A position limiting detection device for underwater buoy winch
By designing a buoy guide barrel, underwater switch components, and detection and control components into the underwater buoy deployment and retrieval winch, the problems of inaccurate and unreliable detection in deep underwater environments of existing devices have been solved. Corrosion-resistant and water pressure-resistant limit detection has been achieved, ensuring the reliability and accuracy of buoy deployment and retrieval.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- YICHANG TESTING TECHNIQUE RESEARCH INSTITUTE
- Filing Date
- 2022-11-24
- Publication Date
- 2026-06-09
AI Technical Summary
Existing limit detection devices lack corrosion resistance and water pressure resistance in deep underwater environments, resulting in inaccurate and unreliable detection, which cannot meet the reliability requirements of underwater buoy launch and recovery winches.
A limit detection device for underwater buoy launching and retrieving winches was designed, including a buoy guide barrel, an underwater switch assembly, and a detection and control assembly. The device utilizes a drive rod to trigger the buoy surface, and achieves limit detection through a detection module and a reset spring. Combined with a pressure-resistant shell and a sealing structure, the device's reliability and pressure resistance are ensured.
It achieves reliable and accurate limit detection in deep underwater environments. It has a simple structure, real-time response, and can reliably determine whether the buoy has entered the guide bucket, ensuring the safety and accuracy of buoy deployment and retrieval.
Smart Images
Figure CN116835472B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of limit detection technology, and more specifically, to a limit detection device for an underwater buoy launch and recovery winch. Background Technology
[0002] An autonomous underwater vehicle (AUV) is a complex, intelligent electromechanical system capable of autonomously performing tasks such as underwater search, surveillance, reconnaissance, mine hunting, operational oceanography, communication, navigation, and anti-submarine warfare in complex marine environments. For AUVs undertaking long-duration, long-range underwater navigation, buoys must be deployed periodically for active inertial navigation system (INS) calibration. This reduces accumulated INS errors and ensures sufficient navigation accuracy. After INS calibration, the buoy should be retrieved by a buoy retraction winch, requiring a reliable, accurate, and real-time limit detection device. However, commercially available limit detection devices generally lack corrosion resistance, water pressure resistance, and simple structure, making many unsuitable for use in deep-sea environments. Summary of the Invention
[0003] The purpose of this invention is to address the technical problems existing in the prior art by providing a limit detection device for underwater buoy launching and retrieving winches, which features high reliability, simple structure, corrosion resistance, water pressure resistance, accurate detection, and real-time response.
[0004] To address the problems mentioned above, the technical solution adopted by this invention is as follows:
[0005] This invention provides a limit detection device for an underwater buoy deployment and retrieval winch, comprising a buoy guide barrel, an underwater switch assembly, and a detection and control assembly. The buoy guide barrel is used to place the buoy and is equipped with an underwater switch assembly corresponding to the surface of the buoy. The detection and control assembly is connected to the underwater switch assembly and performs limit detection to control the underwater buoy deployment and retrieval winch to deploy and retrieve the buoy.
[0006] The underwater switch assembly includes a reset spring, a drive rod, a pressure-resistant housing, and a detection module. The pressure-resistant housing has end caps at both ends and a drive rod inside. The two ends of the drive rod pass through the corresponding end caps, with one end corresponding to the surface of the buoy and able to be pressed by the buoy. The pressure-resistant housing contains a reset spring and a detection module along the axial direction of the drive rod.
[0007] Furthermore, the surface of the drive rod is provided with an upper protrusion and a lower protrusion along the axial direction, and the inner wall of the pressure-resistant housing is formed with a mounting boss along the circumferential direction. The surfaces of the mounting boss and the lower protrusion are correspondingly positioned. The reset spring is located between the mounting boss and the upper protrusion and is in contact with it. The detection module is located between the lower protrusion and the corresponding end cap, and the spring is connected to the lower protrusion.
[0008] Furthermore, a cable sealing interface communicating with the inner cavity is provided on the side of the pressure-resistant housing, a watertight cable is provided in the cable sealing interface, and a cable seal is provided between the watertight cable and the pressure-resistant housing; the watertight cable is connected to the detection module and connected to the detection control component through an overhead watertight connector.
[0009] Furthermore, the detection module includes a substrate, a first limit switch S1 and a second limit switch S2 spaced apart on the substrate, pins 1 and 3 of the substrate and pins 2 of the first limit switch S1 and the second limit switch S2 are connected and connected to +5V1 via a watertight cable; pins 2 and 4 of the substrate and pins 1 of the first limit switch S1 and the second limit switch S2 are connected and connected to +5V1GND via a watertight cable; the first limit switch S1 and the second limit switch S2 are connected to the lower protrusion.
[0010] Furthermore, the substrate is cylindrical with a through hole in the middle for the drive rod to pass through; the end face of the substrate is cut off axially at 1 / 4 of its diameter to form two opposing sides.
[0011] Furthermore, a support base for installing the underwater switch assembly is provided inside the buoy guide barrel. The support base has a V-shaped structure, with its bottom end opposite to the axis of the buoy guide barrel, and its two ends connected to the inner wall of the buoy guide barrel.
[0012] Furthermore, the two ends of the drive rod have the same diameter and are dynamically sealed with the end caps of the pressure-resistant housing.
[0013] Furthermore, the detection and control component includes current-limiting resistors R9 and R10, voltage-dividing resistor R11, filter capacitor C13, switching transistor T4, and microcontroller processor.
[0014] Pin 2 of the detection module is connected to a +5V power supply. A series resistor R9 is connected to the base of transistor T4. A current-limiting resistor R10 is connected to the collector of transistor T4, which is then connected to the +5V power supply. The emitter of transistor T4 is grounded to PGND1. One end of the filter capacitor C13 is connected to the base of transistor T4, and the other end is grounded. One end of the voltage divider resistor R11 is connected to the base of transistor T4, and the other end is grounded. The digital I / O port of the microcontroller processor is connected to the collector of transistor T4.
[0015] Furthermore, the specific process of the limit detection performed by the detection and control component includes the following:
[0016] Step S1: Initialize the microcontroller's digital I / O ports and set them to read mode;
[0017] Step S2: Read the status of the microcontroller's digital I / O ports and obtain the level signals;
[0018] Step S3: Based on the level signal, determine whether it is equal to 0. If it is equal to 0, proceed to step S4; otherwise, continue receiving the float and proceed to step S5.
[0019] Step S4: After a set delay time, read the digital I / O port status again and return to step S3;
[0020] Step S5: Determine again whether the level signal is equal to 0. If it is equal to 0, proceed to step S6; otherwise, continue to receive the float until the preset float receiving time is reached, then proceed to step S6.
[0021] Step S6: Stop receiving the buoy and transmit the current limit detection module information to the central control center in real time.
[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0023] 1) This invention sets up an underwater switch assembly inside the buoy guide barrel and connects it to a detection and control assembly. When the buoy enters the buoy guide barrel, the underwater switch assembly is triggered. The detection and control assembly performs limit detection, thereby controlling the underwater buoy launching and retrieving winch to launch and retrieve the buoy. The overall structure is simple, the function is reliable, and it is easy to implement.
[0024] 2) The underwater switch assembly of the present invention corresponds to the surface of the buoy via a drive rod and engages in a triggering action. Specifically, the surface of the drive rod is provided with an upper protrusion and a lower protrusion, and the inner wall of the pressure-resistant housing forms a mounting boss. A reset spring is provided between the mounting boss and the upper protrusion, and the spring is connected to the lower protrusion. After triggering, the signal is transmitted to the detection and control assembly through the detection module, which facilitates limit detection and also makes it easy to stop retrieving the buoy after it is guided into the buoy guide barrel and in place, thus ensuring the overall reliability of the mechanism.
[0025] 3) The detection module of the present invention sets a first limit switch S1 and a second limit switch S2 on the substrate and connects them to the lower protrusion, so that the lower protrusion can press the detection module and reliably collect the level signal, thereby ensuring the reliability of the detection control component.
[0026] 4) The detection control component of the present invention uses a filter capacitor, which can suppress transient interference caused by harsh electromagnetic environment and increase the reliability of detection circuit. In addition, based on the detected level signal, it can reliably determine whether the spring of the detection module is pressed by the float, thereby determining whether the float is guided into the float guide barrel 10. The method is simple and reliable, and also improves the efficiency and accuracy of the detection mechanism.
[0027] 5) The present invention is equipped with dynamic seal and static seal, thereby fully ensuring the sealing performance of the pressure-resistant shell, which can be used in deep water and high-pressure environments. Attached Figure Description
[0028] To more clearly illustrate the solutions in this invention, a brief introduction to the accompanying drawings used in the description of the embodiments will be provided below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort. Wherein:
[0029] Figure 1 This is a schematic diagram of the limit detection mechanism for the underwater buoy launching and recovering winch of the present invention.
[0030] Figure 2 This is a structural diagram of the underwater switch assembly in this invention.
[0031] Figure 3 This is a schematic diagram of the detection module in this invention.
[0032] Figure 4 This is a schematic diagram of the detection and control component in this invention.
[0033] Figure 5 This is a schematic diagram illustrating the working principle of the detection and control component in this invention.
[0034] Figure 6 This is an embodiment diagram of the detection and control component in this invention.
[0035] The reference numerals in the attached drawings are explained as follows: 100-buoy, 1-reset spring, 2-drive rod, 3-pressure resistant housing, 4-detection module, 5-cable seal, 6-watertight cable, 8-rear end cover, 10-buoy guide barrel, 20-underwater switch assembly, 30-detection and control assembly, 40-support base, 50-microcontroller processor, 60-aerial docking watertight connector. Detailed Implementation
[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as “length,” “width,” “upper,” “lower,” “left,” “right,” “front,” “rear,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer” indicate orientations or positions based on the orientations or positions shown in the accompanying drawings and are for ease of description only, and should not be construed as limiting the technical solution.
[0037] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion; the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a particular order. In the specification, claims, and accompanying drawings of this invention, when an element is referred to as "fixed to," "mounted to," "disposed of," or "connected to" another element, it may be directly or indirectly located on that other element. For example, when an element is referred to as "connected to" another element, it may be directly or indirectly connected to that other element.
[0038] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0039] See Figure 1 As shown, the present invention provides a limit detection device for an underwater buoy launch and recovery winch, including a buoy guide barrel 10, an underwater switch assembly 20, and a detection and control assembly 30; peripheral equipment includes a central control center and a buoy 100.
[0040] The buoy guide barrel 10 is used to hold the buoy 100 and is equipped with an underwater switch assembly 20 corresponding to the surface of the buoy 100. The detection and control assembly 30 is connected to the underwater switch assembly 20 and performs limit detection to control the underwater buoy launch and recovery winch on the buoy 100.
[0041] like Figure 2As shown, the underwater switch assembly 20 includes a return spring 1, a drive rod 2, a pressure-resistant housing 3, and a detection module 4. End caps are respectively provided at both ends of the pressure-resistant housing 3, and the drive rod 2 is disposed within its inner cavity. The two ends of the drive rod 2 pass through the corresponding end caps, with one end corresponding to the surface of the buoy 100 and capable of being pressed by the buoy 100. The return spring 1 and the detection module 4 are respectively disposed inside the pressure-resistant housing 1 and along the axial direction of the drive rod 2.
[0042] Specifically, the pressure-resistant housing 3 is provided with a front cover 7 and a rear cover 8. The front cover 7 has a receiving hole, and the rear cover 8 has a guide hole corresponding to the receiving hole. The end of the guide hole communicates with the outside. The receiving hole and the guide hole are coaxial and have the same diameter, and respectively cooperate with the front and rear ends of the drive rod 2. Since the front and rear ends of the drive rod 2 have the same diameter, the pressure on the drive rod 2 is automatically balanced, and it can remain static, unaffected by the water medium or water depth.
[0043] In this embodiment, the buoy guide barrel 10 is a cylindrical body, which facilitates the smooth guidance of the buoy 100 released by the underwater buoy launch and recovery winch into the limit detection mechanism, and enables the buoy 100 to reliably press against the two underwater switch assemblies 20. Once it is detected that the buoy 100 has been guided into the buoy guide barrel 10 and that the buoy 100 has reached its position and pressed against the underwater switch assembly 20, the underwater buoy launch and recovery winch will stop retrieving the buoy in a timely manner, thereby ensuring the safety of the buoy and its cable.
[0044] Furthermore, the surface of the drive rod 2 is provided with an upper protrusion 21 and a lower protrusion 22 along the axial direction, and the inner wall of the pressure-resistant housing 3 is formed with a mounting boss 31 along the circumferential direction. The surfaces of the mounting boss 31 and the lower protrusion 22 are correspondingly positioned. The reset spring 1 is located between the mounting boss 31 and the upper protrusion 21 and is in contact with it. The detection module 4 is located between the lower protrusion 22 and the corresponding end cover, i.e., the rear end cover 8. The spring of the detection module 4 is connected to the lower protrusion 22, that is, the detection point of the detection module 4 corresponds to the position of the lower protrusion 22 of the drive rod 2, and is connected to the detection control component 30.
[0045] Specifically, the lower protrusion 22 contacts the spring of the detection module 4, facilitating the pressing of the spring by the lower protrusion 22, thereby enabling real-time detection of the limit state. The upper protrusion 21 contacts the return spring 1, and the travel of the drive rod 2 corresponds to the travel of the detection module 4, preventing the drive rod 2 from rapidly squeezing and damaging the detection module 4. Simultaneously, when the float 100 leaves the drive rod 2, the drive rod 2 can promptly reset, without affecting the next detection. Two return springs 1 and two detection modules 4 are used, located on opposite sides of the axis of the drive rod 2.
[0046] Furthermore, the drive rod 2 is connected to the end caps of the pressure-resistant housing 3, namely the front end cap 7 and the rear end cap 8, through a dynamic seal to ensure that water does not enter the pressure-resistant housing 3.
[0047] Furthermore, a cable sealing interface communicating with the inner cavity is provided on the side of the pressure-resistant housing 3. A watertight cable 6 is installed inside the cable sealing interface, and a cable seal 5 is provided between the watertight cable 6 and the pressure-resistant housing 3 for static sealing. The watertight cable 6 is connected to the detection module 4 and is connected to the detection control component 30 through an overhead watertight connector 60.
[0048] Specifically, two underwater switch assemblies 20 are installed inside the pressure-resistant housing 3. The two are connected by a watertight cable 6, which is connected to the pressure-resistant housing 3 of the underwater switch assembly 20 through a cable clamping seal. The core wire of the watertight cable 6 is connected to the detection module 4. One set of underwater switch assemblies 20 is connected to the detection and control assembly 30 through an overhead watertight connector 60. The connection is convenient and reliable, and also ensures the reliability of the entire detection mechanism.
[0049] Furthermore, such as Figure 3 As shown, the detection module 4 includes a substrate, a first limit switch S1 and a second limit switch S2 spaced apart on the substrate. Pins 1 and 3 of the substrate, and pins 2 of the first limit switch S1 and the second limit switch S2 are all connected and connected to +5V1 via a watertight cable 6. Pins 2 (COM2) and 4 (COM2) of the substrate, and pins 1 of the first limit switch S1 and the second limit switch S2 are all connected and connected to +5V1GND via a watertight cable 6. The first limit switch S1 or the second limit switch S2 is connected to the lower protrusion 22 and can be pressed or released by the lower protrusion 22 for signal detection.
[0050] Specifically, the detection module 4 uses two microswitches, namely the first limit switch S1 and the second limit switch S2, which are soldered to the printed circuit board (substrate) at a certain distance, thereby increasing the reliability of the detection.
[0051] Furthermore, the substrate is cylindrical, with a through hole in the middle for the drive rod 2 to pass through; that is, the diameter of the through hole is slightly larger than the diameter of the drive rod 2. The end face of the substrate is cut off axially at 1 / 4 of its diameter to form two opposing side faces, facilitating the installation of the detection module 4 and the arrangement of the connecting core wires between the watertight cable 7 and the detection module 4.
[0052] Furthermore, a support base 40 for installing the underwater switch assembly 20 is provided inside the buoy guide barrel 10. The support base 40 adopts a V-shaped structure, and the bottom end of the support base 40 is opposite to the axis of the buoy guide barrel 10. The two ends are connected to the inner wall of the buoy guide barrel 10.
[0053] Specifically, the buoy guide barrel 10 is located directly above the cable reel of the underwater buoy launch and recovery winch. It contains two support seats 40 for easy installation of two sets of underwater switch assemblies 20. A gap between them facilitates connection between the buoy cable and the underwater buoy launch and recovery winch. The structure is simple, easy to install, and compact. The two sets of underwater switch assemblies 20 are connected by watertight cables. One set of underwater switch assemblies 20 is equipped with a watertight cable 6 and connected to the detection and control assembly 30 via an overhead watertight connector 60. The detection and control assembly 30 is connected to the digital I / O port of the microcontroller processor 50, which is connected to an external central control center via a CAN bus. Two cable sealing devices are provided on the two opposite sides of the other underwater switch assembly 20.
[0054] Furthermore, the buoy guide barrel 10 and the support base 40 are made of fiberglass, and the pressure-resistant shell 3 is made of stainless steel, which has the characteristics of corrosion resistance and water pressure resistance.
[0055] like Figure 4 As shown, the detection and control component 30 includes current-limiting resistors R9 and R10, voltage-dividing resistor R11, filter capacitor C13, switching transistor T4, and microcontroller processor 50.
[0056] Pin 2 of the detection module 4 is connected to a +5V power supply. Pin 1 is connected to the base of transistor T4 via a series resistor R9. The collector of transistor T4 is connected to the +5V power supply via a series current-limiting resistor R10. The emitter of transistor T4 is grounded to PGND1. One end of the filter capacitor C13 is connected to the base of transistor T4, and the other end is grounded. One end of the voltage divider resistor R11 is connected to the base of transistor T4, and the other end is grounded. The digital I / O port of the microcontroller processor 50 is connected to the collector of transistor T4.
[0057] Specifically, the current-limiting resistors R9 and R10 reduce the current in the circuit during angle detection, preventing the detection control component 30 from burning out the transistor T4 due to excessive current, thus increasing the reliability of the detection control component 30; the filter capacitor C13 can suppress transient interference caused by harsh electromagnetic environment, increasing the reliability of the detection control component 30; the switching transistor T4 increases the real-time performance and sensitivity of angle detection.
[0058] In this embodiment, after the buoy 100 is drawn into the buoy guide barrel 10, if the drive rod 2 of the underwater switch assembly 20 is pressed by the buoy 100, the two normally open pins on the detection module 4 will be connected, that is, pins 1 and 2 of the first limit switch S1 or pins 1 and 2 of the second limit switch S2 will be connected. This indicates that current is flowing through the current-limiting resistor R9 and the voltage-dividing resistor R11, that is, there is a positive bias voltage between the base and emitter of the transistor T4, thus making it conductive. At this time, the digital I / O (DI / O) of the microcontroller processor 50 detects a low level of 0V. When the microcontroller processor 50 reads the I / O port signal, it obtains a low level of 0V. At this time, the microcontroller processor 50 promptly stops drawing in the buoy 100 to ensure the safety of the buoy and its cable.
[0059] If the float 100 disengages from the drive rod 2, the lower protrusion 22 of the drive rod 2 will leave the spring of the detection module 4, i.e., the first limit switch S1 or the second limit switch S2, under the restoring force of the reset spring 1. Then the two normally open pins of the detection module 4 will be disconnected, and no current will flow through the current limiting resistor R9 and the voltage dividing resistor R11. As a result, no positive bias voltage will be applied between the base and emitter of the transistor T4. The transistor T4 will be cut off because it will not receive a positive bias voltage. At this time, the digital I / O (DI / O) of the microcontroller processor 50 will detect a high level of +5V. When the microcontroller processor 50 reads the signal of the I / O port, it will get a high level of +5V.
[0060] Furthermore, such as Figure 5 As shown, the specific process of the limit detection performed by the detection control component 30 includes the following:
[0061] Step S1: Initialize the digital I / O port (DI / O) of the microcontroller processor 50 and set it to read mode;
[0062] Step S2: Read the status of the digital I / O ports of the microcontroller processor 50 and obtain the level signals of the digital I / O ports;
[0063] Step S3: Based on the level signal, determine whether the level signal is equal to 0. If it is equal to 0, proceed to step S4; otherwise, continue receiving the float and proceed to step S5.
[0064] Step S4: Read the digital I / O port status again after a set delay time, wherein the set time is preferably 40ms to 60ms;
[0065] Specifically, the set time is preferably 40ms to 60ms, that is, anti-shake processing is adopted to prevent erroneous detection results caused by factors such as harsh electromagnetic environment, so that the detection results are highly reliable and have strong anti-interference ability.
[0066] Step S5: Determine again whether the level signal is equal to 0. If it is equal to 0, proceed to step S6; otherwise, continue to collect the float until the preset float collection time is reached, then proceed to step S6. The float collection time can be set according to actual needs, preferably 70ms to 90ms.
[0067] Step S6: Stop receiving the buoy and transmit the relevant information of the current limit detection module 3 to the central control center in real time via the CAN bus.
[0068] In the above process, the program delays for 200ms and then reads the digital I / O port level, repeating this process to complete the real-time detection of the current state of the limit detection device.
[0069] Figure 6 The diagram shown illustrates an example of the limit detection performed by the detection control component 30, specifically including:
[0070] (1) Initialize the digital I / O port (DI / O) of the microcontroller processor 50 and set it to read mode; the microcontroller processor 50 is a dsPIC processor;
[0071] (2) Read the status of the digital I / O port of the microcontroller processor 50 and obtain the level signal of the digital I / O port;
[0072] (3) Based on the level signal, determine whether IF7 or IF8 is equal to 0. If it is equal to 0, proceed to step (4); otherwise, continue to receive the float and proceed to step (5); where IF7 and IF8 are level signals detected by the dsPIC processor IO port.
[0073] (4) Read the digital I / O port status again after a 50ms delay;
[0074] (5) Check again whether IF7 or IF8 is equal to 0. If it is equal to 0, proceed to step (7); otherwise, continue to receive the float and proceed to step (6).
[0075] (6) Determine whether the buoy collection time has reached 80ms. If it has, proceed to step (7); otherwise, return to step (5).
[0076] (7) Stop collecting the buoy and transmit the relevant information of the current limit detection module 3 to the central control center in real time via the CAN bus.
[0077] Specifically, if the I / O port level information is consistent with the previous one, and if at least one of IF7 and IF8 is low (0V), then the float collection stops; otherwise, the float collection continues until at least one of IF7 and IF8 is low (0V) or the float collection time has elapsed. During the above detection process, based on the detected level signal, it is possible to reliably determine whether the reed of the detection module 4, i.e., the first limit switch S1 or the second limit switch S2, is pressed by the float 100, thereby determining whether the float 100 has been guided into the float guide barrel 10. This method is simple, reliable, and improves the efficiency and accuracy of the detection mechanism.
[0078] The underwater buoy launch and recovery winch limit detection device provided by this invention overcomes the influence of water medium and environmental pressure, and can be used in deep underwater and high-pressure environments. It has the characteristics of high reliability, accurate detection, corrosion resistance, water pressure resistance, simple structure and real-time response.
[0079] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.
Claims
1. A limit detection device for an underwater buoy launch and recovery winch, characterized in that: The device includes a buoy guide barrel, an underwater switch assembly, and a detection and control assembly. The buoy guide barrel is used to hold the buoy and is equipped with an underwater switch assembly corresponding to the surface of the buoy. The detection and control assembly is connected to the underwater switch assembly and performs limit detection to control the underwater buoy deployment and retrieval winch to deploy and retrieve the buoy. The underwater switch assembly includes a reset spring, a drive rod, a pressure-resistant housing, and a detection module. The pressure-resistant housing has end caps at both ends and a drive rod inside. The two ends of the drive rod pass through the corresponding end caps, with one end corresponding to the surface of the buoy and able to be pressed by the buoy. The pressure-resistant housing contains a reset spring and a detection module along the axial direction of the drive rod. The pressure-resistant housing has a cable sealing interface on its side that communicates with the inner cavity. A watertight cable is installed inside the cable sealing interface, and a cable seal is installed between the watertight cable and the pressure-resistant housing. The watertight cable connects to the detection module and is connected to the detection control component via an overhead watertight connector.
2. The limit detection device for underwater buoy launching and recovering winches according to claim 1, characterized in that: The surface of the drive rod is provided with an upper protrusion and a lower protrusion along the axial direction, and the inner wall of the pressure-resistant housing is formed with a mounting boss along the circumferential direction. The surfaces of the mounting boss and the lower protrusion are correspondingly positioned. The reset spring is located between the mounting boss and the upper protrusion and is in contact with it. The detection module is located between the lower protrusion and the corresponding end cap, and the spring is connected to the lower protrusion.
3. The limit detection device for underwater buoy launching and recovering winches according to claim 2, characterized in that: The detection module includes a substrate, a first limit switch S1 and a second limit switch S2 spaced apart on the substrate. Pins 1 and 3 of the substrate and pins 2 of the first limit switch S1 and the second limit switch S2 are connected and connected to +5V1 via a watertight cable. Pins 2 and 4 of the substrate and pins 1 of the first limit switch S1 and the second limit switch S2 are connected and connected to +5V1GND via a watertight cable. The first limit switch S1 and the second limit switch S2 are connected to the lower protrusion.
4. The limit detection device for underwater buoy launching and recovering winches according to claim 3, characterized in that: The substrate is cylindrical with a through hole in the middle for the drive rod to pass through; the end face of the substrate is cut off axially at 1 / 4 of its diameter to form two opposing sides.
5. The limit detection device for underwater buoy launching and recovering winches according to claim 1, characterized in that: The buoy guide barrel is equipped with a support base for installing the underwater switch assembly. The support base has a V-shaped structure, with its bottom end opposite to the axis of the buoy guide barrel, and its two ends connected to the inner wall of the buoy guide barrel.
6. The limit detection device for underwater buoy launching and recovering winches according to claim 1, characterized in that: The two ends of the drive rod have the same diameter and are dynamically sealed to the end caps of the pressure-resistant housing.
7. The limit detection device for underwater buoy launching and recovering winches according to any one of claims 1 to 6, characterized in that: The detection and control components include current-limiting resistors R9 and R10, voltage-dividing resistor R11, filter capacitor C13, switching transistor T4, and microcontroller processor. Pin 2 of the detection module is connected to a +5V power supply. A series resistor R9 is connected to the base of transistor T4. A current-limiting resistor R10 is connected to the collector of transistor T4, which is then connected to the +5V power supply. The emitter of transistor T4 is grounded to PGND1. One end of the filter capacitor C13 is connected to the base of transistor T4, and the other end is grounded. One end of the voltage divider resistor R11 is connected to the base of transistor T4, and the other end is grounded. The digital I / O port of the microcontroller processor is connected to the collector of transistor T4.
8. The limit detection device for underwater buoy launching and recovering winches according to claim 7, characterized in that: The specific process of the limit detection performed by the detection and control component includes the following: Step S1: Initialize the microcontroller's digital I / O ports and set them to read mode; Step S2: Read the status of the microcontroller's digital I / O ports and obtain the level signals; Step S3: Based on the level signal, determine whether it is equal to 0. If it is equal to 0, proceed to step S4; otherwise, continue receiving the float and proceed to step S5. Step S4: After a set delay time, read the digital I / O port status again and return to step S3; Step S5: Determine again whether the level signal is equal to 0. If it is equal to 0, proceed to step S6; otherwise, continue to collect floats until the preset float collection time is reached, then proceed to step S6. Step S6: Stop receiving the buoy and transmit the current limit detection module information to the central control center in real time.