Cable state monitoring sensor

Abstract

The invention provides a cable state monitoring sensor which comprises tactile sensors, a signal processing unit and a bowl-shaped support, the tactile sensors are distributed in the bowl-shaped support in a circumferential array mode, the tactile sensors can make good contact with a cable under the condition that multi-angle stretching of the cable is not affected, and the cable state is monitored. When the position of the cable is changed, the tactile sensor converts a pressure signal given to the tactile sensor by the cable into an electric signal and sends the electric signal to the signal processing unit; the signal processing unit receives the electric signal and judges whether the cable pressure value, the cable stress direction and the cable pressure exceed a load threshold value or not according to the electric signal. The device can be used for monitoring the tensile state of the mooring rope between the unmanned surface vehicle and the underwater vehicle in real time, and the mooring rope is prevented from being damaged due to too large tensile force. The cable state monitoring sensor disclosed by the invention has the advantages of simple structure, no need of independent power supply, accurate detection and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of cooperation between unmanned surface boats and underwater vehicles, and in particular to a cable state monitoring sensor. Background Art

[0002] In the collaborative operation of the surface unmanned boat and the underwater vehicle, the cable connects the surface unmanned boat and the underwater vehicle to protect the underwater vehicle from being washed away by the undercurrent, ensuring the continuity and safety of the operation. Secondly, the cable transmits various data collected by the underwater vehicle to the surface unmanned boat through the built-in cable, providing valuable data support for underwater research. In addition, the cable also has the function of charging the underwater vehicle.

[0003] However, during the collaborative operation of surface unmanned boats and underwater vehicles, the ability of cables to bear loads also faces challenges. Complex underwater environments or unreasonable movement of unmanned boats and underwater vehicles may cause the cables to be subjected to large tension. This will then cause the interfaces at both ends of the cable to loosen and become damaged, affecting the watertightness and signal transmission stability of the underwater vehicle. It may even cause the cable to break, leading to the loss and loss of control of the underwater vehicle. Therefore, it is necessary to invent a device that can detect the tension state of the cable in real time, and the device can promptly remind the operator to adjust the movement posture of the underwater vehicle and the unmanned boat. Summary of the invention

[0004] According to the above, there is no technical problem of monitoring the tension state of the cable at present, and a cable state monitoring sensor is provided. The present invention mainly uses the cable state monitoring sensor to achieve the effect of real-time monitoring of the tension state of the cable.

[0005] The technical means adopted by the present invention are as follows:

[0006] A cable condition monitoring sensor comprises a tactile sensor and a signal processing unit;

[0007] The tactile sensors are distributed in an array around the inner circumference of the funnel-shaped bracket. When the position of the cable changes, the tactile sensors convert the pressure signals given to the tactile sensors by the cables into electrical signals, and send the electrical signals to the signal processing unit.

[0008] The signal processing unit receives the electrical signal and determines the cable pressure value, the cable force direction, and whether the cable pressure exceeds a load threshold value according to the electrical signal.

[0009] Furthermore, the tactile sensor is arranged in a funnel-shaped bracket, and the funnel-shaped bracket is fixed on the outer wall of the unmanned boat. The funnel-shaped bracket is a funnel-shaped structure, and a plurality of sensor mounting grooves are arranged on the funnel-shaped inner wall of the funnel-shaped bracket. A plurality of tactile sensors are installed in the sensor mounting grooves. A circular hole connected to the funnel-shaped inner wall is opened at the lower part of the funnel-shaped bracket, and the cable passes through the circular hole.

[0010] Furthermore, an isolation strip is provided between the sensor installation slot and adjacent sensor installation slots.

[0011] Furthermore, a through threaded hole is provided on the upper end surface of the leaky bowl-shaped bracket, and the leaky bowl-shaped bracket is fixed to the outer wall of the unmanned boat through the threaded hole and screws.

[0012] Furthermore, the tactile sensor includes a sensor housing, in which a first electrode material, a dielectric material, and a second electrode material are arranged in sequence from top to bottom. The first electrode material and the second electrode material are connected to one end of a signal output line, and the other end of the signal output line is connected to a signal processing unit.

[0013] Furthermore, after receiving the electrical signal, the signal processing unit obtains the cable pressure value by judging the size of the electrical signal. Since the tactile sensors are distributed at different positions, when the cable squeezes one of the tactile sensors, a corresponding electrical signal will be generated. The signal processing unit further determines the direction of the force on the cable based on the tactile sensor that generates the electrical signal. The signal processing unit compares the cable pressure value with the load threshold to determine whether the cable pressure exceeds the load threshold. The signal processing unit sends the cable pressure value, the direction of the cable force, and whether the cable pressure exceeds the load threshold to the display for display.

[0014] Furthermore, the material of the leaky bowl-shaped bracket is one of acrylic, polylactic acid plastic and nylon.

[0015] Furthermore, the dielectric material is one of polytetrafluoroethylene, polyperfluoroethylene propylene, and polydimethylsiloxane, the electrode material is one of copper, aluminum, gold, and silver, and the thickness of the dielectric material and the electrode material ranges from 0.05 to 0.20 mm.

[0016] Furthermore, the number of the tactile sensors is 4.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] The present invention has a small structure of a leaky bowl-shaped bracket, which is easy to install. The tactile sensor uses the emerging friction nanogenerator technology to convert the pressure given by the cable into an electrical signal. By comparing the electrical signals generated by the tactile sensors in the four circumferential arrays, the magnitude and direction of the tension on the cable can be determined in real time. These electrical signals are converted into corresponding prompt information to remind the operator to make timely adjustments to avoid damage to the cable due to high pressure.

[0019] Compared with traditional sensors, the cable status detection sensor of the present invention uses the emerging friction nanogenerator technology. And when the unmanned boat is working at sea, the sensor can effectively deal with the problem of data anomalies caused by the shadow of waves.

[0020] Based on the above reasons, the present invention can be widely promoted in the field of cooperation between surface unmanned boats and underwater vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 It is a stereoscopic diagram of the cable status monitoring sensor of the present invention.

[0023] Figure 2 This is a top view of the cable status monitoring sensor of the present invention.

[0024] Figure 3 This is a cross-sectional view of the cable status monitoring sensor of the present invention.

[0025] Figure 4 It is a cross-sectional view of the tactile sensor of the present invention.

[0026] Figure 5 It is a working schematic diagram of the signal processing unit of the present invention.

[0027] Figure 6 It is a schematic diagram of the towing of the underwater vehicle of the present invention.

[0028] In the figure: 1. tactile sensor; 2. signal processing unit; 3. cable; 4. funnel-shaped bracket; 5. sensor mounting slot; 6. circular hole; 7. isolation strip; 8. threaded hole; 9. first electrode material; 10. dielectric material; 11. second electrode material; 12. signal output line; 13. display; 14. sensor housing. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0032] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, the numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0033] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0034] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0035] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0036] like Figure 1-3 As shown, the present invention provides a cable status monitoring sensor, including a leaky bowl-shaped bracket 4, a tactile sensor 1 and a signal processing unit. The upper end face and the lower end face of the leaky bowl-shaped bracket 4 are each provided with 8 threaded holes 8 for connecting with the surface unmanned boat frame. The inside of the leaky bowl-shaped bracket 4 is a conical structure. The inner wall of the leaky bowl-shaped bracket 4 is provided with four sensor installation grooves 5 sunken 3mm around. The sensor installation grooves 5 provide installation positions for the tactile sensor 1. Isolation strips 7 are provided between the four sensor installation grooves 5 to isolate adjacent tactile sensors 1. Figure 4As shown, the tactile sensor 1 includes a dielectric material 10, a first electrode material 9, a second electrode material 11, a signal output line 12 and a tactile sensor housing 14, wherein the dielectric material 10 is located at the center of the tactile sensor 1, the first electrode material 9 and the second electrode material 11 are respectively installed on the upper end surface and the lower end surface of the dielectric material 10, the first electrode material 9 and the second electrode material 11 are provided with a signal output line 12, the signal output line 12 passes through the tactile sensor housing 14, and is respectively connected to four measurement pins of the signal processing unit 2, and the tactile sensor housing 14 wraps the dielectric material 10, the first electrode material 9, the second electrode material 11 and the signal output line 12.

[0037] The signal processing unit can modulate the signals collected by the tactile sensor 1 and convert the signal information into visual information.

[0038] The four tactile sensors 1 are triboelectric sensors. When the cable 3 contacts the tactile sensor 1, the tactile sensor 1 is squeezed to generate an electrical signal. When the cable 3 is subjected to different tensions, the force squeezing the tactile sensor 1 is different, and the voltage amplitude of the generated electrical signal is also different.

[0039] The four signal output lines 12 are connected to different measurement pins of the signal processing unit 2. The output signals are modulated and processed by the signal processing unit 2. By comparing the voltage amplitudes of the electrical signals output by the four tactile sensors 1, the force direction of the cable 3 is analyzed, and it is determined whether the tension exceeds the load threshold. Then, this information is converted into visual information and displayed on the display 13.

[0040] The leaky bowl-shaped bracket 4 is made of plastic materials with certain toughness and strength, such as acrylic, polylactic acid plastic, nylon, etc.

[0041] The dielectric material 10 can be a thin film material such as polytetrafluoroethylene, polyperfluoroethylene propylene, polydimethylsiloxane, etc. The first electrode material 9 and the second electrode material 11 can be conductive thin film materials such as copper, aluminum, gold, silver, etc. The thickness of the dielectric material 10 and the electrode material is between 0.05-0.20mm.

[0042] like Figure 5 As shown, the signal processing unit 2 includes a signal processing device and a display 13 .

[0043] The function of the signal processing unit 2 is to respectively receive and modulate the electrical signals collected by the four tactile sensors 1, analyze the force direction of the cable by comparing the voltage amplitudes of the electrical signals output by the four tactile sensors 1, and determine whether the tension exceeds the load threshold, and convert this information into visual information and display it on the display 13.

[0044] The working process of the present invention is as follows:

[0045] Normal mode of cable force:

[0046] Specifically, the cable status monitoring sensor is fixed to the surface unmanned boat frame through threaded holes 8 on the upper and lower end surfaces.

[0047] The cable is passed through the circular hole 6 on the lower end surface of the cable status monitoring sensor, and the two ends of the cable 3 are respectively connected to the surface unmanned boat and the underwater vehicle.

[0048] When the cable is subjected to a small pulling force, the cable does not contact the tactile sensor 1 or squeezes the tactile sensor 1 to generate a small deformation, and the tactile sensor 1 does not generate an electrical signal or generates a weak electrical signal.

[0049] Specifically, when the cable 3 contacts a certain tactile sensor 1 , the electrode material on the tactile sensor 1 rubs against the dielectric material 10 and separates from the contact, and a portion of the electrons on the electrode material are transferred to the dielectric material 10 , causing the surface of the dielectric material 10 to be negatively charged.

[0050] Due to electrostatic induction, the electric field on the dielectric material 10 drives the electrons on the electrode material to move directionally between the two electrode materials, thereby generating an electrical signal.

[0051] No electrical signal is generated at the tactile sensor 1 that is not in contact with the cable.

[0052] The processing unit simultaneously receives electrical signals from four tactile sensors 1 through four sensing pins.

[0053] The processing unit compares the amplitudes of the electrical signals generated by the four tactile sensors 1 to determine the pulling direction of the cable.

[0054] Specifically, since the pressure of the cable on the tactile sensor 1 is relatively small, the voltage amplitude of the electrical signal generated by the tactile sensor 1 is lower than the safety threshold set by the signal processing unit 2, and the processing unit does not issue an alarm message.

[0055] The processing unit displays the pulling force direction on the display.

[0056] Cable forces exceed load mode:

[0057] Specifically, when the surface unmanned boat and the underwater vehicle work together, the underwater vehicle is subjected to a large tension in a certain direction caused by environmental factors such as undercurrent or other reasons, such as Figure 6 As shown, the underwater vehicle will drag the surface unmanned boat through the cable, and the cable will squeeze the tactile sensor 1 in the corresponding direction.

[0058] The tactile sensor 1 will generate an electrical signal according to the same process as above, while the tactile sensors 1 in the other three directions will not generate an electrical signal.

[0059] The processing unit determines the pulling direction of the cable by receiving and comparing the amplitudes of the electrical signals generated by the four tactile sensors 1 .

[0060] Since the cable exerts a greater pressure on the tactile sensor 1, the voltage amplitude of the electrical signal generated by the tactile sensor 1 is greater than the safety threshold set by the signal processing unit 2, and the processing unit issues an alarm message.

[0061] The processing unit displays the tension direction and tension load alarm information on the display screen.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cable status monitoring sensor, characterized in that: It comprises a tactile sensor (1) and a signal processing unit (2); The tactile sensors (1) are arranged in an array around the inner circumference of the funnel-shaped bracket (4); when the position of the cable (3) changes, the tactile sensors (1) convert the pressure signal given to the tactile sensors (1) by the cable (3) into an electrical signal, and send the electrical signal to the signal processing unit (2); The signal processing unit (2) receives the electrical signal and determines the cable pressure value, the cable force direction, and whether the cable pressure exceeds a load threshold value based on the electrical signal.

2. The cable status monitoring sensor according to claim 1, characterized in that: The funnel-shaped bracket (4) is fixed on the outer wall of the unmanned boat, the funnel-shaped bracket (4) is a funnel-shaped structure, a plurality of sensor installation grooves (5) are arranged on the funnel-shaped inner wall of the funnel-shaped bracket (4), a plurality of tactile sensors (1) are installed in the sensor installation grooves (5), a circular hole (6) connected to the funnel-shaped inner wall is opened at the bottom of the funnel-shaped bracket (4), and the cable (3) passes through the circular hole (6).

3. The cable status monitoring sensor according to claim 2, characterized in that: An isolation strip (7) is provided between the sensor installation slot (5) and an adjacent sensor installation slot (5).

4. The cable condition monitoring sensor according to claim 2, characterized in that: A through threaded hole (8) is provided on the upper end surface of the leaky bowl-shaped bracket (4), and the leaky bowl-shaped bracket (4) is fixed to the outer wall of the unmanned boat via the threaded hole (8) and screws.

5. The cable status monitoring sensor according to claim 1, characterized in that: The tactile sensor (1) comprises a sensor housing (14), wherein a first electrode material (9), a dielectric material (10), and a second electrode material (11) are arranged in sequence from top to bottom in the sensor housing, wherein the first electrode material (9) and the second electrode material (11) are respectively connected to one end of two signal output lines (12), and the other ends of the two signal output lines (12) are connected to a signal processing unit (2).

6. The cable condition monitoring sensor according to claim 1, characterized in that: After receiving the electrical signal, the signal processing unit (2) determines the size of the electrical signal to obtain the cable pressure value. Since the tactile sensors (1) are distributed at different positions, when the cable presses one of the tactile sensors (1), a corresponding electrical signal will be generated. The signal processing unit (2) determines the direction of the force on the cable based on the tactile sensor (1) that generates the electrical signal. The signal processing unit (2) compares the cable pressure value with the load threshold to determine whether the cable pressure exceeds the load threshold. The signal processing unit (2) sends the cable pressure value and whether the cable pressure in the cable force direction exceeds the load threshold to the display (13) for display.

7. The cable status monitoring sensor according to claim 1, characterized in that: The material of the leaky bowl-shaped bracket (4) is one of acrylic, polylactic acid plastic and nylon.

8. The cable condition monitoring sensor according to claim 1, characterized in that: The dielectric material is one of polytetrafluoroethylene, polyperfluoroethylene propylene, and polydimethylsiloxane, the electrode material is one of copper, aluminum, gold, and silver, and the thickness of the dielectric material and the electrode material ranges from 0.05 to 0.20 mm.

9. The cable status monitoring sensor according to claim 2, characterized in that: The number of the tactile sensors (1) is four.

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