Device and method for detecting length and motion directions of hitched ropes of underwater robots

Abstract

The invention relates to a device and a method for detecting length and motion directions of hitched ropes of underwater robots. The device is arranged in a repeater of an underwater robot and has a driven gear, two permanent magnets and two magnetic switches, wherein the driven gear is driven by a driven gearwheel in a hitched-rope retracting / releasing mechanism; the permanent magnets are inlaidon the concentric circumference of the driven gear respectively; the magnetic switches are connected with an underwater computer of the underwater robot and are arranged above the concentric circumference of the driven gear in a non-contact way through a bracket respectively; the rising edges of pulses produced when the two magnetic switches pass the permanent magnets have phase difference; and two pulses have time segments simultaneously high in level. The method comprises the following steps: the underwater computer performs analytical judgment according to the states of the two acquired pulses so as to obtain different change states from positive rotation to reverse rotation and from reverse rotation to positive rotation; and the actual motion direction of a hitched rope is judged so as to obtain an accumulation result of the length pulse of the hitched rope and then obtain the length of the hitched rope. The device has the advantages of simple structure, good inheritance, reliableorientation, accurate calculation and capability of adapting to all-ocean-depth detection.

Description

technical field [0001] The invention relates to an underwater robot, in particular to a device and method for detecting the tether length and motion direction of the underwater robot by using a magnetic switch, a permanent magnet and a computer. Background technique [0002] The underwater part of the remote-controlled underwater robot is generally composed of a repeater and a submersible. The repeater is used to release the submersible to a certain operating depth underwater. During the release operation, the winch on the repeater is controlled to rotate, and the winch on the winch Only when the mooring cable is released, the submersible can operate in the area with the length of the mooring cable as the radius. Since all the equipment on the repeater and the submersible are underwater, the detection of the length and direction of the mooring cable on the repeater winch becomes a problem that needs to be solved. Conventional land-based sensors for detecting length and dire...

AI Technical Summary

Problems solved by technology

Use this principle to collect the length pulse of the mooring cable, so as to calculate the length of the mooring cable, but this method has certain defects, that is, the direction of motion of the mooring cable cannot be detected, and the length of the mooring cable cannot be counted. , decrement, can only be coordinated by the command of retracting and releasing the cable, that is, the count is subtracted when the cable is retracted, and the count is added when the cable is released. There will be such a situation, that is, in the process of pulling in the cable, in order to protect the cable, when the tension of the cable is greater than a certain set value, even if the cable is retracted, the actual direction of movement of the cable is to release direction, which leads to the failure of the original counting method, and the length of the mooring cable displayed on the water surface is distorted, causing misjudgment to the operator, which is very dangerous

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