CN107972835A - A kind of device for being used to control underwater robot multichannel vector arrangement propeller - Google Patents
A kind of device for being used to control underwater robot multichannel vector arrangement propeller Download PDFInfo
- Publication number
- CN107972835A CN107972835A CN201711436375.2A CN201711436375A CN107972835A CN 107972835 A CN107972835 A CN 107972835A CN 201711436375 A CN201711436375 A CN 201711436375A CN 107972835 A CN107972835 A CN 107972835A
- Authority
- CN
- China
- Prior art keywords
- bottom plate
- underwater robot
- control underwater
- vector arrangement
- front panel
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of device for being used to control underwater robot multichannel vector arrangement propeller, which is slab structure, includes bottom plate, front panel and connector；Plate upper surface is set to circuit board, and circuit board is equipped with CPU module, FPGA module, communication interface, output interface and corresponding circuit；Front panel and connector are separately positioned on the front-end and back-end of bottom plate.Power supply and insulating monitoring circuit are included in circuit, it is electrically connected with CPU module, and CPU module is also electrically connected with FPGA module and communication interface, and FPGA module is electrically connected with output interface.The blank that bottom plate both sides of the edge are respectively kept with strip forms guide rail.Front panel is equipped with strip opening, is equipped with indicator light and digital interface in it.Provided by the present invention for the device of control underwater robot multichannel vector arrangement propeller, installation plug is convenient, and scalability is strong, modularized design, it is possible to reduce the cost and manpower of overlapping development.
Description
Technical field
The present invention relates to a kind of control device for underwater robot, and in particular, to one kind is used to control underwater machine
Device people's multichannel vector arranges the device of propeller.
Background technology
Underwater robot, or remotely pilotless submersible (Remote Operational Vehicle, ROV) is, it is a kind of
The instrument and equipment carried using itself carries out artificially manipulating under water the diving apparatus of operation.
At present, the control system of underwater robot is multifarious, can not form the industry accessory of a standard, has following
Shortcoming：1. electric plating propulsion model diversity；2. type of drive diversity；3. communication or control mode diversity；4. propeller
Arrange diversity；5. propeller usage quantity is different；6. different sensors system.The limitation of these conditions, can not form one
The underwater robot control system being completely covered realizes these demands.
The content of the invention
The object of the present invention is to provide a kind of control device for underwater robot, the control system of underwater robot is improved
The integrated level of system, realizes the modularized design of electric plating propulsion control system, solves the multifarious compatibling problem of propeller.
In order to achieve the above object, it is used to control underwater robot multichannel vector arrangement to promote the present invention provides one kind
The device of device, wherein, the device is slab structure, includes bottom plate, front panel and connector；The plate upper surface
Circuit board is set to, the circuit board is equipped with CPU module, FPGA module, communication interface, output interface and corresponding electricity
Road；The front panel is arranged on the front end of bottom plate, and the connector is arranged on the rear end of bottom plate.
The above-mentioned device for being used to control underwater robot multichannel vector arrangement propeller, wherein, the device
Size is long 160mm × wide 100mm × high 20mm, or long 105mm × wide 100mm × high 20mm.
The above-mentioned device for being used to control underwater robot multichannel vector arrangement propeller, wherein, in the circuit
Include power supply and insulating monitoring circuit.
The above-mentioned device for being used to control underwater robot multichannel vector arrangement propeller, wherein, the power supply and
Insulating monitoring circuit is electrically connected with CPU module, and CPU module is also electrically connected with FPGA module and communication interface, FPGA module
It is electrically connected with output interface.Output interface includes analog quantity and digital interface.CPU, that is, Central Processing Unit,
A kind of ultra-large integrated circuit, as data operation core (Core) and control core (Control Unit).FPGA is
Field-Programmable Gate Array, field programmable gate array, is as in application-specific integrated circuit (ASIC) field
A kind of semi-custom circuit and occur, not only solved the deficiency of custom circuit, but also overcome original programming device gate circuit
The shortcomings that number is limited.Communication interface receives the income of data, realizes that external communication agreement is transmitted using based on serial communication mode,
CPU module realizes that algorithm operation and insulating monitoring, FPGA module realize the distribution of the output interface of multichannel propeller, and interface can
To realize flexible configuration.
The above-mentioned device for being used to control underwater robot multichannel vector arrangement propeller, wherein, the bottom plate is
Rectangular flat, the edge of two lateral extent of the bottom plate lateral circuit plate are respectively kept with the white space of strip, guide rail are formed, easy to plate
The installation and plug of shape structure.
The above-mentioned device for being used to control underwater robot multichannel vector arrangement propeller, wherein, the guide rail is wide
Spend for 3mm.
The above-mentioned device for being used to control underwater robot multichannel vector arrangement propeller, wherein, the bottom plate
Corner is respectively equipped with mounting hole, and two mounting holes for being arranged on bottom plate front end are used to install fixed front panel, after being arranged on bottom plate
Two mounting holes at end are used for connector for mounting and fixing.Mounting hole is circular emptying aperture, and diameter is preferably 3mm, is led at mounting hole
Bolt is crossed to fix front panel and connector with bottom plate.
The above-mentioned device for being used to control underwater robot multichannel vector arrangement propeller, wherein, the connector
For DIN connector.
The above-mentioned device for being used to control underwater robot multichannel vector arrangement propeller, wherein, the front panel
Operation and display panel for rectangle, front panel are equipped with a strip opening consistent with front panel length direction.Strip
The highly preferred of shape opening is 7mm.The highly preferred front panel is 20mm, and model 4HP front panels, are mainly used for various
Cabinet, power supply, server etc..
The above-mentioned device for being used to control underwater robot multichannel vector arrangement propeller, wherein, the strip
Indicator light and digital interface are equipped with opening, the indicator light and digital interface are installed on the circuit board on bottom plate, and from
The strip opening of front panel goes out to expose, and digital interface is preferably 8 bit digital interfaces.The bottom plate is vertical with front panel.Institute
The installation and arrangement for stating device be：4HP front panels are installed at the front end on circuit board, then DIN connector is passed through
The rear end of connector base and circuit board connects.
Had the following advantages provided by the present invention for the device of control underwater robot multichannel vector arrangement propeller：
The present invention is a kind of controller for the arrangement propeller control of underwater robot vector, it is possible to increase underwater
The integrated level of the control system of people, realizes the modularized design of electric plating propulsion control system, and it is multifarious simultaneous to solve propeller
Appearance problem, has that installation and plug are convenient, and scalability is strong, it is possible to reduce the advantages that the cost and manpower of overlapping development.
Brief description of the drawings
Fig. 1 is the apparatus structure schematic diagram for being used to control underwater robot multichannel vector to arrange propeller of the present invention.
Fig. 2 is the apparatus system schematic diagram for being used to control underwater robot multichannel vector to arrange propeller of the present invention.
Fig. 3 is the device front panel signal for being used to control underwater robot multichannel vector to arrange propeller of the present invention
Figure.
Wherein：1st, bottom plate；2nd, front panel；3rd, connector；4th, circuit board；5th, CPU module；6th, FPGA module；7th, communication connects
Mouthful；8th, output interface；9th, power supply and insulating monitoring circuit；10th, guide rail；11st, mounting hole；12nd, strip opening；13rd, indicator light
And digital interface.
Embodiment
The embodiment of the present invention is further described below in conjunction with attached drawing.
As shown in Figure 1, provided by the present invention for the device of control underwater robot multichannel vector arrangement propeller, should
Device is slab structure, includes bottom plate 1, front panel 2 and connector 3；1 upper surface of bottom plate is set to circuit board 4, on circuit board 4
Equipped with CPU module 5, FPGA module 6, communication interface 7, output interface 8 and corresponding circuit；Front panel 2 is arranged on bottom plate 1
Front end, connector 3 are arranged on the rear end of bottom plate 1.
Power supply and insulating monitoring circuit 9 are included in circuit.Power supply and insulating monitoring circuit 9 are electrically connected with CPU module 5, CPU
Module 5 is also electrically connected with FPGA module 6 and communication interface 7, and FPGA module 6 is electrically connected with output interface 8.Output interface 8
Including analog quantity and digital interface.
Bottom plate 1 is rectangular flat, and the edge of 1 liang of the bottom plate lateral extent lateral circuit plate 4 is respectively kept with the clear area of strip
Domain, forms guide rail 10, easy to the installation and plug of slab structure.
The corner of bottom plate 1 is respectively equipped with mounting hole 11, and two mounting holes 11 for being arranged on 1 front end of bottom plate are used to install fixation
Front panel 2, two mounting holes 11 for being arranged on 1 rear end of bottom plate are used for connector for mounting and fixing 3.
Operation and display panel of the front panel 2 for rectangle, front panel 2 are consistent with 2 length direction of front panel equipped with one
Strip opening 12.
Indicator light and digital interface 13 are equipped with strip opening 12, indicator light and digital interface 13 are installed on bottom plate 1
Circuit board 4 on.Bottom plate 1 is vertical with front panel 2.
With reference to embodiment to provided by the present invention for control underwater robot multichannel vector arrangement propeller
Device is further described.
Embodiment 1
A kind of device for being used to control underwater robot multichannel vector arrangement propeller, which is slab structure, bag
Containing bottom plate 1, front panel 2 and connector 3；1 upper surface of bottom plate is set to circuit board 4, and circuit board 4 is equipped with CPU module 5, FPGA
Module 6, communication interface 7, output interface 8 and corresponding circuit；Front panel 2 is arranged on the front end of bottom plate 1, and connector 3 is set
In the rear end of bottom plate 1.
Power supply and insulating monitoring circuit 9 are included in circuit.Power supply and insulating monitoring circuit 9 are electrically connected with CPU module 5, CPU
Module 5 is also electrically connected with FPGA module 6 and communication interface 7, and FPGA module 6 is electrically connected with output interface 8.Output interface 8
Including analog quantity and digital interface.CPU, that is, Central Processing Unit, a kind of ultra-large integrated circuit, makees
For data operation core (Core) and control core (Control Unit).FPGA, that is, Field-Programmable Gate
Array, field programmable gate array, is occurred as a kind of semi-custom circuit in application-specific integrated circuit (ASIC) field
, not only solved the deficiency of custom circuit, but also overcome the shortcomings that original programming device gate circuit number is limited.Communication interface 7
The income of data is received, realizes that external communication agreement is transmitted using based on serial communication mode, CPU module 5 realizes that algorithm is run
And insulating monitoring, FPGA module 6 realize the distribution of the output interface 8 of multichannel propeller, interface can realize flexible configuration.Ginseng
As shown in Figure 2.
The size of the device is long 160mm × wide 100mm × high 20mm, or long 105mm × wide 100mm × high 20mm.
Bottom plate 1 is rectangular flat, and the edge of 1 liang of the bottom plate lateral extent lateral circuit plate 4 is respectively kept with the clear area of strip
Domain, forms guide rail 10, easy to the installation and plug of slab structure.10 width of guide rail is 3mm.
The corner of bottom plate 1 is respectively equipped with mounting hole 11, and two mounting holes 11 for being arranged on 1 front end of bottom plate are used to install fixation
Front panel 2, two mounting holes 11 for being arranged on 1 rear end of bottom plate are used for connector for mounting and fixing 3.Mounting hole 11 is circular emptying aperture,
Diameter is preferably 3mm, is fixed front panel 2 and connector 3 with bottom plate 1 by bolt at mounting hole 11.Connector 3 is European
Connector.
Operation and display panel of the front panel 2 for rectangle, front panel 2 are consistent with 2 length direction of front panel equipped with one
Strip opening 12.The highly preferred of strip opening 12 is 7mm.It is 20mm that front panel 2 is highly preferred, before model 4HP
Panel 2, is mainly used for various cabinets, power supply, server etc..Show that TX shows that transmission medium is twisted-pair feeder on front panel 2, FX tables
Bright transmission medium is optical fiber, and FUNC (i.e. the abbreviation of function) is function selecting key, and RESET is reset button, and DIAG is diagnosis
Key, is additionally provided with voltage and shows.It is shown in Figure 3.
Indicator light and digital interface 13 are equipped with strip opening 12, indicator light and digital interface 13 are installed on bottom plate 1
Circuit board 4 on, and go out to expose from the strip opening 12 of front panel 2, digital interface is preferably 8 bit digital interfaces.Bottom plate 1 with
Front panel 2 is vertical.
The installation of the device and arrangement are：4HP front panels 2 are installed at the front end on circuit board 4, then will be European
Connector is connected by 3 base of connector with the rear end of circuit board 4.
Provided by the present invention for the device of control underwater robot multichannel vector arrangement propeller, before 4HP
Panel 2 and European 3 interface form of connector, installation and plug are convenient, and scalability is strong, modularized design, it is possible to reduce weight
The cost and manpower developed again；The integrated level of the control system of underwater robot can be improved, realizes electric plating propulsion control system
The modularized design of system, solves the multifarious compatibling problem of propeller.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
- A kind of 1. device for being used to control underwater robot multichannel vector arrangement propeller, it is characterised in that the device For slab structure, bottom plate, front panel and connector are included；The plate upper surface is set to circuit board, and the circuit board is equipped with CPU module, FPGA module, communication interface, defeated Outgoing interface and corresponding circuit；The front panel is arranged on the front end of bottom plate, and the connector is arranged on the rear end of bottom plate.
- 2. the device as claimed in claim 1 for being used to control underwater robot multichannel vector arrangement propeller, its feature exist In the size of, the device be long 160mm × wide 100mm × high 20mm, or long 105mm × wide 100mm × high 20mm.
- 3. the device as claimed in claim 1 for being used to control underwater robot multichannel vector arrangement propeller, its feature exist In including power supply and insulating monitoring circuit in the circuit.
- 4. the device as claimed in claim 3 for being used to control underwater robot multichannel vector arrangement propeller, its feature exist In the power supply and insulating monitoring circuit are electrically connected with CPU module, and CPU module is also distinguished with FPGA module and communication interface It is electrically connected, FPGA module is electrically connected with output interface.
- 5. the device as claimed in claim 1 for being used to control underwater robot multichannel vector arrangement propeller, its feature exist In, the bottom plate is rectangular flat, and the edge of two lateral extent of the bottom plate lateral circuit plate is respectively kept with the white space of strip, Form guide rail.
- 6. the device as claimed in claim 5 for being used to control underwater robot multichannel vector arrangement propeller, its feature exist In the guide rail width is 3mm.
- 7. the device as claimed in claim 6 for being used to control underwater robot multichannel vector arrangement propeller, its feature exist In the corner of the bottom plate is respectively equipped with mounting hole, and two mounting holes for being arranged on bottom plate front end are used to install before fixed Plate, two mounting holes for being arranged on base plate rear end are used for connector for mounting and fixing.
- 8. the device as claimed in claim 7 for being used to control underwater robot multichannel vector arrangement propeller, its feature exist In the connector is DIN connector.
- 9. the device as claimed in claim 8 for being used to control underwater robot multichannel vector arrangement propeller, its feature exist In the front panel is equipped with a strip opening for the operation of rectangle and display panel, front panel.
- 10. the device as claimed in claim 9 for being used to control underwater robot multichannel vector arrangement propeller, its feature exist In the strip opening is interior to be equipped with indicator light and digital interface, and the indicator light and digital interface are installed on bottom plate Circuit board on, the bottom plate is vertical with front panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711436375.2A CN107972835A (en) | 2017-12-26 | 2017-12-26 | A kind of device for being used to control underwater robot multichannel vector arrangement propeller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711436375.2A CN107972835A (en) | 2017-12-26 | 2017-12-26 | A kind of device for being used to control underwater robot multichannel vector arrangement propeller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107972835A true CN107972835A (en) | 2018-05-01 |
Family
ID=62007735
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711436375.2A Withdrawn CN107972835A (en) | 2017-12-26 | 2017-12-26 | A kind of device for being used to control underwater robot multichannel vector arrangement propeller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107972835A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109213030A (en) * | 2018-08-09 | 2019-01-15 | 北京云迹科技有限公司 | Industrial personal computer integrating device for robot |
-
2017
- 2017-12-26 CN CN201711436375.2A patent/CN107972835A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109213030A (en) * | 2018-08-09 | 2019-01-15 | 北京云迹科技有限公司 | Industrial personal computer integrating device for robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107972835A (en) | A kind of device for being used to control underwater robot multichannel vector arrangement propeller | |
| CN207748000U (en) | A kind of controller for underwater robot multichannel vector arrangement propeller | |
| JP2007236150A (en) | Light / power common pull-in board | |
| US20140232546A1 (en) | Remote controlled pricing information | |
| JP2015111988A (en) | In-distribution board device, in-distribution board device unit and distribution board | |
| CN204290951U (en) | A kind of user profile transmitting device | |
| CN204287805U (en) | Locomotive general signal code sender | |
| CN209778334U (en) | Water purifier with wireless display module | |
| CN209869844U (en) | Intelligent blackboard of easy dismouting of multi-functional case | |
| RU67788U1 (en) | DRILL REMOTE INDICATOR | |
| CN209962608U (en) | User-defined resolution ratio LED display screen control device | |
| CN205050379U (en) | Digital teaching all -in -one machine | |
| CN2309030Y (en) | Distributed control system chassis | |
| CN201429948Y (en) | Washroom indicating device | |
| CN207353783U (en) | A kind of console with Wiring structure | |
| CN113192425A (en) | Double-screen double-shaft plane coordinate positioning interaction system | |
| CN206342916U (en) | Remote control model car electronic building brick and vehicle frame | |
| CN203940920U (en) | The split type rack of a kind of long-distance metering for truck scale | |
| CN201323165Y (en) | Relay box | |
| CN216563709U (en) | Integrated control device applied to temporary aquaculture equipment | |
| CN204167832U (en) | A kind of terminal box for offshore earthquake towing cable collection system and acquisition system | |
| CN105070121B (en) | Numeral teaching all-in-one | |
| CN204210723U (en) | Lateral thruster | |
| CN210444438U (en) | Electronic distribution frame | |
| CN211401224U (en) | Touch type marine multifunctional navigation information display and control terminal |
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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180501 |
|
| WW01 | Invention patent application withdrawn after publication |