Cable breakage detection device and underwater cable control robot
By loading preset DC voltage signals on the communication line of the cable-controlled robot and performing detection, the cost and diameter problems caused by adding detection lines in the prior art are solved, and the accuracy and lightweight of cable disconnection detection are achieved.
Patent Information
- Application Number
- CN202421367492.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-13
- Publication Date
- 2025-08-05
- Estimated Expiration
- 2034-06-13
AI Technical Summary
In the prior art, when detecting whether the cable of the cable control robot is broken, it is necessary to add detection wires, resulting in increased costs and increased cable diameters, which is not conducive to lightweighting.
By loading a preset DC voltage signal on the communication line of the cable and using the signal processing circuit and the main control unit for detection, it is possible to determine whether the cable is broken, avoiding additional detection lines.
It realizes accurate detection of whether the cable is broken without increasing the cost and diameter of the cable, reducing the probability of misjudgment and helping to reduce the weight of the cable.
Smart Images
Figure CN223193092U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of underwater robots, in particular to a cable break detection device and an underwater cable-controlled robot. Background Art
[0002] A cable-controlled robot includes a control device and a robot body. The control device and the robot body are connected by a cable, such as an umbilical cable. The cable can transmit communication signals between the control device and the robot body. For example, in an ROV (Remotely Operated Vehicle), the ROV's control device sends control signals, which are transmitted via the cable to the ROV's robot body to control the ROV's underwater movements. The ROV's robot body can also transmit measurement signals to the ROV's control device via the cable, allowing the user to obtain data collected by the ROV's robot body underwater.
[0003] However, during the operation of cable-controlled robots, the cables may become severed due to environmental factors or other factors. This can cause operators to lose control of the robot. This can be especially true if the robot is operating outside the operator's field of vision, potentially leading to loss of control. Therefore, detecting cable disconnection in cable-controlled robots has become a pressing issue.
[0004] To detect cable disconnection, existing technologies often add a detection line to the cable and transmit a detection signal. By detecting the signal on the detection line, a cable-controlled robot can determine whether the cable is disconnected. For example, a detection line can be added to the cable to transmit a 5V voltage. By detecting whether the 5V voltage is transmitting normally on the detection line, the cable can be determined to be disconnected.
[0005] However, the inventors found that adding a detection line to the cable would, on the one hand, increase the cost of the cable; on the other hand, adding the detection line to the cable would also increase the diameter of the cable, which is not conducive to lightweighting the cable. Utility Model Content
[0006] The purpose of the utility model is to provide a cable break detection device and an underwater cable-controlled robot, so as to detect whether the cable of the cable-controlled robot is broken.
[0007] In one aspect, the present application provides a cable break detection device for use with a cable-controlled robot. The cable-controlled robot includes a control device, a robot body, and a cable. The cable includes a communication line for transmitting communication signals between the control device and the robot body. The cable break detection device includes a power supply circuit, a signal processing circuit, and a main control unit.
[0008] A power supply circuit is provided in the control device and connected to the communication lines to apply a preset DC voltage signal to at least one communication line. A signal processing circuit is provided in the robot body and connected to the communication lines to process the preset DC voltage signal transmitted by the communication lines and output a processing result. A main control unit is provided in the robot body and connected to the signal processing circuit to receive the processing result from the signal processing circuit and output a line disconnection indication signal if the processing result meets preset conditions.
[0009] In some embodiments, the communication line includes a live line and a neutral line. The power supply circuit applies a first DC voltage signal to the live line and / or applies a second DC voltage signal to the neutral line.
[0010] In some embodiments, the signal processing circuit includes: an adder circuit; or a subtractor circuit; or a voltage comparator circuit.
[0011] In some embodiments, when the power supply circuit applies a first DC voltage signal to the live line and a second DC voltage signal to the neutral line, the subtractor circuit includes an operational amplifier, a first resistor, a second resistor, a third resistor, and a fourth resistor. The operational amplifier includes a positive input terminal, a negative input terminal, and an output terminal. The output terminal of the operational amplifier is connected to the main control unit.
[0012] One end of the first resistor is connected to the live wire, and the other end of the first resistor is connected to the negative input terminal. One end of the second resistor is connected to the negative input terminal, and the other end of the second resistor is connected to the output terminal. One end of the third resistor is connected to the neutral wire, and the other end of the third resistor is connected to the positive input terminal. One end of the fourth resistor is connected to the positive input terminal, and the other end of the fourth resistor is grounded.
[0013] In some embodiments, the cable break detection device further includes a first capacitor bank and a second capacitor bank. The first capacitor bank is provided on the control device to filter direct current (DC) flowing into the first carrier module of the control device via the communication line. The second capacitor bank is provided on the robot body to filter DC power flowing into the second carrier module of the robot body via the communication line.
[0014] In some embodiments, the communication line includes a phase A line, a phase B line, and a phase C line; the power supply circuit loads a third DC voltage signal on the phase A line, and / or loads a fourth DC voltage signal on the phase B line, and / or loads a fifth DC voltage signal on the phase C line.
[0015] In some embodiments, the cable break detection device further includes an execution unit, which is disposed on the robot body and connected to the main control unit, and controls the robot body to execute a preset action according to the received break indication signal.
[0016] On one hand, the present application provides an underwater cable-controlled robot, comprising a control device, a robot body, a cable, and the above-mentioned cable break detection device.
[0017] Beneficial effects
[0018] The above technical solution applies a preset DC voltage signal to at least one communication line via a power circuit. The preset DC voltage signal on the communication line is then detected and processed by a signal processing circuit and a main control unit provided on the robot body to determine whether the cable is broken. Therefore, the above technical solution eliminates the need for additional detection wires on the cable. Instead, the existing communication line in the cable can be used to determine whether the cable is broken. This not only reduces cable production costs, but also helps reduce the cable diameter and achieves lightweighting. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
[0020] Figure 1 This is a schematic structural diagram of a cable break detection device according to an embodiment of the present application;
[0021] Figure 2 This is a structural diagram of a cable break detection device according to an embodiment of the present application for a case where a preset DC voltage signal is applied to the live wire and the neutral wire;
[0022] Figure 3 This is a structural schematic diagram of a cable break detection device according to an embodiment of the present application for the case where a preset DC voltage signal is loaded on the A phase line, the B phase line, and the C phase line.
[0023] Description of reference numerals:
[0024] 1. Control device; 11. First carrier module; 2. Robot body; 21. Second carrier module; 3. Cable; 31. Communication line; 4. Wire break detection device; 41. Power supply circuit; 42. Signal processing circuit; 43. Main control unit; 44. Execution unit; 45. First capacitor group; 46. Second capacitor group; L, live wire; N, neutral wire; R1, first resistor; R2, second resistor; R3, third resistor; R4, fourth resistor; U1, operational amplifier; C1, first capacitor; C2, second capacitor; C3, third capacitor; C4, fourth capacitor. DETAILED DESCRIPTION
[0025] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the drawings represent like or similar parts, and thus repetitive description thereof will be omitted.
[0026] The described features, structures or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other methods, components, materials, devices, etc. may be employed. In these cases, well-known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.
[0027] Furthermore, the terms "include," "comprise," and "have," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.
[0028] The terms "first", "second" and the like in the specification, claims and drawings of this application are used to distinguish different objects rather than to describe a specific order.
[0029] The following is a clear and complete description of the technical solution of this application in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts are within the scope of protection of this application.
[0030] An embodiment of the present application provides a cable break detection device. The cable break detection device is applied to a cable-controlled robot. For example, the cable break detection device can be applied to an ROV.
[0031] Reference Figure 1 The cable-controlled robot includes a control device 1, a robot body 2, and a cable 3. The cable 3 includes a communication line 31. The communication line 31 transmits communication signals between the control device 1 and the robot body 2. According to an exemplary embodiment, the communication signals include control signals sent by the control device 1 to the robot body 2, and video signals fed back by the robot body 2 to the control device 1.
[0032] According to an example embodiment, HPLC (High-speed Power Line Communications, broadband power line carrier) technology can be used to load communication signals onto power transmission lines for transmission. The communication line 31 can specifically be a power transmission line. For example, in a single-phase cable, the communication line 31 can include a live wire and a neutral wire; in a three-phase three-wire cable, the communication line 31 can include at least two of the A-phase line, the B-phase line, and the C-phase line; in a three-phase four-wire cable, the communication line 31 can include at least two of the A-phase line, the B-phase line, and the C-phase line; in a three-phase five-wire cable, the communication line 31 can include at least two of the A-phase line, the B-phase line, and the C-phase line. It is worth noting that the cable also includes a ground wire, which is not used as a communication line to transmit communication signals.
[0033] Reference Figure 1 The cable break detection device 4 includes a power supply circuit 41 , a signal processing circuit 42 and a main control unit 43 .
[0034] The power circuit 41 is provided in the control device 1 and is connected to the robot body 2 via the cable 3. The power circuit 41 applies a preset DC voltage signal to at least one communication line 31 of the cable 3. In other words, the power circuit 41 applies a preset DC voltage signal to at least one communication line 31 of the cable 3.
[0035] According to some embodiments, the preset DC voltage signals loaded by the power circuit 41 on different communication lines 31 may be the same or different, which is not limited here.
[0036] The signal processing circuit 42 is provided in the robot body 2 and connected to the control device 1 via the cable 3. The signal processing circuit 42 processes the preset DC voltage signal input to the robot body 2 via the communication line 31 on the cable 3 and outputs the processing result.
[0037] According to some embodiments, in the case where the power supply circuit 41 loads a preset DC voltage signal on a communication line 31 of the cable 3, in this case, the signal processing circuit 42 can also be connected to the ground wire of the cable 3 to receive the reference ground signal transmitted on the ground wire of the cable 3.
[0038] The signal processing circuit 42 can process the preset DC voltage signal and the reference ground signal transmitted on the communication line 31 to obtain a processing result. For example, the signal processing circuit 42 can calculate the sum of the preset DC voltage signal and the reference ground signal, compare the relative magnitudes of the preset DC voltage signal and the reference ground signal, or calculate the difference between the preset DC voltage signal and the reference ground signal.
[0039] When the cable 3 connects the control device 1 and the robot body 2 and is in a normal state, the signal processing circuit 42 can receive the preset DC voltage signal and the reference ground signal, and output the processing result obtained based on the preset DC voltage signal and the reference ground signal.
[0040] When the cable 3 is disconnected, the signal processing circuit 42 cannot receive the preset DC voltage signal and the reference ground signal, so the signal processing circuit 42 outputs a processing result of 0V.
[0041] According to some embodiments, when the power supply circuit 41 applies a preset DC voltage signal to one of the communication lines 31 of the cable 3, the signal processing circuit 42 can also directly output the preset DC voltage signal as a processing result. When the cable 3 connects the control device 1 and the robot body 2 and is in a normal state, the signal processing circuit 42 outputs the preset DC voltage signal. When the cable 3 is disconnected, the signal processing circuit 42 outputs a processing result of 0V.
[0042] According to some embodiments, when the power supply circuit 41 applies a preset DC voltage signal to at least two communication lines 31 of the cable 3, the signal processing circuit 42 may process the at least two received preset DC voltage signals to obtain a processing result. For example, the signal processing circuit 42 may sum the preset DC voltage signals to obtain a processing result representing the sum of the preset DC voltage signals.
[0043] When the cable 3 connects the control device 1 and the robot body 2 and is in a normal state, the preset DC voltage signals applied by the power circuit 41 to each communication line 31 can be transmitted to the signal processing circuit 42. The signal processing circuit 42 can then process each preset DC voltage signal to obtain a processing result. For example, the processing result is the sum of the preset DC voltage signals.
[0044] When the cable 3 is disconnected, the preset DC voltage signals applied by the power supply circuit 41 to each communication line 31 cannot be transmitted to the signal processing circuit 42. In this case, the input to the signal processing circuit 42 is 0 V. The signal processing circuit 42 processes each 0 V DC voltage and outputs a 0 V processing result.
[0045] According to some embodiments, when the power supply circuit 41 applies a preset DC voltage signal to at least two communication lines 31 of the cable 3, the signal processing circuit 42 may further process the at least two preset DC voltage signals and the reference ground signal transmitted on the ground line to obtain a processing result. For example, the signal processing circuit 42 may calculate the sum of each preset DC voltage signal and the reference ground signal to output the processing result.
[0046] When the cable 3 connects the control device 1 and the robot body 2 and is in a normal state, the signal processing circuit 42 can receive the at least two preset DC voltage signals and the reference ground signal, and process the at least two preset DC voltage signals and the reference ground signal, and output the corresponding processing results.
[0047] When the cable 3 is disconnected, the signal processing circuit 42 cannot receive the at least two preset DC voltage signals and the reference ground signal, and outputs a processing result of 0V.
[0048] The main control unit 43 is provided in the robot body 2 and connected to the signal processing circuit 42 . The main control unit 43 receives the processing result from the signal processing circuit 42 and outputs a disconnection indication signal to indicate disconnection when the processing result meets a preset condition.
[0049] According to an example embodiment, the preset condition may specifically be that the processing result does not meet a preset reference result. The preset reference result is a processing result obtained by processing a preset DC voltage signal and a reference ground signal applied to the communication line 31, or a preset DC voltage signal applied to the communication line 31. For example, when preset DC voltage signals are applied to two communication lines 31 and the signal processing circuit 42 performs a summation process on the detected signals, the preset reference result is the sum of the two preset DC voltage signals.
[0050] When cable 3 is disconnected, the preset DC voltage signal cannot be transmitted to signal processing circuit 42, and the reference ground signal cannot be output to signal processing circuit 42 either. Therefore, signal processing circuit 42 outputs a processing result of 0V. Main control unit 43 determines that 0V does not meet the preset reference result and therefore outputs a disconnection indication signal to indicate a disconnection.
[0051] When cable 3 connects control device 1 and robot body 2 and is in a normal state, the preset DC voltage signal and reference ground signal can be output to signal processing circuit 42. Therefore, the processing result output by signal processing circuit 42 is a preset reference result. Main control unit 43 determines that the processing result meets the preset reference result, that is, it determines that cable 3 is not broken.
[0052] Through the cable break detection device 4 described above, a power supply circuit 41 provided in the control device 1 applies a preset DC voltage signal to at least one communication line 31. The preset DC voltage signal on the communication line 31 is then detected and processed by a signal processing circuit 42 and a main control unit 43 provided in the robot body 2, thereby determining whether the cable 3 is broken. Therefore, the cable break detection device 4 described above does not require additional detection lines on the cable 3, but can directly utilize the existing communication line 31 in the cable 3 to determine whether the cable 3 is broken, thereby saving the cost of the cable 3 and reducing the diameter of the cable 3, thereby facilitating the lightweighting of the cable 3.
[0053] Furthermore, during normal transmission of the preset DC voltage signal, the voltage transmitted to the robot body 2 can easily vary from the preset DC voltage signal due to cable loss or signal interference. Therefore, a device that applies the preset DC voltage signal to a single communication line 31 and directly determines whether the cable 3 is disconnected based solely on the preset DC voltage signal is prone to misjudgment.
[0054] The cable break detection device 4 provided in the embodiment of the present application can detect whether the cable 3 is broken by loading a preset DC voltage signal on at least two communication lines 31 and processing the preset DC voltage signal, thereby reducing the probability of misjudgment caused by signal interference or cable loss. In addition, the cable break detection device 4 provided in the embodiment of the present application can also detect whether the cable 3 is broken by loading a preset DC voltage signal on one communication line 31 and using the reference ground signal transmitted on the ground line as a reference, processing the preset DC voltage signal and the reference ground signal, thereby detecting whether the cable 3 is broken, which is also conducive to reducing the probability of misjudgment, thereby improving the accuracy of cable 3 break detection.
[0055] According to some embodiments, reference Figure 2 The communication line 31 may specifically include a live wire L and a neutral wire N. The cable-controlled robot uses the live wire L and the neutral wire N to transmit power, and uses HPLC technology to load the communication signal in the form of a carrier on the live wire L and the neutral wire N for transmission.
[0056] According to some embodiments, reference Figure 2 The power supply circuit 41 can be connected to the live wire L and the neutral wire N respectively, so as to load a first DC voltage signal on the live wire L and a second DC voltage signal on the neutral wire N.
[0057] The first DC voltage signal and the second DC voltage signal can be the same or different, which is not limited in the embodiment of the present application. For example, the first DC voltage signal is a 1.8V DC signal, and the second DC voltage signal is a 5V DC signal.
[0058] The signal processing circuit 42 is connected to the live wire L and the neutral wire N respectively, and can process the first DC voltage signal and the second DC voltage signal to obtain processing results so that the main control unit 43 can determine whether the cable 3 is broken according to the processing results.
[0059] According to some embodiments, reference Figure 2 In the case where a first DC voltage signal is applied to the live line L and a second DC voltage signal is applied to the neutral line N, and the first DC voltage signal is different from the second DC voltage signal, the signal processing circuit 42 may specifically include a subtractor circuit. When the signal processing circuit 42 is a subtractor circuit, the preset reference result is the difference between the first DC voltage signal and the second DC voltage signal.
[0060] The subtractor circuit is specifically configured to calculate the difference between the first DC voltage signal and the second DC voltage signal. The main control unit 43 is connected to the subtractor circuit, receives a processing result representing the difference, and determines whether the processing result is the sum of the first DC voltage signal and the second DC voltage signal. If the processing result is 0V, that is, if the processing result is not the difference between the first DC voltage signal and the second DC voltage signal, the main control unit 43 outputs a disconnection indication signal.
[0061] For example, when the first DC voltage signal is 1.8V, the second DC voltage signal is 5V, and the signal processing circuit 42 is a subtractor circuit, the preset reference result is 3.2V.
[0062] When the cable 3 connects the control device 1 and the robot body 2 and is in a normal state, the subtractor circuit is used to calculate 5V-1.8V and output the processing result 3.2V. The main control unit 43 determines that the processing result is a preset reference result and does not output a disconnection indication signal.
[0063] When the cable 3 is disconnected, the signal processing circuit 42 detects that the signals of the live wire L and the neutral wire N are both 0 V and outputs a processing result of 0 V. The main control unit 43 determines that the processing result is not a preset reference result and outputs a disconnection indication signal.
[0064] According to some embodiments, reference Figure 2 The subtractor circuit may specifically include a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4 and an operational amplifier U1.
[0065] Reference Figure 2 The operational amplifier U1 includes a positive input terminal, a negative input terminal and an output terminal.
[0066] One end of a first resistor R1 is connected to the live wire L, and the other end of the first resistor R1 is connected to the negative input terminal. One end of a second resistor R2 is connected to the negative input terminal, and the other end of the second resistor R2 is connected to the output terminal. One end of a third resistor R3 is connected to the neutral wire N, and the other end of the third resistor R3 is connected to the positive input terminal. One end of a fourth resistor R4 is connected to the positive input terminal, and the other end of the fourth resistor R4 is grounded. The output terminal of the operational amplifier U1 is connected to the main control unit 43.
[0067] The first resistor R1 , the second resistor R2 , the third resistor R3 , the fourth resistor R4 and the operational amplifier U1 form a subtractor circuit to calculate the difference between the second DC voltage signal and the first DC voltage signal.
[0068] According to some embodiments, in the case where a first DC voltage signal is applied to the live line L and a second DC voltage signal is applied to the neutral line N, the signal processing circuit 42 may be an adder circuit. The preset reference result is the sum of the first DC voltage signal and the second DC voltage signal.
[0069] The adder circuit is specifically configured to add the detected preset DC voltage signals to calculate the sum of the preset DC voltage signals and output a processing result representing the sum of the preset DC voltage signals. The main control unit 43 is connected to the adder circuit and determines whether the processing result represents a preset reference result. If the processing result does not meet the preset reference result, it outputs a disconnection indication signal.
[0070] For example, when a first DC voltage signal of 1.8V is loaded on the live wire L and a second DC voltage signal of 5V is loaded on the neutral wire N, the preset reference result is 6.8V.
[0071] When the cable 3 connects the control device 1 and the robot body 2 and is in a normal state, the adder circuit is used to calculate 1.8V+5V and output a processing result of 6.8V. The main control unit 43 determines that the processing result is 6.8V and does not output a disconnection indication signal.
[0072] When the cable 3 is disconnected, the signals received by the adder circuit are all 0 V and the processing result is output as 0 V. The main control unit 43 determines that the processing result is not 6.8 V and outputs a disconnection indication signal.
[0073] It is worth noting that the signal processing circuit 42 can also be a multiplier circuit to calculate the product of each preset DC voltage signal; or it can also be a divider circuit to calculate the quotient of each preset DC voltage signal; or it can also be a circuit composed of an adder, a subtractor, a multiplier and a divider, etc., which is not limited in the embodiments of the present application.
[0074] According to some embodiments, in the case where the power supply circuit 41 loads a first DC voltage signal on the live wire L and a second DC voltage signal on the neutral wire N, when the first DC voltage signal is different from the second DC voltage signal, the signal processing circuit 42 may further include a voltage comparator circuit.
[0075] The voltage comparator circuit can compare the relative magnitudes of the first DC voltage signal and the second DC voltage signal, and output a processing result representing the relative magnitudes of the first DC voltage signal and the second DC voltage signal.
[0076] For example, when the second DC voltage signal is a 5V DC signal, the first DC voltage signal is a 1.8V DC signal, and the cable 3 is normally connected, the voltage comparator circuit determines that 5V is greater than 1.8V, and the output processing result is a high-level voltage.
[0077] When the cable 3 is disconnected, the voltage comparator circuit detects that the signals on the live wire L and the neutral wire N are both 0V, and the output processing result is a low-level voltage of 0V.
[0078] When the signal processing circuit 42 is a voltage comparator circuit, the preset reference result is a result representing the relative magnitudes of the first DC voltage signal and the second DC voltage signal. For example, the preset reference result is a high-level voltage.
[0079] The main control unit 43 is connected to the voltage comparator circuit. When the processing result of the voltage comparator circuit outputs a high-level voltage, it indicates that the cable 3 is not disconnected. When the processing result of the voltage comparator circuit outputs a low-level voltage of 0V, it indicates that the cable 3 is disconnected and outputs a disconnection indication signal.
[0080] Optionally, in the case where a first DC voltage signal is applied to the live wire L and a second DC voltage signal is applied to the neutral wire N, the signal processing circuit 42 may be further connected to the live wire L, the neutral wire N, and the ground wire to process the DC voltage signals transmitted on the live wire L, the neutral wire N, and the ground wire to obtain corresponding processing results. The preset reference result is the processing result of processing the first DC voltage signal, the second DC voltage signal, and the reference ground signal.
[0081] For example, the signal processing circuit 42 can specifically calculate the sum of the DC voltage signals transmitted on the live wire L, the neutral wire N, and the ground wire. For example, when the cable 3 is in a normal state, the signal processing circuit 42 calculates the sum of the first DC voltage signal, the second DC voltage signal, and the reference ground signal, and outputs a processing result representing the sum of the three. If the cable 3 is disconnected, the signal processing circuit 42 cannot receive the first DC voltage signal or the second DC voltage signal and outputs a processing result of 0V.
[0082] Optionally, the cable break detection device 4 can also apply a first DC voltage signal only to the live wire L via the power supply circuit 41. The signal processing circuit 42 is connected to the live wire L and the ground wire of the cable 3, respectively, to process the DC voltage signals on the live wire L and the ground wire to obtain corresponding processing results. The preset reference result is the processing result of the first DC voltage signal and the reference ground signal.
[0083] When the cable 3 is in a normal state, the signal processing circuit 42 calculates the sum of the first DC voltage signal and the reference ground signal and outputs a processing result representing the sum of the two. The processing result is a preset reference result. When the cable 3 is disconnected, the signal processing circuit 42 outputs a processing result of 0V.
[0084] Specifically, the signal processing circuit 42 may calculate the sum of the DC voltage signals transmitted on the live wire L and the ground wire. Alternatively, the signal processing circuit 42 may calculate the difference between the DC voltage signals transmitted on the live wire L and the ground wire, and output a processing result representing the difference. Alternatively, the signal processing circuit 42 may compare the relative magnitudes of the DC voltage signals transmitted on the live wire L and the ground wire, and output a processing result representing the relative magnitudes of the DC voltage signals transmitted on the live wire L and the ground wire.
[0085] Optionally, the cable break detection device 4 can also apply a second DC voltage signal only to the neutral line N via the power supply circuit 41. The signal processing circuit 42 is connected to the neutral line N and the ground line of the cable 3, respectively, to process the DC voltage signals on the neutral line N and the ground line to obtain corresponding processing results. The preset reference result is the processing result of the second DC voltage signal and the reference ground signal.
[0086] When the cable 3 is in a normal state, the signal processing circuit 42 calculates the sum of the second DC voltage signal and the reference ground signal and outputs a processing result representing the sum of the two. The processing result is a preset reference result. When the cable 3 is disconnected, the signal processing circuit 42 outputs a processing result of 0V.
[0087] According to some embodiments, reference Figure 3 The communication line 31 may further include a phase A line, a phase B line, and a phase C line. The preset DC voltage signal includes a third DC voltage signal, a fourth DC voltage signal, and a fifth DC voltage signal.
[0088] The power supply circuit 41 can also be connected to the A phase line, the B phase line and the C phase line respectively to load a third DC voltage signal on the A phase line, a fourth DC voltage signal on the B phase line, and a fifth DC voltage signal on the C phase line.
[0089] The signal processing circuit 42 is connected to the A-phase line, the B-phase line, and the C-phase line respectively to process the third DC voltage signal, the fourth DC voltage signal, and the fifth DC voltage signal to obtain processing results.
[0090] According to some embodiments, for the case where a third DC voltage signal is loaded on the A-phase line, a fourth DC voltage signal is loaded on the B-phase line, and a fifth DC voltage signal is loaded on the C-phase line, the signal processing circuit 42 can specifically calculate the sum of the third DC voltage signal, the fourth DC voltage signal, and the fifth DC voltage signal to output a processing result representing the sum of the three.
[0091] For example, when a third DC voltage signal of 5V is loaded on the A phase line, a fourth DC voltage signal of 1.8V is loaded on the B phase line, and a fifth DC voltage signal of 2.7V is loaded on the C phase line, when the cable 3 connects the control device 1 and the robot body 2 and is in a normal state, the signal processing circuit 42 is used to calculate the sum of 5V, 1.8V and 2.7V, and output the processing result 9.5V.
[0092] When the cable 3 is disconnected, the adder circuit calculates 0V+0V+0V and outputs a processing result of 0V.
[0093] The preset reference result is the sum of the third DC voltage signal, the fourth DC voltage signal, and the fifth DC voltage signal.
[0094] The main control unit 43 can determine whether the cable 3 is in a normal state or a disconnected state according to whether the processing result is the preset reference result, and output a disconnection indication signal when the cable 3 is in a disconnected state.
[0095] Optionally, the power supply circuit 41 may be connected only to the phase A line to apply a third DC voltage signal to the phase A line. The signal processing circuit 42 may be connected to the phase A line and the ground line to process the DC voltage signals on the phase A line and the ground line to obtain corresponding processing results. The preset reference result is the processing result obtained by processing the third DC voltage signal and the reference ground signal. For example, the signal processing circuit 42 may calculate the sum of the DC voltage signals on the phase A line and the ground line to obtain a processing result representing the sum of the two.
[0096] When the cable 3 is in a normal state, the signal processing circuit 42 calculates a processing result representing the sum of the third DC voltage signal and the reference ground signal, which is a preset reference result. When the cable 3 is disconnected, the signal processing circuit 42 calculates a processing result of 0V, which is not a preset reference result.
[0097] Optionally, the power supply circuit 41 may be connected only to the B-phase line to apply the fourth DC voltage signal to the B-phase line. The signal processing circuit 42 may be connected to the B-phase line and the ground line to process the DC voltage signals on the B-phase line and the ground line to obtain corresponding processing results. The preset reference result is the processing result obtained by processing the fourth DC voltage signal and the reference ground signal.
[0098] Optionally, the power supply circuit 41 may be connected only to the C-phase line to apply the fifth DC voltage signal to the C-phase line. The signal processing circuit 42 may be connected to the C-phase line and the ground line to process the DC voltage signals on the C-phase line and the ground line to obtain corresponding processing results. The preset reference result is the processing result obtained by processing the fifth DC voltage signal and the reference ground signal.
[0099] Optionally, the power supply circuit 41 may be connected to the A-phase line and the B-phase line, respectively, to apply a third DC voltage signal to the A-phase line and a fourth DC voltage signal to the B-phase line. The signal processing circuit 42 is connected to the A-phase line, the B-phase line, and the ground line to process the DC voltage signals on the A-phase line, the B-phase line, and the ground line to obtain corresponding processing results. The preset reference result is the processing result obtained by processing the third DC voltage signal, the fourth DC voltage signal, and the reference ground signal. For example, the signal processing circuit 42 may sum the DC voltage signals on the A-phase line, the B-phase line, and the ground line.
[0100] Optionally, the power supply circuit 41 may be further connected to the A-phase line and the C-phase line, respectively, to apply a third DC voltage signal to the A-phase line and a fifth DC voltage signal to the C-phase line. The signal processing circuit 42 is connected to the A-phase line, the C-phase line, and the ground line to process the DC voltage signals on the A-phase line, the C-phase line, and the ground line to obtain corresponding processing results. The preset reference result is the processing result obtained by processing the third DC voltage signal, the fifth DC voltage signal, and the reference ground signal.
[0101] Optionally, the power supply circuit 41 may be further connected to the B-phase line and the C-phase line, respectively, to apply a fourth DC voltage signal to the B-phase line and a fifth DC voltage signal to the C-phase line. The signal processing circuit 42 is connected to the B-phase line, the C-phase line, and the ground line to process the DC voltage signals on the B-phase line, the C-phase line, and the ground line to obtain corresponding processing results. The preset reference result is the processing result obtained by processing the fourth DC voltage signal, the fifth DC voltage signal, and the reference ground signal.
[0102] The main control unit 43 can determine whether the processing result output by the signal processing circuit 42 corresponds to a preset reference result. If it does not correspond to the preset reference result, it determines that the cable 3 is disconnected and outputs a disconnection indication signal to indicate that the cable 3 is disconnected.
[0103] According to some embodiments, reference Figure 1 、 Figure 2 or Figure 3 In order to reduce the loss of the user, the cable break detection device 4 may further include an execution unit 44 .
[0104] The execution unit 44 is provided on the robot body 2 and connected to the main control unit 43. It controls the robot body 2 to execute a preset action based on the received disconnection indication signal. Specifically, if the cable 3 is disconnected, the execution unit 44 responds to the disconnection indication signal output by the main control unit 43 to control the robot body 2 to execute a preset action.
[0105] According to an example embodiment, the execution unit 44 controlling the robot body 2 to execute the preset action may specifically include the execution unit 44 controlling a signal light provided on the robot body 2 to flash at a preset frequency. The execution unit 44 may also control a floating device provided within the robot body 2 to operate, thereby causing the robot body 2 to float. This is not limited in the embodiments of the present application.
[0106] By setting the execution unit 44 on the robot body 2, the robot body 2 can perform preset actions when the cable 3 is broken, so that the user can check the robot body 2 in time when the cable 3 is broken, thereby reducing the user's loss.
[0107] According to some embodiments, reference Figure 1 、 Figure 2 or Figure 3 A first carrier module 11 is provided in the control device 1 , and a second carrier module 21 is provided in the robot body 2 .
[0108] The first carrier module 11 and the second carrier module 21 are respectively connected to the communication line 31. The first carrier module 11 and the second carrier module 21 are used to receive the communication signals transmitted by the communication line 31 and process the communication signals so that the control device 1 can analyze the signals fed back by the robot body 2 to obtain corresponding information; and the robot body 2 can analyze the control signals sent by the control device 1 to perform corresponding actions.
[0109] In the method of applying a preset DC signal to the communication line 31 to determine whether the cable 3 is disconnected, there is a possibility that the preset DC signal is input to the first carrier module 11 and the second carrier module 21 via the communication line 31. However, after receiving the preset DC signal, the first carrier module 11 and the second carrier module 21 may be damaged or their processing of the communication signal may be affected.
[0110] For this purpose, in the embodiments of this application, refer to Figure 1 The cable break detection device 4 further includes a first capacitor group 45 and a second capacitor group 46 .
[0111] The first capacitor bank 45 is provided on the control device 1 to filter the DC power flowing into the first carrier module 11 of the control device 1 via the communication line 31. The second capacitor bank 46 is provided on the robot body 2 to filter the DC power flowing into the second carrier module 21 of the robot body 2 via the communication line 31.
[0112] The first capacitor bank 45 includes at least one capacitor. At least one capacitor is placed between each communication line 31 carrying a predetermined DC signal and the first carrier module 11. Capacitors have the ability to block DC power but pass AC power, so the first capacitor bank 45 can filter the DC power flowing into the first carrier module 11 in the control device 1.
[0113] The second capacitor bank 46 includes at least one capacitor. At least one capacitor is placed between each communication line 31 carrying a predetermined DC signal and the second carrier module 21. Capacitors block DC power but pass AC power, so the second capacitor bank 46 can filter the DC power flowing into the second carrier module 21 in the robot body 2.
[0114] For example, refer to Figure 2 In the case where the power circuit 41 loads the first DC voltage signal and the second DC voltage signal on the live wire L and the neutral wire N respectively, the first capacitor group 45 includes a first capacitor C1 and a second capacitor C2, and the second capacitor group 46 includes a third capacitor C3 and a fourth capacitor C4.
[0115] The first capacitor C1 is provided on the live line L between the first carrier module 11 and the power circuit 41 to prevent the first DC voltage signal output by the power circuit 41 from flowing back to the first carrier module 11 and causing damage or interference to the first carrier module 11 .
[0116] The second capacitor C2 is provided on the neutral line N between the first carrier module 11 and the power circuit 41 to prevent the second DC voltage signal output by the power circuit 41 from flowing back to the first carrier module 11 and causing damage or interference to the first carrier module 11 .
[0117] The third capacitor C3 is set on the line between the signal processing circuit 42 and the second carrier module 21 on the live line L to prevent the first DC voltage signal on the communication line 31 from flowing into the second carrier module 21 and causing damage or interference to the second carrier module 21.
[0118] The fourth capacitor C4 is set on the line between the signal processing circuit 42 and the second carrier module 21 on the neutral line N to prevent the second DC voltage signal on the communication line 31 from flowing into the second carrier module 21 and causing damage or interference to the second carrier module 21.
[0119] The present application also proposes an underwater cable-controlled robot, referring to Figure 1 The underwater cable-controlled robot includes a control device 1, a robot body 2, a cable 3 and the above-mentioned cable break detection device 4, so as to realize the function of detecting whether the cable 3 is broken without increasing the cost of the cable 3 or enlarging the diameter of the cable 3.
[0120] Finally, it should be noted that the above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions of the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application.
Claims
1. A cable break detection device, characterized in that: The cable break detection device is applied to a cable-controlled robot, which includes a control device, a robot body, and a cable, wherein the cable includes a communication line for transmitting communication signals between the control device and the robot body; The cable break detection device comprises: a power supply circuit, provided in the control device and connected to the communication line, so as to load a preset DC voltage signal on at least one communication line; a signal processing circuit, disposed in the robot body and connected to the communication line, for processing the preset DC voltage signal transmitted by the communication line and outputting a processing result; The main control unit is provided in the robot body, receives the processing result from the signal processing circuit, and outputs a disconnection indication signal when the processing result meets a preset condition.
2. The cable break detection device according to claim 1, characterized in that: The communication line includes a live wire and a neutral wire; The power supply circuit applies a first DC voltage signal to the live wire and / or applies a second DC voltage signal to the neutral wire.
3. The cable break detection device according to claim 2, characterized in that: The signal processing circuit comprises: adder circuit; or a subtractor circuit; or Voltage comparator circuit.
4. The cable break detection device according to claim 3, characterized in that: In the case where the power supply circuit applies the first DC voltage signal to the live line and applies the second DC voltage signal to the neutral line, the subtractor circuit includes: an operational amplifier, comprising a positive input terminal, a negative input terminal, and an output terminal, wherein the output terminal of the operational amplifier is connected to the main control unit; a first resistor, one end of the first resistor being connected to the live wire, and the other end of the first resistor being connected to the negative input terminal; a second resistor, one end of the second resistor being connected to the negative input terminal, and the other end of the second resistor being connected to the output terminal; a third resistor, one end of the third resistor being connected to the neutral line, and the other end of the third resistor being connected to the positive input terminal; a fourth resistor, one end of the fourth resistor being connected to the positive input terminal, and the other end of the fourth resistor being grounded.
5. The cable break detection device according to claim 2, characterized in that: The cable break detection device further comprises: a first capacitor bank, provided in the control device, for filtering direct current flowing into the first carrier module of the control device through the communication line; The second capacitor group is provided on the robot body to filter the direct current flowing into the second carrier module of the robot body through the communication line.
6. The cable break detection device according to claim 1, characterized in that: The communication line includes a phase A line, a phase B line and a phase C line; The power supply circuit loads a third DC voltage signal on the A-phase line, and / or loads a fourth DC voltage signal on the B-phase line, and / or loads a fifth DC voltage signal on the C-phase line.
7. The cable break detection device according to claim 1, characterized in that: The cable break detection device further comprises: The execution unit is provided on the robot body and connected to the main control unit, and controls the robot body to execute a preset action according to the received disconnection indication signal.
8. An underwater cable-controlled robot, characterized in that: The invention comprises a control device, a robot body, a cable and the cable break detection device according to any one of claims 1 to 7.