CN208922124U - A kind of underwater equipment control device based on gesture stability - Google Patents
A kind of underwater equipment control device based on gesture stability Download PDFInfo
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- CN208922124U CN208922124U CN201822066999.6U CN201822066999U CN208922124U CN 208922124 U CN208922124 U CN 208922124U CN 201822066999 U CN201822066999 U CN 201822066999U CN 208922124 U CN208922124 U CN 208922124U
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Abstract
The utility model discloses a kind of, and the underwater equipment control device based on gesture stability converts the posture information of underwater control device to and specifically controls signal using attitude transducer, and real-time control underwater equipment completes command adapted thereto.Underwater operation personnel, which need to only change control device posture, to operate controlled device.The underwater equipment control device includes the components such as waterproof case, internal control system, watertight connector, waterproof screen, is full of insulating oil inside waterproof case, internal control system is made of attitude transducer, control circuit, LED light, LED display etc..The control device carries out Oil treatment, can achieve deeper operating water depth, waterproof sealing is relatively reliable.The utility model compact structure, simple to operate, no physical button and rocking bar facilitate underwater operation personnel to carry and operate, LED display can the information such as real-time display controlled unit state, current control instruction, course, which can be widely applied to each field underwater operation operation.
Description
Technical field
The utility model relates to underwater equipment control field, specifically a kind of underwater equipment control based on gesture stability
Device processed.
Background technique
Marine economy is greatly developed in China, is built under the background of ocean power, all kinds of underwater observations, underwater operation equipment
It is rapidly developed, a large amount of underwater equipments come into operation.Under normal conditions the manipulation of underwater equipment be by water surface control unit Lai
It completes, but for special circumstances, when needing completion task common with diver's cooperation such as underwater equipment, traditional water surface control mode
In the presence of communication, control signal delay, it is poor with diver's interactivity the problems such as, influence coordinative operation, or even threaten diver's safety.
In this case if underwater equipment can be directly controlled by diver, the work compound performance of equipment and diver
It will greatly improve, while diver obtains safely effective guarantee.However traditional water surface control mode mostly uses button or manipulation
Bar operation since to act on which inconvenient under water for hydraulic pressure, while needing to carry out at waterproof sealing button, control stick etc.
Reason, structure is complicated, poor reliability.Therefore seek a kind of simple and reliable underwater equipment control method, and developed based on this method
A set of compact structure, easily operated control device are of great significance for the manipulation of particular surroundings underwater equipment.
Utility model content
In order to which preferably control equipment completes movement and operation function under water, the purpose of this utility model is to provide one
Underwater equipment control device of the kind based on gesture stability.
The utility model technical solution used for the above purpose is: a kind of underwater equipment based on gesture stability
Control device, including shell, screen, end cap, circuit board, LED display board and posture sensing device；
One end of the shell is equipped with screen, and the other end is equipped with end cap；Interior of shell is equipped with circuit board and is connected thereto
LED display board and posture sensing device；The LED display board is set to below screen.
The shell is cavity, envelope filled to have insulating oil.
The screen is nonmetallic eyeglass.
The end cap is equipped with the mounting hole for fixing underwater electrical connector, and the underwater electrical connector is connected with watertight cable,
Watertight cable one end is connected to circuit board, and the other end is for connecting underwater equipment.
The shell is the cylinder of aluminum alloy material.
It is described to set gradually LED display board, posture sensing device, circuit board from screen one end inside the shell.
The circuit board is equipped with processor chips, and the processor chips and LED display board, posture sensing device connect
It connects.
The posture sensing device includes attitude transducer and signal processing circuit connected to it；The signal processing
Circuit is connect with processor chips.
It is provided with seal groove between the screen and shell mating surface, sealing ring is installed in seal groove.
The cover internal is provided with for installing screw flight hole, and the screw rod is used for fixing circuit board, LED display board
With posture sensing device.
The utility model has the advantages that and advantage:
1. completing underwater equipment control with underwater control mode, special installation, job that requires special skills environment underwater equipment can be solved
Manipulation problem improves underwater operation personnel, underwater equipment work compound ability；
2. the underwater equipment control device compact structure designed by the utility model based on gesture stability, convenient underwater work
Industry personnel manipulation；Sealed reliable, internal oil-filled structure can meet in larger depth of water job requirements；LED light on device and
LED display facilitates operator to implement to understand control device and controlled device working condition, reduces operation difficulty, improves operation
Efficiency.
3. being directed to different controlled devices and job task, device use scope is extensive.
Detailed description of the invention
Fig. 1 is the utility model control system composition figure；
Fig. 2 is the utility model underwater equipment control device internal structure chart.
Wherein: 1 is the utility model underwater control device；2 be watertight cable；3 be controlled underwater equipment；4 be underwater control
Device waterproof case processed；5 be waterproof screen；6 be LED light, LED display integrated circuit board；7 be signal processing and control
Circuit board；8 be circuit board standing screw；9 be control device bottom waterproof cover；10 be underwater electrical connector；11 be transformer insulated
Oil；12 be spatial attitude sensor.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and embodiments.
Underwater equipment control method is based on gesture stability, realizes the control to controlled device by adjusting control device posture
System；The underwater equipment control device includes the components such as waterproof case, waterproof screen, end cap and control system.Underwater equipment can
To be robot, manipulator, underwater holder etc..
Control process includes: real-time acquisition control device posture, by control device attitude parameter through controlling signal processing system
System is converted into corresponding underwater equipment control signal and completes corresponding actions to control controlled device correlation executing agency.
Control device posture is obtained to be realized by elements such as attitude transducer, electronic compass.
Controlling signal processing system includes signal processing circuit and electronic component, can convert collected posture information
Signal is controlled at corresponding controlled device.
Waterproof case is cavity structure, and inside is full of insulating oil；Waterproof screen is transparent, non-metallic piece, is installed on the control
Device one end processed；End cap is to be installed on the control device other end.Mounting hole is provided on end cap, to install fixed watertight
Connector.
Control system is installed on inside control device, is shown by posture sensing device, control circuit, LED light, LED
The components such as screen composition.Control system posture sensing device is made of attitude transducer, signal processing circuit etc..
Attitude transducer detection angles signal is converted to corresponding control signal and exported in real time by control circuit realization, complete
The real-time control of pairs of controlled device.
LED light, LED display component are installed on integrated circuit board, can real-time display control device posture, direction
Information and controlled device status information, facilitate underwater operation personnel to manipulate.
Control process includes: real-time acquisition control device posture, and control device attitude parameter is passed through control signal processing
Corresponding underwater equipment control signal is converted to after system processing, and then sends control signals to controlled device, and control is controlled
Equipment correlation executing agency completes corresponding actions.
The control device attitude parameter is obtained by attitude transducer.The attitude transducer include obliquity sensor,
The elements such as electronic compass.Measurand space all directions attitude angle information can be obtained in real time, and test data can be carried out
Real-time Transmission.
The control signal processing system includes signal processing circuit and electronic component.The signal processing circuit is integrated
There is the signal for controlled device to convert, collected posture information can be converted to corresponding controlled device control signal.
The control signal is sent to controlled device by signal transmitting apparatus.The control that the controlled device will receive
Signal is sent to corresponding executing agency by processing or without processing, and the executing agency executes after receiving control signal
Corresponding actions.
The utility model additionally provides a kind of control device for realizing above-mentioned control method.The control device includes waterproof
The components such as shell, waterproof screen, end cap and control system composition.
The waterproof case is in cavity-like, and inside is full of insulating oil, to improve control device water pressure resistance performance, realizes control
Device processed is in big depth underwater operation.
The waterproof screen is nonmetallic eyeglass, is manufactured using transparent material.Waterproof screen is installed on the control device
One end.Through waterproof screen, underwater operation personnel can see control device interior lamp and LED display, grasp in real time
Control device and controlled device working condition.
The end cap is installed on control device other end.It is provided with mounting hole on end cap, is patched to install fixed watertight
Part, the underwater electrical connector are connected with watertight cable, and other one of the watertight cable is connected to controlled device, realize in control device
Signal is controlled between portion's control system and controlled device to transmit and communicate.
The attitude transducer can real-time detection control device spatial attitude, and by signal processing circuit space is each
A orientation angles information exports in real time.
The utility model is a kind of underwater equipment control device based on gesture stability.Control system composition figure is such as Fig. 1 institute
Show.Underwater operation personnel hold underwater control device 1, by changing control device spatial attitude, by control device space angle
Information is converted into control signal, to realize the manipulation to controlled device.Such as underwater operation personnel will control underwater robot
Movement.It can realize that robot travels forward by the underwater control device that leans forward, and can be controlled by adjusting forward leaning angle
Robot forward speed.Similarly, it can realize that robot is left and right, reverse by "Left"-deviationist, Right deviation, hypsokinesis control device.
In addition, can control the movement of Robot set a course in conjunction with underwater control device built-in electronic compass.Except control underwater
People's movement is outer, which, which can also realize, carries out other underwater units such as underwater manipulator, underwater observation holder
Control.
2 be watertight cable shown in Fig. 1, realizes between underwater control device 1 and controlled device 3 control signal transmission and underwater
The functions such as control device power supply.Watertight cable core number is determined by control signal path, supplying channels number etc..Watertight cable both ends are
Underwater electrical connector, underwater connector corresponding with underwater control device, controlled device is to inserting respectively, and watertight cable length is by specifically making
Industry demand determines.
3 be controlled underwater equipment shown in Fig. 1.Controlled device can be various types underwater robot, be also possible to underwater
The devices such as operation part such as underwater manipulator, underwater observation holder.
Fig. 2 is underwater equipment control device internal structure chart.Device monnolithic case is in cylindrical bar shape, and size is small and exquisite, can be by
Underwater operation personnel's single hand grip operates, and weight is small negative buoyancy force in water.Wherein underwater control crust of the device 4 uses aluminium
Alloy material manufacture guarantees to mitigate weight as far as possible under the premise of device intensity.It is waterproof screen at the top of device.Screen is in disk
Shape is manufactured using oil resistant organic glass.It is provided with seal groove between 4 mating surface of waterproof screen and shell, O-shaped sealing is installed in slot
Circle, to realize control waterproof sealing.It is fixed with LED light, LED display integrated circuit board below waterproof screen, through anti-
Water screen underwater operation personnel can see indicator light, display screen relevant information.Integrated circuit board can be by control device, controlled
Equipment working state passes through LED light, display screen real-time display.
Spatial attitude sensor 12 is installed below LED light, display screen integrated circuit board.Spatial attitude sensor is adopted
, can be with the pitching of real-time measurement tested device, roll angle with dynamic inclination sensor, 0.1 ° of dynamic accuracy, measurement range ±
180°.It can send underwater control device posture information in real time signal processing and control circuit board 7 by obliquity sensor
In.
Signal processing and control circuit board 7 are fixed on 12 lower section of spatial attitude sensor, have been internally integrated signal processing, control
Circuit processed and all kinds of electronic components.After the underwater control device posture information that board receiver is sent to obliquity sensor by
Processing exports after being translated into corresponding control signal, is sent to controlled device by underwater electrical connector 10 and watertight cable 1
On 3.Controlled device 3 carries out corresponding actions after receiving control signal, completes control command.
Transformer insulation oil 11 is full of inside underwater control device.Insulating oil effect specifically includes that 1) balance underwater control
Device external and internal pressure increases equipment underwater operation depth.Since underwater control equipment top waterproof screen can be slided axially,
Into the water, suffered hydraulic pressure can be gradually increased control device as the depth of water increases.Since waterproof screen can be along axial cunning
It is dynamic, extruding transformer insulation oil can be slided inwards when external pressure increases, and since insulating oil compression ratio is worked as with water phase, prevented
Water screen just can reach internal and external pressure balance after small sliding, and underwater control device entire in this way and internal each components will not
Cause inside and outside differential pressure to increase because of the increase of operating water depth, each component is avoided to damage because inside and outside differential pressure is excessive.2) advantageous
In the larger electronic element radiating that generates heat.Since underwater control device is compact to design, all kinds of cooling electronic component narrow spaces.If
It easily causes amount of localized heat excessively high by air heat dissipation merely, influences component performance, reduce the service life, or even influence water
Lower control device normal use.Inside underwater control device it is oil-filled after, internal temperature can be made more balanced, while by heat transfer
It to aluminium alloy waterproof case, and then is dissipated in water, greatly improves heat dissipation effect, guarantee device operation stability.
Circuit board standing screw 8 is metal screw, and both ends are tapped, realize the fixation function of each circuit board and component
Energy.
Control device bottom waterproof cover 9 is metallic cylinder structure, is manufactured using aluminum alloy materials.It is provided with inside waterproof cover
Threaded hole realizes that internal each components are fixed to mounting circuit boards standing screw 8.Waterproof cover is opened with waterproof shell mating surface
There is seal groove, slot is provided with O-ring seal to realize that control device interior waterproof seals.Waterproof cover center opening is solid to install
Determine underwater electrical connector 10.Not high in view of each component operating current in control device inside, underwater electrical connector 10 is using microminiature series
Underwater electrical connector saves space, realizes control device compact design.
Claims (10)
1. a kind of underwater equipment control device based on gesture stability, which is characterized in that including shell, screen, end cap, circuit
Plate, LED display board and posture sensing device；
One end of the shell is equipped with screen, and the other end is equipped with end cap；Interior of shell is equipped with circuit board and connect with circuit board
LED display board and posture sensing device；The LED display board is set to below screen.
2. a kind of underwater equipment control device based on gesture stability according to claim 1, which is characterized in that described outer
Shell is cavity, envelope filled to have insulating oil.
3. a kind of underwater equipment control device based on gesture stability according to claim 1, which is characterized in that the screen
Curtain is nonmetallic eyeglass.
4. a kind of underwater equipment control device based on gesture stability according to claim 1, which is characterized in that the end
The mounting hole being equipped with for fixing underwater electrical connector is covered, the underwater electrical connector is connected with watertight cable, watertight cable one end
It is connected to circuit board, the other end is for connecting underwater equipment.
5. a kind of underwater equipment control device based on gesture stability according to claim 1, which is characterized in that described outer
Shell is the cylinder of aluminum alloy material.
6. a kind of underwater equipment control device based on gesture stability according to claim 1, which is characterized in that in shell
It is interior to set gradually LED display board, posture sensing device, circuit board from screen one end.
7. a kind of underwater equipment control device based on gesture stability according to claim 1, which is characterized in that the electricity
Road plate is equipped with processor chips, and the processor chips are connect with LED display board, posture sensing device.
8. a kind of underwater equipment control device based on gesture stability according to claim 1 or claim 7, which is characterized in that institute
Stating posture sensing device includes attitude transducer and signal processing circuit connected to it；The signal processing circuit and processing
The connection of device chip.
9. a kind of underwater equipment control device based on gesture stability according to claim 1, which is characterized in that the screen
It is provided with seal groove between curtain and shell mating surface, sealing ring is installed in seal groove.
10. a kind of underwater equipment control device based on gesture stability according to claim 1, which is characterized in that described
Cover internal is provided with for installing screw flight hole, and the screw rod is for fixing circuit board, LED display board and posture sensing dress
It sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822066999.6U CN208922124U (en) | 2018-12-10 | 2018-12-10 | A kind of underwater equipment control device based on gesture stability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822066999.6U CN208922124U (en) | 2018-12-10 | 2018-12-10 | A kind of underwater equipment control device based on gesture stability |
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| Publication Number | Publication Date |
|---|---|
| CN208922124U true CN208922124U (en) | 2019-05-31 |
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ID=66712762
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822066999.6U Active CN208922124U (en) | 2018-12-10 | 2018-12-10 | A kind of underwater equipment control device based on gesture stability |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111188962A (en) * | 2019-12-25 | 2020-05-22 | 浙江大学 | Assembling method of deep sea equipment and quick joint of oil-filled hose with internal lead |
| CN111290414A (en) * | 2018-12-10 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Underwater equipment control method and device based on attitude control |
| CN112643666A (en) * | 2019-10-12 | 2021-04-13 | 中国科学院沈阳自动化研究所 | Water surface and underwater cooperative control device and method for remote control type underwater robot |
-
2018
- 2018-12-10 CN CN201822066999.6U patent/CN208922124U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111290414A (en) * | 2018-12-10 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Underwater equipment control method and device based on attitude control |
| CN112643666A (en) * | 2019-10-12 | 2021-04-13 | 中国科学院沈阳自动化研究所 | Water surface and underwater cooperative control device and method for remote control type underwater robot |
| CN111188962A (en) * | 2019-12-25 | 2020-05-22 | 浙江大学 | Assembling method of deep sea equipment and quick joint of oil-filled hose with internal lead |
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