SIA OpenIR  > 水下机器人研究室
Alternative TitleDevice and method for detecting length and motion directions of hitched ropes of underwater robots
郭威; 赵洋; 崔胜国; 王晓辉
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention relates to a device and a method for detecting length and motion directions of hitched ropes of underwater robots. The device is arranged in a repeater of an underwater robot and has a driven gear, two permanent magnets and two magnetic switches, wherein the driven gear is driven by a driven gearwheel in a hitched-rope retracting/releasing mechanism the permanent magnets are inlaidon the concentric circumference of the driven gear respectively the magnetic switches are connected with an underwater computer of the underwater robot and are arranged above the concentric circumference of the driven gear in a non-contact way through a bracket respectively the rising edges of pulses produced when the two magnetic switches pass the permanent magnets have phase difference and two pulses have time segments simultaneously high in level. The method comprises the following steps: the underwater computer performs analytical judgment according to the states of the two acquired pulses so as to obtain different change states from positive rotation to reverse rotation and from reverse rotation to positive rotation and the actual motion direction of a hitched rope is judged so as to obtain an accumulation result of the length pulse of the hitched rope and then obtain the length of the hitched rope. The device has the advantages of simple structure, good inheritance, reliableorientation, accurate calculation and capability of adapting to all-ocean-depth detection.
PCT Attributes
Application Date2008-03-05
Date Available2011-05-11
Application NumberCN200810010545.5
Open (Notice) NumberCN101526372B
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
郭威,赵洋,崔胜国,等. 一种水下机器人系缆长度及运动方向检测装置及方法[P]. 2009-09-09.
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