Cross-water-surface remote control system and water surface navigation device using same

Abstract

The utility model provides a cross-water-surface remote control system and a water surface navigation device using the same, the remote control system comprises an overwater part and an underwater part, the overwater part comprises a remote controller, a wireless communication module, a first switching module and a first wired communication module, the remote controller is connected with the wireless communication module through a wireless communication protocol, and the wireless communication module is connected with the first switching module through a wireless communication protocol. The first switching module is electrically connected with the wireless communication module and the first wired communication module; the underwater part comprises a second wired communication module, a second switching module, a first infrared module and a second infrared module, the second switching module is electrically connected with the second wired communication module and the first infrared module, and the first infrared module is connected with the second infrared module through an infrared communication protocol; the first switching module and the second switching module are connected through a wired communication protocol. According to the cross-water-surface remote control system provided by the invention, reliable remote control can be carried out on an existing underwater propeller on water without modifying a signal receiving mode and control logic of the existing underwater propeller.

Description

Technical Field

[0001] The present application belongs to the technical field of surface navigation control, and specifically provides a cross-surface remote control system, and a surface navigation device using the cross-surface remote control system. Background Art

[0002] An underwater thruster is a power device that uses an electric propeller to achieve underwater navigation. It is a common small underwater thruster used for single-person underwater activities. A handle structure for holding with both hands is fixedly installed on the outer shell. The handle is provided with control buttons or knobs for controlling the infrared transmitting module embedded in the handle to send control commands. After the infrared receiving module installed in the underwater thruster receives the control commands, acceleration, deceleration and other propulsion operations can be performed.

[0003] The above-mentioned underwater thrusters can only be used to assist in the propulsion of underwater divers. When the underwater thrusters are needed to propel surface navigation vehicles such as paddle boards, the original infrared communication method has a short effective distance and cannot penetrate the paddle board structure, and can no longer meet the need to remotely control the underwater thrusters from above the water surface.

[0004] Therefore, it is necessary to provide a cross-surface remote control system to ensure effective remote control of the underwater propeller from above the self-propelled device. Utility Model Content

[0005] The present application provides a cross-surface remote control system through an embodiment, including an above-water part and an underwater part, wherein:

[0006] The above-water part includes a remote control, a wireless communication module, a first adapter module and a first wired communication module, wherein the remote control is connected to the wireless communication module via a wireless communication protocol, and the first adapter module is electrically connected to the wireless communication module and the first wired communication module; the underwater part includes a second wired communication module, a second adapter module, a first infrared module and a second infrared module, wherein the second adapter module is electrically connected to the second wired communication module and the first infrared module, and the first infrared module is infraredly connected to the second infrared module; the first adapter module is connected to the second adapter module via a wired communication protocol.

[0007] Preferably, the wired communication protocol is a CAN communication protocol.

[0008] Specifically, the CAN signal output end of the first adapter module is electrically connected to the RXD end of the first wired communication module, and the CAN signal input end of the first adapter module is electrically connected to the TXD end of the first wired communication module; the CANH end of the first wired communication module is electrically connected to the CANH end of the second wired communication module, and the CANL end of the first wired communication module is electrically connected to the CANL end of the second wired communication module; the TXD end of the second wired communication module is electrically connected to the CAN signal input end of the second adapter module, and the RXD end of the second wired communication module is electrically connected to the CAN signal output end of the second adapter module.

[0009] Preferably, a first terminal resistor is connected in series between the CANH terminal and the CANL terminal of the first wired communication module, and a second terminal resistor is connected in series between the CANH terminal and the CANL terminal of the second wired communication module.

[0010] Preferably, the wireless communication protocol is a 2.4G wireless communication protocol;

[0011] Specifically, the wireless communication module performs wireless communication with the remote controller via infrared, and the remote control command receiving port of the first adapter module is electrically connected to the infrared receiving port IR_R of the wireless communication module.

[0012] Preferably, the first infrared module includes a first infrared transmitting circuit and a first infrared receiving circuit, wherein the IR_S end of the first infrared transmitting circuit is electrically connected to the infrared signal transmitting end of the second adapter module, and the IR_R end of the first infrared receiving circuit is electrically connected to the infrared signal receiving end of the second adapter module; the second infrared module includes a second infrared transmitting circuit and a second infrared receiving circuit.

[0013] Preferably, the above-water part further comprises a receiving status display module electrically connected to the first adapter module, for displaying information indicating successful command reception when the second infrared module receives a remote control command.

[0014] The present application also provides a surface navigation device through an embodiment, including a surface vehicle and an underwater thruster, wherein the surface vehicle can float on the water surface, and the underwater thruster is fixedly connected to the side of the surface vehicle facing underwater; the surface navigation device uses the aforementioned cross-surface remote control system to remotely control the operating status of the underwater thruster.

[0015] The cross-surface remote control system provided by the embodiment of the present application adopts the method of wireless transmission plus signal conversion in the water part, and then uses the method of wired connection to introduce the signal from the water part to the underwater part, and then undergoes another signal conversion in the underwater part to convert the wired signal into an infrared signal, so as to perform the original infrared remote control on the underwater thruster. The remote control system architecture enables the operator to send control instructions above the water surface through wireless remote control, while ensuring that the control instructions can effectively enter the underwater part through navigation devices such as paddles, avoiding the problem of short signal transmission distance in infrared mode and poor infrared signal penetration when the navigation device exists; finally, the original infrared mode is still used in the underwater part, and there is no need to modify the signal receiving method and control logic of the existing underwater thruster, so that it can be compatible with the operation method of remote control from water to underwater, effectively expanding the application scenarios of underwater thrusters. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of an existing underwater propeller with a handle;

[0017] Figure 2 is a schematic diagram of a three-dimensional structure of a paddle board;

[0018] Figure 3 A schematic diagram of the framework of a cross-surface remote control system provided according to an embodiment of the present application;

[0019] Figure 4 It is a schematic diagram of the three-dimensional structure of a water surface navigation device provided according to an embodiment of the present application;

[0020] Figure 5 A side view of a water surface navigation device provided according to an embodiment of the present application;

[0021] Figure 6 for Figure 5 An enlarged schematic diagram of the middle circle A;

[0022] Figure 7 A circuit diagram of a wireless communication module provided according to an embodiment of the present application;

[0023] Figure 8 A circuit diagram of a first adapter module provided according to an embodiment of the present application;

[0024] Fig. 9 A circuit diagram of a first wired communication module provided according to an embodiment of the present application;

[0025] Fig.10 A circuit diagram of a second wired communication module provided according to an embodiment of the present application;

[0026] Fig.11A circuit diagram of a second adapter module provided according to an embodiment of the present application;

[0027] Fig.12 A circuit diagram of a first infrared transmitting circuit provided according to an embodiment of the present application;

[0028] Fig.13 4 is a circuit diagram of a second infrared receiving circuit provided according to an embodiment of the present application.

[0029] Numbers in the figure

[0030] Remote controller 100 , first housing 210 , second housing 220 , wired signal line 230 , underwater propeller 300 , connection structure 310 , surface vehicle 400 . DETAILED DESCRIPTION

[0031] Hereinafter, the present application will be further described based on preferred embodiments with reference to the accompanying drawings.

[0032] For ease of understanding, various components on the drawings are enlarged or reduced, but this practice is not intended to limit the scope of protection of this application. In addition, in the description of the embodiments of this application, if the terms "upper", "lower", "inner", "outer", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the products of the embodiments of this application are usually placed when in use, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0033] In the description of this application, in order to distinguish different units, words such as first and second are used in this specification, but these are not limited to the order of manufacturing, nor can they be understood as indicating or implying relative importance. Their names may be different in the detailed description and claims of this application.

[0034] The vocabulary in this specification is used to illustrate the embodiments of the present application, but is not intended to limit the present application. It should also be noted that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or a connection between the two elements. For those skilled in the art, the specific meanings of the above terms in this application can be specifically understood.

[0035] Figure 1 It is an existing small underwater propeller used for single-person underwater activities, such as Figure 1As shown, a handle structure for holding with both hands is fixedly installed on the outer shell, and a control button or knob is provided on the handle for controlling the infrared transmitting module embedded in the handle to send control instructions. After the infrared receiving module installed in the underwater thruster receives the control instructions, acceleration, deceleration and other propulsion operations can be performed.

[0036] The above-mentioned underwater propeller can only be used to assist the underwater divers in propulsion. Figure 2 When a surface sailing vehicle such as the paddle board shown is propelled, since the operator of the paddle board needs to stand on the paddle board, the remote control signal needs to be transmitted from above the paddle board through the paddle board to the underwater thruster in order to effectively control the underwater thruster.

[0037] To this end, the present application provides a cross-surface remote control system. Figure 3 Schematic diagram of the framework of the cross-surface remote control system provided according to the embodiment of the present application, such as Figure 3 As shown, the cross-surface remote control system includes an above-water part and an underwater part.

[0038] Specifically, the above-water part includes a remote control, a wireless communication module, a first adapter module and a first wired communication module, wherein the remote control is connected to the wireless communication module via a wireless communication protocol, and the first adapter module is electrically connected to the wireless communication module and the first wired communication module.

[0039] The underwater part includes a second wired communication module, a second adapter module, a first infrared module and a second infrared module, wherein the second adapter module is electrically connected to the second wired communication module and the first infrared module, and the first infrared module is infraredly connected to the second infrared module.

[0040] Furthermore, the first adapter module is connected to the second adapter module via a wired communication protocol.

[0041] The remote control command transmission process of the above-mentioned cross-water remote control system is as follows: 1) The user issues a remote control command by pressing or turning a control button / key / knob on the remote control; 2) After the above-mentioned remote control command is received by the wireless communication module, it is converted into a signal format supported by the first wired communication module and the second wired communication module through the first conversion module, and then transmitted to the second wired communication module through the first wired communication module, thereby realizing the transmission of the signal from above the water surface to underwater; 3) The second adapter module converts the signal received by the second wired communication module into an infrared transmission signal, and sends it through the first infrared module; 4) After the remote control command sent by the first infrared module is received by the second infrared module, a complete cross-water remote control command sending-receiving process is completed.

[0042] Figure 4 , Figure 5The figures show the stereoscopic view and the side view of the surface navigation device using the cross-surface remote control system in some preferred embodiments. Figure 6 right Figure 5 The circle A in the figure is enlarged and shown as follows: Figures 4 to 6 As shown, the surface navigation device includes a surface vehicle 400, an underwater propeller 300 and a cross-surface remote control system provided by the present application. The surface vehicle 400 may be as follows: Figure 4 , Figure 5 The paddle board shown may also be a device that can float on the water and carry people, such as a hovercraft or a boat. The underwater propeller 300 is fixedly connected to the underwater side of the surface vehicle through a connecting structure 310.

[0043] The cross-surface remote control system can be deployed in the following ways:

[0044] 1) The wireless communication module, the first adapter module and the first wired communication module of the above-water part are integratedly arranged on the circuit substrate and placed inside the first shell 210. After the first shell 210 is waterproofed, it can be set on the upper surface of the surface vehicle in various optional embodiments. For example, a base that cooperates with the first shell 210 can be set on the upper surface of the surface vehicle 400, or Velcro can be set on the upper surface of the surface vehicle 400 and the surface of the first shell 210 respectively, so as to facilitate the fixation and disassembly of the first shell 210.

[0045] 2) Similarly, the second wired communication module, the second adapter module and the first infrared module of the underwater part are integrated on a circuit substrate, and then the circuit substrate is placed in a second shell 220 that has been waterproofed, and the second shell 220 is set on the side of the lower surface of the paddle board facing underwater (in an embodiment of the present application, the second shell 220 can be directly fixed on the lower surface of the paddle board, or fixed on the shell of the underwater propeller 300).

[0046] 3) The first shell 210 and the second shell 220 are connected through a wired signal line 230. Specifically, as shown in the figure, the wired signal line 230 can use a spring signal line to leave a margin for equipment installation and position adjustment. One end of the wired signal line 230 is watertightly connected to the first shell 210 and connected to the first wired communication module, and then the other end of the wired signal line 230 is watertightly connected to the second shell 220 and connected to the second wired communication module.

[0047] 4) Finally, the second infrared module is set on the underwater thruster 300 and is kept aligned with the first infrared module as much as possible, thereby finally completing the deployment of the above-mentioned cross-surface remote control system on the surface vehicle 400 and the underwater thruster 300.

[0048] The above-water part of the cross-surface remote control system adopts the method of wireless transmission plus signal conversion, and then uses the wired connection method to guide the signal from the above-water part to the underwater part, and then undergoes another signal conversion in the underwater part to convert the wired signal into an infrared signal, so as to perform the original infrared remote control of the underwater thruster. Through the above-mentioned architecture, the operator can still use the remote control above the water surface to send control instructions through wireless remote control, while ensuring that the control instructions can effectively enter the underwater part through navigation devices such as paddle boards, avoiding the problem of short signal transmission distance in infrared mode and poor infrared signal penetration when paddle boards are present; finally, the underwater part still uses the original infrared mode to send instructions to the underwater thruster, without modifying the signal receiving method and control logic of the existing underwater thruster, so that it can be compatible with the operation method of remote control from water surface to underwater, thereby effectively expanding the application scenarios of underwater thrusters.

[0049] It should be noted that Figures 4 to 6 What is shown is an optional implementation of deploying the cross-surface remote control system on a paddle-shaped surface vehicle 400 and an underwater propeller 300. In other embodiments, those skilled in the art may also deploy the cross-surface remote control system on other types of surface vehicles and other types of underwater devices that require remote control without departing from the technical concept of the present application.

[0050] In some preferred embodiments, the wireless communication module communicates with the remote controller via a 2.4G communication protocol, and the first wired communication module communicates with the second wired communication module via a CAN communication protocol. Figures 7 to 11 Circuit diagrams of the wireless communication module, the first adapter module, the first wired communication module, the second wired communication module and the second adapter module are respectively shown in some preferred embodiments.

[0051] like Figures 7 to 11 As shown, the wireless communication module JP3 communicates wirelessly with the remote controller via the 2.4G communication protocol, and the remote control command receiving port PA2 of the first adapter module U1 is electrically connected to the IR_R end of the wireless communication module JP3 to convert the 2.4G remote control signal received by JP3 into a CAN signal.

[0052] The CAN signal output terminal PA12 of the first adapter module is electrically connected to the RXD terminal of the first wired communication module IC1, and the CAN signal input terminal PA11 of the first adapter module is electrically connected to the TXD terminal of the first wired communication module, thereby realizing CAN communication between the two.

[0053] Furthermore, the CANH end of the first wired communication module IC1 is electrically connected to the CANH end of the second wired communication module IC2, the CANL end of the first wired communication module IC1 is electrically connected to the CANL end of the second wired communication module IC2, and a first terminal resistor R5 is connected in series between the CANH end and the CANL end of the first wired communication module IC1, and a second terminal resistor R6 is connected in series between the CANH end and the CANL end of the second wired communication module IC2, thereby achieving stable CAN signal transmission between the first wired communication module IC1 and the second wired communication module IC2.

[0054] Furthermore, the TXD terminal of the second wired communication module IC2 is electrically connected to the CAN signal input terminal PA11 of the second adapter module U2, and the RXD terminal of the second wired communication module IC2 is electrically connected to the CAN signal output terminal PA12 of the second adapter module U2. The second adapter module U2 converts the CAN signal received from the second wired communication module IC2 into an infrared signal and sends it through the infrared signal sending terminal PA6.

[0055] The first infrared module includes a first infrared transmitting circuit, such as Fig.12 As shown, the IR_S end of the first infrared sending circuit is electrically connected to the infrared signal sending end PA6 of the second adapter module U2, so that the converted remote control command is sent to the second infrared module in infrared mode.

[0056] The second infrared module includes a second infrared receiving circuit, such as Fig.13 As shown, the second infrared receiving circuit sends the received infrared remote control command to the control unit of the underwater thruster, and finally realizes the cross-surface remote control operation of the underwater thruster.

[0057] In some preferred embodiments of the present application, the first infrared module and the second infrared module both adopt a bidirectional infrared transmitting and receiving mode, that is, the first infrared module also includes a first infrared receiving circuit, and the second infrared module also includes a second infrared transmitting circuit, wherein the second infrared transmitting circuit and the first infrared receiving circuit can be as follows Fig.12 , Fig.13 In that case, the same circuit structure as the first infrared transmitting circuit and the second infrared receiving circuit is adopted for implementation.

[0058] Furthermore, the IR_R end of the first infrared receiving circuit is electrically connected to the infrared signal receiving end PA1 of the second adapter module U2. When the second infrared module successfully receives the remote control command, a feedback signal is sent to the first infrared receiving circuit through the second infrared transmitting circuit, which is converted into a CAN signal by the second adapter module U2 and transmitted to the first adapter module U1 through the second wired communication module IC2 and the first wired communication module IC1. The first adapter module U1 is electrically connected to the receiving status display module (the receiving status display module can be an LED light, a digital tube, or other optional information display device) through an optional signal output port. When the signal fed back by the second infrared module is received, the command reception success information is displayed.

[0059] The above is a detailed introduction to the specific implementation methods of the present application. For those skilled in the art, several improvements and modifications may be made to the present application without departing from the principles of the present application. These improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A cross-surface remote control system, comprising an above-water part and an underwater part, characterized in that: The above-water part includes a remote controller, a wireless communication module, a first adapter module and a first wired communication module, wherein the remote controller is connected to the wireless communication module via a wireless communication protocol, and the first adapter module is electrically connected to the wireless communication module and the first wired communication module; The underwater part includes a second wired communication module, a second adapter module, a first infrared module and a second infrared module, wherein the second adapter module is electrically connected to the second wired communication module and the first infrared module, and the first infrared module is infraredly connected to the second infrared module; The first adapter module is connected to the second adapter module via a wired communication protocol.

2. The cross-surface remote control system according to claim 1, characterized in that: The wired communication protocol is the CAN communication protocol.

3. The cross-surface remote control system according to claim 2, characterized in that: The CAN signal output terminal of the first adapter module is electrically connected to the RXD terminal of the first wired communication module, and the CAN signal input terminal of the first adapter module is electrically connected to the TXD terminal of the first wired communication module; The CANH end of the first wired communication module is electrically connected to the CANH end of the second wired communication module, and the CANL end of the first wired communication module is electrically connected to the CANL end of the second wired communication module; The TXD terminal of the second wired communication module is electrically connected to the CAN signal input terminal of the second adapter module, and the RXD terminal of the second wired communication module is electrically connected to the CAN signal output terminal of the second adapter module.

4. The cross-surface remote control system according to claim 3, characterized in that: A first terminal resistor is connected in series between the CANH terminal and the CANL terminal of the first wired communication module, and a second terminal resistor is connected in series between the CANH terminal and the CANL terminal of the second wired communication module.

5. The cross-surface remote control system according to claim 3, characterized in that: The wireless communication protocol is a 2.4G wireless communication protocol; The wireless communication module performs wireless communication with the remote controller in an infrared manner, and the remote control command receiving port of the first adapter module is electrically connected to the infrared receiving port IR_R of the wireless communication module.

6. The cross-surface remote control system according to claim 3, characterized in that: The first infrared module includes a first infrared transmitting circuit and a first infrared receiving circuit, wherein the IR_S end of the first infrared transmitting circuit is electrically connected to the infrared signal transmitting end of the second adapter module, and the IR_R end of the first infrared receiving circuit is electrically connected to the infrared signal receiving end of the second adapter module; The second infrared module includes a second infrared transmitting circuit and a second infrared receiving circuit.

7. The cross-surface remote control system according to claim 6, characterized in that: The above-water part also includes a receiving status display module electrically connected to the first adapter module, which is used to display command reception success information when the second infrared module receives a remote control command.

8. A surface navigation device, comprising a surface vehicle and an underwater propeller, wherein the surface vehicle can float on the water surface, and the underwater propeller is fixedly connected to a side of the surface vehicle facing underwater, characterized in that: The surface navigation device uses the cross-surface remote control system described in claim 1 to remotely control the operating status of the underwater propeller.

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