Toppling detection assembly and underwater robot

Abstract

The utility model discloses a toppling detection assembly and an underwater robot. The toppling detection assembly comprises a container, a floating body, a detection element and a controller. The container is arranged in a sealed mode and contains liquid inside. The floating body is arranged in the container and floats on the liquid; the detection element is arranged on the side, right facing the liquid, of the top of the container so as to detect the floating body and output detection data. The controller is electrically connected to the detection element so as to control the detection element to work and receive the detection data for analysis. When the container inclines, the liquid inclines along with the container, the liquid level changes, the position of the floating body changes along with the container, the detection element detects the floating body in real time, outputs detection data and transmits the detection data to the controller for analysis, and then the inclination condition of the container is judged. The toppling detection assembly is simple in structure, high in universality and easy to realize low-cost and wide-range application.

Description

Technical Field

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

[0002] Underwater robots, also known as remotely operated vehicles (ROVs), are extreme underwater robots capable of performing various tasks in dangerous and harsh underwater environments, replacing humans. When underwater robots are in operation, it is necessary to perform tilt detection to prevent prolonged tilting from affecting their normal operation and to protect them from further damage, thus minimizing economic losses.

[0003] In existing technologies, tilt detection components typically employ tilt sensors to detect tilting of underwater robots. For example, tilt angle sensors based on MEMS accelerometers. In practical applications of tilt detection, achieving accurate and stable detection results often requires complex peripheral circuits and signal processing modules. On one hand, to effectively filter environmental noise interference and improve detection accuracy, multi-stage filtering circuits need to be designed. These circuits not only increase hardware costs but also occupy a significant amount of PCB space. On the other hand, the raw signals acquired by the sensors need to undergo a series of processing steps, such as amplification and analog-to-digital conversion. This necessitates the integration of multiple functional chips into the circuit, resulting in an extremely cumbersome circuit layout and consequently, a complex overall tilt detection component structure. Utility Model Content

[0004] The main purpose of this invention is to propose a tipping detection component and an underwater robot, aiming to solve the technical problem that the existing tipping detection components have complex structures and are not easy to apply at low cost and on a large scale.

[0005] To achieve the above objectives, this utility model proposes a tipping detection component, comprising:

[0006] A container, the container being sealed and containing liquid;

[0007] A float, which is disposed inside the container and floats on the liquid;

[0008] A detection element is disposed on the top of the container on the side facing the liquid to detect the float and output detection data;

[0009] A controller, electrically connected to the detection element, controls the operation of the detection element and receives and analyzes the detection data.

[0010] In some embodiments, the container is U-shaped, wherein the two sides of the U-shape are defined as a first receiving tube and a second receiving tube, the open ends of the first receiving tube and the second receiving tube facing upwards, and each of the open ends is provided with a sealing portion.

[0011] In some embodiments, two floats are provided, respectively disposed inside the first receiving tube and the second receiving tube;

[0012] The detection element includes at least two sensors, which are respectively disposed on the side of the sealing portion facing the liquid.

[0013] In some embodiments, the at least two sensors are Hall switches, and the float is provided with a magnet.

[0014] In some embodiments, the at least two sensors are one of a photoelectric switch, a diffuse reflection switch, and a laser rangefinder.

[0015] In some embodiments, the density of the liquid is greater than the density of the float.

[0016] In some embodiments, the controller is a microcontroller, which includes an ADC acquisition I / O port, and the sensor is electrically connected to the ADC acquisition I / O port.

[0017] In some embodiments, the freezing point of the liquid is less than or equal to 0°C.

[0018] Another aspect of this utility model proposes an underwater robot, including a robot body and a tilt detection component as described above. The robot body has a circuit board inside, and the tilt detection component is located inside the robot body and electrically connected to the circuit board.

[0019] This invention features a sealed container filled with liquid, and a float that floats on the liquid. A detection element is located at the top of the container. When the container tilts, the liquid tilts accordingly, the liquid level changes, and the float changes position. The detection element monitors the float in real time, outputs detection data, and transmits it to a controller for analysis to determine the tilt status of the container. This tilt detection component is simple in structure, highly versatile, and easily implemented in a low-cost, wide-ranging manner. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of an embodiment of the tilt detection component of this utility model;

[0021] Figure 2 This is a schematic diagram of the Hall switch output signal in one embodiment of the tilt detection component of this utility model;

[0022] Figure 3 This is a schematic diagram showing the positional relationship between the detection element and the float in one embodiment of the tilt detection assembly of this utility model.

[0023] Explanation of icon numbers:

[0024]

[0025] Detailed Implementation

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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 those features. 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. If 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.

[0030] Please refer to Figure 1This utility model provides a tipping detection assembly 100, including a container 110, a float 130, a detection element 140, and a controller; the container 110 is sealed and contains liquid 120; the float 130 is disposed inside the container 110 and floats on the liquid 120; the detection element 140 is disposed on the top of the container 110 facing the liquid 120 to detect the float 130 and output detection data; the controller is electrically connected to the detection element 140 to control the operation of the detection element 140 and receive and analyze the detection data.

[0031] The container 110 is mainly used to contain components such as the liquid 120 and the float 130, and its material can be transparent glass, transparent plastic, etc. For example, the container 110 is made of transparent glass. The hollow transparent glass has good heat insulation properties, allowing the container 110 to effectively block the heat emitted by the components inside the robot body, ensuring the stable operation of the tipping detection component 100. In addition, the transparent glass allows the user to promptly obtain the internal condition of the tipping detection component 100 when inspecting the underwater robot, promptly detect faults and carry out repairs, and improve the stability of the component. Of course, the above is only an example, and the specific material can be determined according to actual needs; this utility model does not impose any limitations here.

[0032] In addition, the sealed container 110 provides a stable internal environment for the entire tipping detection assembly 100, preventing liquid 120 leakage and interference from external factors, and ensuring the accuracy of the detection.

[0033] 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 tilt detection component 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.

[0034] 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 container 110 is tilted, the liquid level of the liquid 120 changes, and the buoy moves accordingly within the container 110 without scratching the inner wall of the container 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.

[0035] The main function of the detection element 140 is to detect the float 130. When the container 110 tilts, the liquid level of the liquid 120 changes accordingly, and the float 130 changes position accordingly. The detection element 140 can monitor in real time and output detection data. The detection data is collected and analyzed by the controller to determine the tilt angle of the container 110 at this time, and then to determine whether the container 110 has tipped over or tilted.

[0036] The beneficial effects of this utility model are as follows:

[0037] (1) High reliability: The sealed container 110 provides a stable internal environment for the tipping detection assembly 100, which can effectively reduce the influence of external factors such as humidity and temperature on the detection results, improve the reliability and stability of the tipping detection assembly 100, and enable it to work normally in complex environments.

[0038] (2) High-precision detection: The detection element 140 accurately measures the float 130 and obtains detection data, which can sensitively detect the slight tilting changes of the container 110, thereby achieving high-precision tipping detection.

[0039] (3) Wide range of applications: The tilt detection component 100 of this utility model has a simple structure and strong versatility. It can be applied to a variety of fields and scenarios, such as anti-tipping monitoring of industrial equipment, posture detection of goods in logistics transportation, and safety protection in smart homes.

[0040] Please continue to refer to this. Figure 1 The container 110 is U-shaped, wherein the two sides of the U-shape are defined as a first receiving tube 111 and a second receiving tube 112, the opening ends of the first receiving tube 111 and the second receiving tube 112 face upward, and a sealing part 113 is provided at either opening end.

[0041] The first receiving tube 111 and the second receiving tube 112 form two sides of a U-shape, with their open ends facing upwards, facilitating the injection of liquid 120 and the placement of the float 130. Simultaneously, the arrangement of the two receiving tubes increases the liquid capacity of the 120, making changes in the position of the float 130 more noticeable. The detection element 140 can then capture precise distance changes, thereby improving the sensitivity and accuracy of the tilt detection assembly 100.

[0042] Each open end is provided with a sealing part 113 to prevent liquid 120 leakage and external impurities from entering the interior of the container 110. The presence of the sealing part 113 ensures the stability of the internal environment of the container 110, avoids the impact of liquid 120 leakage or external interference on the test results, and ensures the accuracy and reliability of the test.

[0043] Please refer to Figure 1There are two floats 130, which are respectively located inside the first receiving tube 111 and the second receiving tube 112; the detection element 140 includes at least two sensors 141, which are respectively located on the side of the sealing part 113 facing the liquid.

[0044] A float 130 is installed in each of the first and second receiving tubes 111 and 112, forming a dual detection node layout. The two floats 130 can respond to the liquid level changes of the liquid 120 in their respective receiving tubes. When the container 110 tilts in different directions or to different degrees, the two floats 130 will each produce different position changes, providing more dimensions of information for detection.

[0045] The number of sensors 141 can be 2, 3, or 4. For example, the detection element 140 uses at least two sensors 141, with each sensor 141 corresponding to one of the two floats 130, enabling real-time detection. The detection data from the two floats 130 complements and verifies each other. Combined with data analysis from the controller, the tilting angle and degree of inclination of the container 110 can be calculated more accurately. Through comprehensive analysis of the detection data from the two floats 130, misjudgments caused by external interference can be effectively reduced, improving the accuracy of the detection results.

[0046] The tilt detection component 100 of this invention, through the cooperation of dual floats 130 and multiple sensors 141, can accurately detect the tilting of the container 110 in multiple directions. Whether tilting to the left, right, or forward and backward, the positional changes of the two floats 130 can be captured by the sensors 141. Compared with detection by a single float 130, it can more comprehensively and accurately determine the tilting state of the container 110 and reduce blind spots.

[0047] In one embodiment, at least two sensors 141 are Hall switches, and a magnet is provided inside the float 130.

[0048] A Hall effect switch is an electronic component that typically contains a semiconductor chip and several pins. It detects voltage changes when a nearby magnetic field is present. When the tilt detection assembly 100 is perpendicular to the ground, the two floats 130 are positioned in the center of the device. When the Hall effect switches on both sides detect the magnets of the floats 130, the output voltage signals are consistent. Please refer to [reference needed]. Figure 2 When the device tilts, the liquid levels of the liquid 120 in the first and second receiving tubes 111 and 112 change, and the two floats 130 change position accordingly. The distance between one float 130 and its corresponding Hall switch increases, while the distance between the other float 130 and its corresponding Hall switch decreases. At this time, the output voltages of the two Hall switches are inconsistent, and the output signals of the two Hall switches will change with the distance between the floats 130. Specifically, when the float 130 is farther away, the output voltage signal is weaker, and vice versa.

[0049] The controller establishes a correlation between magnetic field strength and distance by receiving voltage signals from two Hall switches, thereby determining the distance between the two floats 130 and the Hall switches. Please refer to [reference needed]. Figure 3 After determining the distances between the two floats 130 and the Hall switch, as well as the distance between the two floats 130, the controller performs further calculations to determine the tilt angle of the container 110. The distance between the two floats 130 is the spacing between the first receiving tube 111 and the second receiving tube 112.

[0050] The calculation formula is configured as follows: α=arctan((ab) / c), where α is the tilt angle, a is defined as the distance between one float 130 and its corresponding sensor 141, b is defined as the distance between the other float 130 and its corresponding sensor 141, and c is the distance between the two floats 130.

[0051] The detection element 140 of this invention can also be a switch that directly detects distance. For example, at least two sensors 141 can be one of a photoelectric switch, a diffuse reflection switch, or a laser rangefinder. For instance, the two sensors 141 can be photoelectric switches. In this case, a magnet is not required inside the float 130. The photoelectric switch can emit detection light towards the float 130, directly outputting the distance between the photoelectric switch and the float 130, which is received by the controller and used to calculate the tilt angle.

[0052] In some embodiments, the controller is a microcontroller, which includes an ADC acquisition I / O port, and the sensor 141 is electrically connected to the ADC acquisition I / O port.

[0053] The microcontroller integrates a central processing unit (CPU), memory, input / output interfaces, and other functional modules, possessing powerful data processing and logic control capabilities. In the tilt detection component 100, it serves as the "brain" of the entire system, responsible for coordinating the operation of the detection element 140, receiving detection data from the sensor 141, and analyzing and judging it according to a preset program.

[0054] The two sensors 141 of this invention are electrically connected to two ADC acquisition I / O ports, establishing a channel from signal acquisition to signal processing. This connection method allows the analog signals output by the sensors 141 to be directly transmitted to the ADC module of the microcontroller for conversion, ensuring the timeliness and accuracy of data transmission and avoiding signal attenuation or interference during transmission. Furthermore, the microcontroller can perform filtering and calculations on the converted digital signal to effectively remove noise interference, extract accurate position information of the float 130, and thus accurately determine the tilting state of the container 110. By adjusting the sampling parameters of the ADC, detection tasks with different accuracy requirements can also be met.

[0055] Another aspect of this utility model proposes an underwater robot, including a robot body and the aforementioned tilt detection component 100. The robot body has a circuit board inside, and the tilt detection component 100 is located inside the robot body and electrically connected to the circuit board.

[0056] The robot body serves as the carrier for underwater operations, with reserved internal space for installing the tipping detection component 100; the two are tightly integrated. The tipping detection component 100, consisting of the container 110, float 130, detection element 140, and controller, forms an independent detection unit within the robot body and operates in conjunction with other functional modules of the robot.

[0057] The circuit board inside the robot body is electrically connected to the controller of the tilt detection component 100, serving as a bridge for information exchange. The detection data detected by the tilt detection component 100 is processed by the controller to obtain the tilt angle data, which is then transmitted to the circuit board to control the movement of the underwater robot.

[0058] Specifically, in an underwater environment, factors such as water flow and obstacles can cause changes in the robot's posture. The tilt detection component 100 monitors the robot's tilt status in real time. Once an abnormal tilt is detected, the information can be promptly fed back to the robot's main control system. The main control system then adjusts the robot's posture accordingly to prevent it from tipping over or colliding, ensuring the safety of underwater operations.

[0059] It should be noted that since the underwater robot adopts all the technical solutions of all embodiments of the above-mentioned tipping detection component 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 tipping detection component, applied to an underwater robot, characterized in that, include: A container, the container being sealed and containing liquid; A float, which is disposed inside the container and floats on the liquid; A detection element is disposed on the top of the container on the side facing the liquid to detect the float and output detection data; A controller, electrically connected to the detection element, controls the operation of the detection element and receives and analyzes the detection data.

2. The tipping detection component according to claim 1, characterized in that, The container is U-shaped, wherein the two sides of the U-shape are defined as a first receiving tube and a second receiving tube, the opening ends of the first receiving tube and the second receiving tube facing upwards, and each of the opening ends is provided with a sealing part.

3. The tipping detection component according to claim 2, characterized in that, Two floats are provided, one inside the first receiving tube and the other inside the second receiving tube; The detection element includes at least two sensors, which are respectively disposed on the side of the sealing portion facing the liquid.

4. The tipping detection component according to claim 3, characterized in that, The at least two sensors are Hall switches, and the float contains a magnet.

5. The tipping detection component according to claim 3, characterized in that, The at least two sensors are one of photoelectric switches, diffuse reflection switches, and laser rangefinders.

6. The tipping detection assembly according to any one of claims 1 to 5, characterized in that, The density of the liquid is greater than the density of the float.

7. The tipping detection component according to claim 6, characterized in that, The controller is a microcontroller, which is equipped with an ADC acquisition I / O port, and the detection element is electrically connected to the ADC acquisition I / O port.

8. The tipping detection component according to claim 6, characterized in that, The freezing point of the liquid is less than or equal to 0°C.

9. An underwater robot, characterized in that, The device includes a robot body and a tipping detection component as described in any one of claims 1 to 8, wherein the robot body has a circuit board inside, and the tipping detection component is disposed inside the robot body and electrically connected to the circuit board.

Images