Liquid level type posture detection device and underwater robot

Abstract

The utility model discloses a liquid level type posture detection device and an underwater robot, the liquid level type posture detection device comprises a containing pipe, a floating body, a detection assembly and a controller, the containing pipe is arranged in a sealed mode, and liquid is contained in the containing pipe; the floating body is arranged in the accommodating pipe and floats on the liquid; the detection assembly is arranged on the outer side wall of the containing pipe. The controller is electrically connected with the detection assembly to control the detection assembly to work. When the liquid level of the liquid in the containing pipe is changed, the position of the floating body is changed. The controller collects detection data of the detection assembly to perform analysis and judgment, a complex mechanical transmission structure is not needed, the universality is high, and low-cost and large-range application is facilitated. Besides, the state of the containing pipe is stably and reliably detected through liquid level changes, then the posture state of the underwater robot is reflected, complex processes and operation codes are not needed, and the underwater robot posture detection device is suitable for low-cost implementation and application.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, and in particular to a liquid level posture detection device and an underwater robot. Background Technology

[0002] Underwater robots, also known as remotely operated vehicles (ROVs), are extreme underwater robots that can perform various tasks in dangerous and harsh underwater environments, replacing humans. For example, when cleaning pool walls, underwater robots need to climb them, constantly adjusting their posture during the climb. The robot's posture is then assessed to guide subsequent cleaning operations.

[0003] There are generally two existing methods for attitude detection. The first method uses visual sensors, but these are too expensive for low-cost, widespread applications. The second method uses gyroscopes and accelerometers, which requires data fusion through algorithms such as Kalman filtering and complementary filtering. This requires processors with strong computing power, such as embedded systems, making implementation quite complex. Utility Model Content

[0004] The main purpose of this invention is to propose a liquid level posture detection device and an underwater robot, aiming to solve the technical problems of high complexity and high cost of existing liquid level posture detection devices.

[0005] To achieve the above objectives, the first aspect of this utility model provides a liquid level attitude detection device, comprising:

[0006] A receiving tube, the receiving tube being sealed and containing liquid inside;

[0007] A float is disposed inside the receiving tube and floats on the liquid;

[0008] A detection component is disposed on the outer side wall of the receiving tube;

[0009] A controller electrically connected to the detection component to control the operation of the detection component.

[0010] In some embodiments, the receiving tube is U-shaped, wherein the two sides of the U-shape are defined as a first sub-receiving tube and a second sub-receiving tube, respectively.

[0011] In some embodiments, the detection assembly includes at least four sets, two sets of the at least four sets of the detection assembly are spaced apart on the outer side wall of the first sub-receiving tube, and the other two sets of the at least four sets of the detection assembly are spaced apart on the outer side wall of the second sub-receiving tube.

[0012] Two floats are provided, one in the first sub-receiving tube and the other in the second sub-receiving tube;

[0013] Each of the detection components includes at least one sensor.

[0014] In some embodiments, the sensor is one of a Hall switch or a reed switch, and the float is provided with a magnet inside.

[0015] In some embodiments, any of the detection components further includes a receiver, with the sensor and the receiver disposed opposite to each other on the outer walls of the first sub-receiving tube and the second sub-receiving tube.

[0016] In some embodiments, the sensor is one of a slot switch, a photoelectric switch, or a diffuse reflection switch.

[0017] In some embodiments, the detection assembly includes two sensors disposed opposite to each other on the outer wall of the receiving tube, the two sensors being capacitive level switches.

[0018] In some embodiments, the density of the liquid is greater than the density of the float.

[0019] In some embodiments, the freezing point of the liquid is less than or equal to 0°C.

[0020] The second aspect of this utility model provides an underwater robot, including a robot body and a liquid level posture detection device as described above. The robot body has a circuit board inside, and the liquid level posture detection device is located inside the robot body and electrically connected to the circuit board.

[0021] This invention features a receiving tube, inside which the liquid flows as the tube tilts, causing changes in liquid level and consequently shifting the position of the float. A detection component is mounted on the side wall of the receiving tube and electrically connected to a controller. The controller collects and analyzes data from either the liquid level or the float, eliminating the need for complex mechanical transmission structures. This design offers high versatility and facilitates low-cost, wide-ranging applications. Furthermore, this invention reliably and stably detects the state of the receiving tube by utilizing changes in liquid level, thereby reflecting the underwater robot's posture. This eliminates the need for complex processes and code, making it suitable for low-cost implementation and application. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of an embodiment of the liquid level posture detection device of this utility model;

[0023] Figure 2 This is a schematic diagram of another embodiment of the liquid level posture detection device of this utility model;

[0024] Figure 3 This is a schematic diagram of another embodiment of the liquid level posture detection device of this utility model.

[0025] Explanation of icon numbers:

[0026] label name label name 100 Liquid level posture detection device 110 container tube 120 liquid 140 Detection components 111 First child containment tube 112 Second sub-receiving tube 130 floating body 141 sensor 142 receiver Detailed Implementation

[0027] The solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0028] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0029] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0030] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0031] Please refer to Figure 1 This utility model provides a liquid level posture detection device 100, including a receiving tube 110, a float 130, a detection component 140, and a controller. The receiving tube 110 is sealed and contains liquid 120. The float 130 is located inside the receiving tube 110 and floats on the liquid 120. The detection component 140 is located on the outer wall of the receiving tube 110. The controller is electrically connected to the detection component 140 to control the operation of the detection component 140.

[0032] The receiving tube 110 is mainly used to contain components such as the liquid 120 and the float 130. Its material can be transparent glass, transparent plastic, etc. For example, the receiving tube 110 is made of transparent glass. The transparent glass ensures that users can promptly obtain the internal condition of the liquid level and posture detection device 100 when inspecting the underwater robot, allowing for timely detection and repair of faults, thus improving the stability of the components. Of course, the above is only an example; the specific material can be determined according to actual needs, and this utility model does not impose any limitations.

[0033] In addition, the sealed receiving tube 110 provides a stable internal environment for the entire liquid level posture detection device 100, preventing liquid 120 leakage and interference from external factors, and ensuring the accuracy of detection.

[0034] The liquid 120 has a freezing point of less than or equal to 0°C to prevent it from freezing the position of the float 130, which would cause the liquid level attitude detection device 100 to malfunction. For example, the liquid 120 can be water, oil, etc. In addition, the density of the liquid 120 is greater than the density of the float 130 so that the float 130 can float on the liquid 120.

[0035] The float 130 can have various shapes, such as a sphere, cylinder, or cone. For example, the float 130 can be a buoy. When the receiving tube 110 is tilted, the liquid level of the liquid 120 changes, and the buoy moves accordingly within the receiving tube 110 without scratching the inner wall of the receiving tube 110. Of course, the above is only an example, and the specific shape can be determined according to actual needs. This utility model does not impose any limitations on this.

[0036] The detection component 140 is located on the outer wall of the receiving tube 110 and is mainly used to detect the liquid level of the liquid 120 or to detect the output detection data of the float 130, such as electrical signals. When the receiving tube 110 tilts or changes, the liquid 120 inside will surge accordingly, the liquid level will change, and the position of the float 130 will change with the liquid level. At this time, the detection component 140 can directly detect the liquid level or determine the state of the receiving tube 110 by detecting the float. When the liquid level-type posture detection device 100 is applied to an underwater robot, the posture state of the underwater robot can be reflected by detecting the liquid level or the float 130 through the detection component 140, which facilitates timely adjustment of the underwater robot's status and is beneficial to the conduct of underwater operations.

[0037] In some embodiments, the detection component 140 may be a photoelectric sensor 141 or a magnetic sensor 141, etc. For example, the detection component 140 may be a photoelectric sensor 141, which detects the position by blocking light with the float 130 to determine the liquid level, and thus determine the state of the receiving tube 110. Of course, the above are just examples, and the specific type may be determined according to actual needs. This utility model does not limit this.

[0038] The main function of the controller is to control the operation of the detection component 140, receive detection data, and analyze and determine the state of the receiving tube 110. The controller can be an STM32, FPGA, or PLC, for example, an STM32. The STM32 integrates a wealth of peripherals such as ADC, DAC, and PWM, reducing the cost of external components in the liquid level posture detection device 100. Furthermore, the STM32 has abundant external interfaces, supporting the connection of the detection component 140, simplifying the structure of the detection device. Moreover, the high performance and processing power of the STM32 enable rapid analysis and judgment of the electrical signals of the detection component 140. Finally, the STM32 is less expensive than other controllers, making it suitable for low-cost, large-scale applications.

[0039] This invention features a receiving tube 110, within which the liquid 120 flows as the tube tilts, causing changes in liquid level and consequently shifting the position of the float 130. A detection component 140, mounted on the side wall of the receiving tube 110 and electrically connected to a controller, collects and analyzes liquid level or float 130 detection data. This eliminates the need for complex mechanical transmission structures, offering high versatility and facilitating low-cost, wide-ranging applications. Furthermore, this invention utilizes buoyancy and liquid level changes to reliably and stably detect the state of the receiving tube 110, thereby reflecting the underwater robot's posture. This eliminates the need for complex processes and operating code, making it suitable for low-cost implementation and application.

[0040] Please refer to Figure 1 and Figure 2 The receiving tube 110 is U-shaped, wherein the two sides of the U-shape are defined as the first sub-receiving tube 111 and the second sub-receiving tube 112, respectively.

[0041] The first sub-receptacle 111 and the second sub-receptacle 112 serve as the two sides of the U-shape. The arrangement of the two sub-receptacle increases the capacity of the liquid 120, making the positional change of the float 130 more obvious. The detection component 140 can capture the precise changes, thereby improving the sensitivity and accuracy of the liquid level attitude detection device 100.

[0042] Please continue to refer to this. Figure 1 The detection component 140 includes at least four sets, two of which are spaced apart on the outer wall of the first sub-receiving tube 111, and the other two of which are spaced apart on the outer wall of the second sub-receiving tube 112; two floats 130 are provided, respectively disposed in the first sub-receiving tube 111 and the second sub-receiving tube 112; wherein, each detection component 140 includes at least one sensor 141.

[0043] A float 130 is installed in both the first sub-receiving tube 111 and the second sub-receiving tube 112, forming a dual-detection node layout. The two floats 130 can respond to changes in the liquid level 120 within their respective sub-receiving tubes. When the container tilts in different directions or to different degrees, the two floats 130 undergo different positional changes, providing more dimensions of information for detection. Furthermore, by connecting two detection components 140 at intervals along the sidewalls of each sub-receiving tube, the liquid level and floats 130 can be detected more accurately and comprehensively, reducing blind spots.

[0044] In some embodiments, sensor 141 is either a Hall switch or a reed switch, and a magnet is provided inside float 130. For example, sensor 141 is a Hall switch. When the liquid levels of the first sub-receiving tube 111 and the second sub-receiving tube 112 are the same, the two floats 130 are at the same distance from their corresponding Hall switches, and the output signals of the Hall switches are the same. When the first sub-receiving tube 111 tilts towards the second sub-receiving tube 112, liquid 120 surges towards the second sub-receiving tube 112, the liquid level of the first sub-receiving tube 111 decreases, and the liquid level of the second sub-receiving tube 112 increases. Correspondingly, the float 130 of the first sub-receiving tube 111 moves away from the Hall switch, and the output signal strength of the Hall switch on the first sub-receiving tube 111 side weakens, while the float 130 of the second sub-receiving tube 112 moves closer to the Hall switch on the second sub-receiving tube 112 side, and the output signal strengthens. The controller receives the signal strengths of the four Hall switches and performs combined analysis to determine the state of the receiving tube 110 at this time, and thus determines the attitude of the underwater robot. Of course, the above is just an example, and the specific type of sensor 141 can be determined according to actual needs.

[0045] In another embodiment, please refer to Figure 2 Each detection component 140 also includes a receiver 142, with the sensor 141 and the receiver 142 disposed opposite to each other on the outer walls of the first sub-receiving tube 111 and the second sub-receiving tube 112.

[0046] It can be understood that the receiver 142 and the sensor 141 are set in pairs and fixed to the outer walls of the first and second sub-receiving tubes 112 respectively. The liquid level and the position of the float 130 can be determined by whether the receiver 142 successfully receives the signal from the sensor 141, and then the posture of the underwater robot can be determined.

[0047] In some embodiments, sensor 141 is one of a slotted switch, a photoelectric switch, or a diffuse reflection switch. For example, sensor 141 is a photoelectric slotted switch. The transmitter of the slotted switch is connected to one side of any sub-receiving tube, and a receiver 142 is installed on the other side. The slotted switch operates as follows: if there is an obstruction, the receiver 142 cannot receive the light from the transmitter, and the slotted switch converts the electrical signal, represented by 1; if there is no obstruction, the receiver 142 detects the light, and the slotted switch converts the electrical signal, represented by 0. The detection components 140 on one side of the first sub-receiving tube 111 are defined as A and B from high liquid level to low liquid level, respectively, and the second sub-receiving tube 112 is correspondingly positioned as C and D. Using this as an example, the parallel, inverted, upright, climbing, and descending movements of the underwater robot are detected and analyzed.

[0048] When the underwater robot is parallel, slot switch A is normally open, represented by 0; slot switch B is normally closed, represented by 1; slot switch C is normally open, represented by 0; and slot switch D is normally closed, represented by 1.

[0049] When the underwater robot is upside down, slot switch A is normally closed, represented by 1; slot switch B is normally closed, represented by 1; slot switch C is normally open, represented by 0; and slot switch D is normally open, represented by 0.

[0050] When the underwater robot is upright, slot switch A is normally open, represented by 0; slot switch B is normally open, represented by 0; slot switch C is normally closed, represented by 1; and slot switch D is normally closed, represented by 1.

[0051] When the underwater robot is climbing a slope, slot switch A is in the normally closed state, represented by 1; slot switch B is in the normally closed state, represented by 1; slot switch C is in the normally open state, represented by 0; and slot switch D is in the normally closed state, represented by 1.

[0052] When the underwater robot is going downhill, slot switch A is in the normally open state, represented by 0; slot switch B is in the normally closed state, represented by 1; slot switch C is in the normally open-closed state, represented by 1; and slot switch D is in the normally closed state, represented by 1.

[0053] Of course, the above is only an example. This invention can also achieve more precise attitude detection by adjusting the position between the two detection components 140 on the same side of the receiving tube, or by increasing the number of detection components 140.

[0054] Please refer to Figure 3This utility model also provides a simplified embodiment, in which the detection component 140 includes two sensors 141 disposed opposite each other on the outer wall of the receiving tube 110. The two sensors 141 are capacitive liquid level switches. The capacitance value between the capacitive liquid level switch and the wall of the receiving tube 110 can change with the liquid level. The liquid level is detected by the two capacitive liquid level switches to reflect the posture of the underwater robot.

[0055] It should be noted that the float 130 inside the receiving tube 110 can be set according to actual needs.

[0056] The second aspect of this utility model provides an underwater robot, including a robot body and a liquid level posture detection device 100 as described above. The robot body has a circuit board inside, and the liquid level posture detection device 100 is located inside the robot body and electrically connected to the circuit board.

[0057] The robot body serves as the carrier for underwater operations, with reserved internal space for installing a liquid level posture detection device 100; the two are tightly integrated. The liquid level posture detection device 100, consisting of a housing tube 110, a float 130, a detection component 140, and a controller, forms an independent detection unit within the robot body and operates in conjunction with other functional modules of the robot.

[0058] The circuit board inside the robot is electrically connected to the controller of the liquid level posture detection device 100, serving as a bridge for information exchange. The data detected by the liquid level posture detection device 100 is processed by the controller to obtain the posture of the underwater robot, enabling control of the underwater robot's movements.

[0059] It should be noted that since the underwater robot adopts all the technical solutions of all embodiments of the above-mentioned liquid level posture detection device 100, the underwater robot of this utility model also has at least all the beneficial effects brought about by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0060] The above are only some or preferred embodiments of this utility model. Neither the text nor the drawings should limit the scope of protection of this utility model. All equivalent structural transformations made using the contents of this utility model specification and drawings under the overall concept of this utility model, or direct / indirect applications in other related technical fields, are included within the scope of protection of this utility model.

Claims

1. A liquid level attitude detection device, applied to an underwater robot, characterized in that, include: A receiving tube, the receiving tube being sealed and containing liquid inside; A float is disposed inside the receiving tube and floats on the liquid; A detection component is disposed on the outer side wall of the receiving tube; A controller electrically connected to the detection component to control the operation of the detection component.

2. The liquid level attitude detection device according to claim 1, characterized in that, The receiving tube is U-shaped, wherein the two sides of the U-shape are defined as the first sub-receiving tube and the second sub-receiving tube, respectively.

3. The liquid level attitude detection device according to claim 2, characterized in that, The detection assembly includes at least four sets, two sets of the at least four sets of the detection assembly are spaced apart on the outer side wall of the first sub-receiving tube, and the other two sets of the at least four sets of the detection assembly are spaced apart on the outer side wall of the second sub-receiving tube. Two floats are provided, one in the first sub-receiving tube and the other in the second sub-receiving tube; Each of the detection components includes at least one sensor.

4. The liquid level attitude detection device according to claim 3, characterized in that, The sensor is either a Hall switch or a reed switch, and the float has a magnet inside.

5. The liquid level attitude detection device according to claim 3, characterized in that, Each of the detection components further includes a receiver, and the sensor and the receiver are disposed opposite to each other on the outer walls of the first sub-receiving tube and the second sub-receiving tube.

6. The liquid level attitude detection device according to claim 5, characterized in that, The sensor is one of the following: slotted switch, photoelectric switch, or diffuse reflection switch.

7. The liquid level attitude detection device according to claim 1, characterized in that, The detection assembly includes two sensors disposed opposite to each other on the outer wall of the receiving tube, and the two sensors are capacitive level switches.

8. The liquid level attitude detection device according to any one of claims 1 to 7, characterized in that, The density of the liquid is greater than the density of the float.

9. The liquid level attitude detection device according to claim 8, characterized in that, The freezing point of the liquid is less than or equal to 0°C.

10. An underwater robot, characterized in that, The device includes a robot body and a liquid level posture detection device as described in any one of claims 1 to 9, wherein the robot body has a circuit board inside, and the liquid level posture detection device is disposed inside the robot body and electrically connected to the circuit board.

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