatic press etc..
Cable winding apparatus 120 is according to horizontal propulsion device 131 and the corresponding control folding and unfolding cable of upper and lower propulsion device 132
200.Paddle robot 300 and base station 400 are monitored by 132 two dimensions of horizontal propulsion device 131 and upper and lower propulsion device
The distance between, so that the distance between robot 300 and base station 400 value of paddling are more accurate, to improve cable winding apparatus
The accuracy of 120 folding and unfolding cables 200 control, to optimize 200 length of cable paddled between robot 300 and base station 400.
In the optinal plan of the present embodiment, the length of cable 200 is equal to or slightly greater than paddle robot 300 and base station
The distance between 400 values, such as the length of cable 200 are greater than the range of the distance between robot 300 and base station 400 value of paddling
For 2m-10m, such as 2m, 3m, 5m, 8m etc..
Optionally, it is v that cable winding apparatus 120, which discharges the speed of cable 200,；
It is v that horizontal propulsion device 131, which enables the speed of travel of the robot 300 far from base station 400 of paddling,1；
It is v that upper and lower propulsion device 132, which enables the speed of travel of the robot 300 far from base station 400 of paddling,2；
Work as v1≥0,v2>=0, then：The robot that is, order of horizontal propulsion device 131 is paddled
300 far from base station 400, and when the upper and lower order of propulsion device 132 paddles robot 300 far from base station 400, cable winding apparatus 120 is released
The speed of unwrapping wire cable 200Optionally, work as v1=0, v2>=0, then：v≥v2；That is, horizontal promote dress
It sets 131 not work, when the upper and lower order of propulsion device 132 paddles robot 300 far from base station 400, that is to say, that paddle robot 300
When along depth direction far from base station 400, cable winding apparatus 120 discharges speed v >=v of cable 2002.Optionally, work as v1≥0,
v2=0, then：v≥v1；That is, propulsion device 132 does not work up and down, the order of horizontal propulsion device 131 paddles robot 300 far from base
Stand 400 when, that is to say, that paddle robot 300 in the horizontal direction far from base station 400 when, cable winding apparatus 120 discharge cable
200 speed v >=v1。
Work as v1≤0,v2≤ 0, then：That is, the order of horizontal propulsion device 131 is paddled
Robot 300 is close to base station 400, when the upper and lower order of propulsion device 132 paddles robot 300 close to base station 400, cable winding apparatus
The speed of 120 storage cables 200Optionally, work as v1=0, v2≤ 0, then：0>v≥-
v2；That is, horizontal propulsion device 131 does not work, when the upper and lower order of propulsion device 132 paddles robot 300 close to base station 400,
That is the robot 300 that paddles along depth direction close to base station 400 when, cable winding apparatus 120 store cable 200 speed 0>
v≥-v2.Optionally, work as v1≤0,v2=0, then：0>v≥-v1；That is, propulsion device 132 does not work up and down, level promotes dress
When setting 131 orders and paddling robot 300 close to base station 400, that is to say, that the robot 300 that paddles is in the horizontal direction close to base station 400
When, cable winding apparatus 120 stores the speed 0 of cable 200>v≥-v1, it is understood that it is | v |≤| v1|。
Work as v1<0,v2>0,|v1|>|v2|, then：0>v>|v2|-|v1|；The robot that is, order of horizontal propulsion device 131 is paddled
300 close to base station 400, and the upper and lower order of propulsion device 132 paddles robot 300 far from base station 400, and horizontal propulsion device 131
When the speed of service is greater than the speed of service of upper and lower propulsion device 132, cable winding apparatus 120 stores the speed 0 of cable 200>v>|
v2|-|v1|, it is understood that it is | v |<||v2|-|v1||。
Work as v1<0,v2>0,|v1|<|v2|, then：v>|v2|-|v1|；The robot that is, order of horizontal propulsion device 131 is paddled
300 close to base station 400, and the upper and lower order of propulsion device 132 paddles robot 300 far from base station 400, and horizontal propulsion device 131
When the speed of service is less than the speed of service of upper and lower propulsion device 132, cable winding apparatus 120 discharges the speed v of cable 200>|v2
|-|v1|。
Work as v1>0,v2<0,|v1|>|v2|, then：v|>|v1|-|v2|；The robot that is, order of horizontal propulsion device 131 is paddled
300 far from base station 400, and the upper and lower order of propulsion device 132 paddles robot 300 close to base station 400, and horizontal propulsion device 131
When the speed of service is greater than the speed of service of upper and lower propulsion device 132, cable winding apparatus 120 discharges the speed v of cable 200>|v1
|-|v2|。
Work as v1>0,v2<0,|v1|<|v2|, then：0>v>|v1|-|v2|；The robot that is, order of horizontal propulsion device 131 is paddled
300 far from base station 400, and the upper and lower order of propulsion device 132 paddles robot 300 close to base station 400, and horizontal propulsion device 131
When the speed of service is less than the speed of service of upper and lower propulsion device 132, cable winding apparatus 120 stores the speed 0 of cable 200>v>|
v1|-|v2|, it is understood that it is | v |<||v1|-|v2||。
As shown in figure 3 and figure 4, in the optinal plan of the present embodiment, range unit 110 includes horizontal range unit 111 to ginseng
With Range finder device 112；Horizontal range unit 111 be used for measure paddle between robot 300 and base station 400 level away from
From Range finder device 112 is for measuring the vertical distance paddled between robot 300 and base station 400.
Optionally, horizontal range unit 111 includes radar, sonar and ultrasound apart from one of sensor or more
Kind, or including other distance mearuring equipments.Optionally, Range finder device 112 includes hydraulic pressure sensor, or including other rangings
Instrument
Optionally, when horizontal range unit 111 measures the horizontal distance increase paddled between robot 300 and base station 400,
Then v1>0；By horizontal range unit 111, with the further horizontal distance paddled between robot 300 and base station 400 verified
Variation.
Optionally, when horizontal range unit 111 measures the vertical distance reduction paddled between robot 300 and base station 400,
Then v1<0；By horizontal range unit 111, with the further horizontal distance paddled between robot 300 and base station 400 verified
Variation.
Optionally, when Range finder device 112 measures the vertical distance increase paddled between robot 300 and base station 400,
Then v2>0；By Range finder device 112, with the further vertical distance paddled between robot 300 and base station 400 verified
Variation.
Optionally, when Range finder device 112 measures the horizontal distance reduction paddled between robot 300 and base station 400,
Then v2<0；By Range finder device 112, with the further vertical distance paddled between robot 300 and base station 400 verified
Variation.
Optionally, the horizontal setting of range unit 111 is being paddled on robot 300 and/or base station 400；
Optionally, the setting of Range finder device 112 is being paddled in robot 300.
Embodiment two
Embodiment two provides one kind and paddles robot, which includes drawing cable system described in embodiment one,
The technical characteristic of drawing cable system disclosed in embodiment one is also applied for the embodiment, and the published cable of embodiment one is received
The technical characteristic of place system is not repeated to describe.
To save length, the improvement feature of the embodiment equally embodies in Figs. 1-4, therefore, in conjunction with Fig. 1-Fig. 4 to this
The scheme of embodiment is illustrated.
Shown in referring to figures 1-4, the robot provided in this embodiment that paddles, including drawing cable system 100.By by line
Cable extension and retraction system 100 is applied to the robot 300 that paddles, so that 200 length of cable paddled between robot 300 and base station 400
Control avoids or reduces cable 200 in reasonable range and be in the presence of winding, improve the Experience Degree of user.Especially
For the underwater robot 300 that paddles, the cable 200 of reasonable length can reduce cable 200 and run to the robot 300 that paddles
Influence.
In the optinal plan of the present embodiment, the robot 300 that paddles includes cable 200.By the way that the setting of cable 200 is existed
It paddles in robot 300, in order to carry cable 200.
One end of cable 200 is fixedly connected with cable winding apparatus 120, and cable 200 can be accommodated in drawing cable dress
It sets on 120.By the way that cable 200 to be accommodated on cable winding apparatus 120, to reduce the occupied space of cable 200, with can be excellent
Epimerite save space, additionally it is possible to save the set-up time of user.
In the optinal plan of the present embodiment, cable 200 is neutral buoyancy cable.The averag density of neutral buoyancy cable is close or waits
In the density of water；Under the higher speed of a ship or plane of robot 300 of paddling, cable 200 can be reduced to a certain extent and is formed in water
Resistance, to improve the mobility of robot 300 of paddling.
The robot that paddles described in the present embodiment has the advantages that drawing cable system described in embodiment one, one institute of embodiment
The advantages of disclosed drawing cable system, is not repeated to describe herein.
Finally it should be noted that：The above various embodiments is only to illustrate the technical solution of the utility model, rather than limits it
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand：It is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of drawing cable system is used for folding and unfolding cable, which is characterized in that including range unit and be arranged in the robot that paddles
On cable winding apparatus；
The cable is for connecting the cable winding apparatus and base station；
The range unit is for measuring paddle the distance between the robot and the base station；
The cable winding apparatus is according to cable described in the corresponding control folding and unfolding of distance that the range unit measures.
2. drawing cable system according to claim 1, which is characterized in that including propulsion device；The propulsion device is set
It sets and paddles in robot described, and for controlling the robot ambulation of paddling；
The cable winding apparatus is according to cable described in the corresponding control folding and unfolding of the propulsion device.
3. drawing cable system according to claim 2, which is characterized in that the propulsion device includes horizontal propulsion device
With upper and lower propulsion device；The horizontal propulsion device is described upper and lower for controlling the Robot horizontal direction walking of paddling
Propulsion device is for controlling the Robot depth direction walking of paddling；
The cable winding apparatus is according to line described in the horizontal propulsion device and the corresponding control folding and unfolding of propulsion device up and down
Cable.
4. drawing cable system according to claim 3, which is characterized in that the cable winding apparatus discharges the cable
Speed be v；
The speed of travel of the robot far from the base station of paddling described in the horizontal propulsion device order is v1；
The speed of travel of the robot far from the base station of paddling described in the order of propulsion device up and down is v2；
Work as v1≥0,v2>=0, then：
Work as v1≤0,v2≤ 0, then：
Work as v1<0,v2>0,|v1|>|v2|, then：0>v>|v2|-|v1|；
Work as v1<0,v2>0,|v1|<|v2|, then：v>|v2|-|v1|；
Work as v1>0,v2<0,|v1|>|v2|, then：v>|v1|-|v2|；
Work as v1>0,v2<0,|v1|<|v2|, then：0>v>|v1|-|v2|。
5. drawing cable system according to claim 4, which is characterized in that the range unit includes horizontal range unit
With Range finder device；The horizontal range unit be used to measure it is described paddle between robot and the base station it is horizontal away from
From the Range finder device is used to measure the vertical distance paddled between robot and the base station；
When the horizontal distance paddled between robot and the base station described in the horizontal range unit measurement increases, then v1>0；
When the vertical distance paddled between robot and the base station described in the horizontal range unit measurement reduces, then v1<0；
When the vertical distance paddled between robot and the base station described in Range finder device measurement increases, then v2>0；
When the horizontal distance paddled between robot and the base station described in Range finder device measurement reduces, then v2<0。
6. drawing cable system according to claim 5, which is characterized in that the horizontal range unit includes radar, sound
And ultrasound is apart from one or more of sensor；
And/or the Range finder device includes hydraulic pressure sensor.
7. drawing cable system according to claim 5, which is characterized in that the horizontal range unit setting is related to described
In water robot and/or the base station；
And/or the Range finder device setting is paddled in robot described.
The robot 8. one kind is paddled, which is characterized in that including the described in any item drawing cable systems of claim 1-7.
9. the robot according to claim 8 that paddles, which is characterized in that further include cable；
One end of the cable is fixedly connected with the cable winding apparatus, and the cable can be accommodated in the drawing cable
On device.
10. the robot according to claim 9 that paddles, which is characterized in that the cable is neutral buoyancy cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820388746.8U CN208120466U (en) | 2018-03-20 | 2018-03-20 | Drawing cable system and the robot that paddles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820388746.8U CN208120466U (en) | 2018-03-20 | 2018-03-20 | Drawing cable system and the robot that paddles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208120466U true CN208120466U (en) | 2018-11-20 |
Family
ID=64197912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820388746.8U Expired - Fee Related CN208120466U (en) | 2018-03-20 | 2018-03-20 | Drawing cable system and the robot that paddles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208120466U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111301644A (en) * | 2020-03-06 | 2020-06-19 | 中海油信息科技有限公司 | Submarine pipeline detection system based on ROV and working method thereof |
| CN111822908A (en) * | 2020-07-15 | 2020-10-27 | 北京博清科技有限公司 | Welding system and welding control method |
-
2018
- 2018-03-20 CN CN201820388746.8U patent/CN208120466U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111301644A (en) * | 2020-03-06 | 2020-06-19 | 中海油信息科技有限公司 | Submarine pipeline detection system based on ROV and working method thereof |
| CN111301644B (en) * | 2020-03-06 | 2021-09-17 | 中海油信息科技有限公司 | Submarine pipeline detection system based on ROV and working method thereof |
| CN111822908A (en) * | 2020-07-15 | 2020-10-27 | 北京博清科技有限公司 | Welding system and welding control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103439971B (en) | A kind of reservoir area underwater topography and water-quality guideline sniffing robot | |
| CN208120466U (en) | Drawing cable system and the robot that paddles | |
| CN103910053B (en) | Unmanned observation control ship and unmanned observation control system | |
| KR101979228B1 (en) | Wireless underwater sound sensing apparatus | |
| CN105738907B (en) | Assist side scan sonar apparatus for work | |
| CN204557910U (en) | A kind of two-dimentional shipping of green water experimental provision | |
| CN111137423A (en) | Sonar underwater detection equipment with self-pressure relief device for dynamic and static diving belt | |
| CN207650654U (en) | A kind of underwater unmanned surveying vessel with barrier avoiding function | |
| JP6241995B2 (en) | Diver information acquisition method and diver information acquisition system | |
| CN205239854U (en) | Unrestrained unmanned ship of developments anti -wind | |
| CN219115676U (en) | Auxiliary balancing device for unmanned ship | |
| CN112758263A (en) | Marine environment monitoring device | |
| CN206456513U (en) | A kind of Portable buoy throwing device for hydrologic survey | |
| CN105217501A (en) | Rolling type plastic-covering automatic control device is floated in a kind of salt pond | |
| CN215375373U (en) | Hydrology water resource detection device | |
| CN105300635A (en) | Vertical and stepped incoming flow marine riser vortex-excited/parametrically excited coupled vibration test device | |
| CN115451245A (en) | Amphibious drainage pipeline in-water detection robot and control method thereof | |
| CN112824226B (en) | A ware that stealthily extends wing for carrying acoustic sensor | |
| CN111189435A (en) | Arm-hanging and dragging type water depth measuring system and method | |
| JP2003028639A (en) | Position display system for immersed tube unit | |
| CN106643922A (en) | Device, system and method for measuring flow velocity and flow | |
| CN208704838U (en) | A kind of water-level detecting device of water project management | |
| KR101834889B1 (en) | Position recognition device of bottoming drive type underwater equipment using rope shape and buoy yaw angle | |
| CN107014586B (en) | Intelligence is with ship seaworthiness instrument | |
| CN114735143B (en) | Water surface and underwater dual-purpose automatic positioning and tracking system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181120 |