TWM524310U - Multi-axis parabolic device - Google Patents
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Description
本創作為一種拋物裝置，尤其是指一種多軸轉動之拋物裝置。The present invention is a parabolic device, especially a parabolic device that rotates in multiple axes.
由於現代經濟的發展，人民生活經濟改善，也因此人民也相當注重休閒活動。在各種休閒活動中，有些活動受到天候的影響，例如：暴雨或颱風，或自然因素，例如：地震，容易發生危險。當災害發生而有人遭遇危難時，如何有效的救援，成為救難人員思索與研發的方向。例如：習用技術中，大部分的水上救援，大都是藉由人力的方式將救生器材，例如：救生圈，向溺水者投擲，由於是透過人力的方式來實施，因此可能會因為力道不足或投擲方向失誤，而耽誤救援之最佳時機。Due to the development of the modern economy, the people’s living economy has improved, and as a result, the people have paid considerable attention to leisure activities. Among various leisure activities, some activities are affected by weather, such as rainstorms or typhoons, or natural factors such as earthquakes, which are prone to danger. When a disaster occurs and someone is in distress, how to effectively rescue it becomes the direction of the rescuer's thinking and research and development. For example, in the conventional technology, most of the water rescues are mainly used to manually throw life-saving equipment, such as a lifebuoy, to the drowning person. Because it is implemented by manpower, it may be due to insufficient strength or throwing direction. Mistakes, and the best time to delay the rescue.
在習用技術中，如中華民國發明專利第I443045號，提供一種救生圈拋物裝置，其包括一旋轉座、一彈射裝置與一救援裝置所構成，彈射裝置與救援裝置設置在旋轉座上，藉由旋轉座上設有警示鈕來達到救援上最佳的警示功效，且可操控彈射裝置之角度調整架與夾持調整器將救援裝置之救生圈調整在最適當的彈射角度，而透過方向調整架來控制救援的方位，讓救援者利用彈弓方式，將彈帶體與救生圈一併拉動後向外彈射，進而將溺水者安全救上岸。在此技術中，雖然有軸向角度的轉動控制，但是在俯仰角的部分則有賴使用者的控制，決定拋物的角度，此外，該技術中也沒有影像擷取以輔助偵測的機制。In the conventional technology, such as the Republic of China invention patent No. I443045, a lifebuoy parabolic device is provided, which comprises a rotating seat, an ejection device and a rescue device, and the ejection device and the rescue device are arranged on the rotating base by rotating There is a warning button on the seat to achieve the best warning effect on the rescue, and the angle adjustment bracket and the clamp adjuster that can control the ejection device adjust the lifebuoy of the rescue device at the most appropriate ejection angle, and control through the direction adjustment frame. The orientation of the rescue allows the rescuer to use the slingshot method to pull the elastic belt together with the lifebuoy and then eject it outward, thereby safely saving the drowning person to shore. In this technique, although there is an axial angle of rotation control, the portion of the pitch angle depends on the user's control to determine the angle of the parabola. Moreover, there is no mechanism for image capture to assist detection in this technique.
此外，如中華民國新型專利第M326149號所揭露的一種救援器具之發射裝置構造，其係由發射架及發射體所構成，其發射架之主座體樞接射角控制座體，而射角控制座體設有射控定位板、結合板體及控制閥體，且結合板體設有射控板，該射控板頂推於控制閥體末端，藉由射控板頂推控制閥體末端，使設於控制閥體前端之發射體擊發，且射角控制座體所設射控定位板，使發射體於發射時具有輔助之軌道。在此技術中，俯仰角以及軸向旋轉並沒有明確的控制機制。此外，在該技術中也沒有影像偵測的輔助機制。In addition, as disclosed in the Chinese Patent No. M326149, a launching device structure of a rescue device is composed of a launching frame and an emitter, and the main body of the launching frame is pivotally connected to the angle control seat body, and the angle of incidence is The control seat body is provided with an emission control positioning plate, a combined plate body and a control valve body, and the combined plate body is provided with an emission control plate, the emission control plate is pushed at the end of the control valve body, and the valve body is pushed by the emission control plate. At the end, the emitter disposed at the front end of the control valve body is fired, and the shooting angle control seat is provided with an emission control positioning plate, so that the emitter has an auxiliary track when being launched. In this technique, there is no clear control mechanism for pitch angle and axial rotation. In addition, there is no auxiliary mechanism for image detection in this technology.
綜合上述，因此需要一種多軸拋物裝置來解決習用技術所不足之處。In summary, there is a need for a multi-axis parabolic device to address the deficiencies of conventional techniques.
本創作提供一種多軸拋物裝置，可以根據控制訊號調整俯仰角以及方位角，進而更準確的將救援器具投射至受難人員所在之位置。This creation provides a multi-axis parabolic device that adjusts the pitch angle and azimuth angle based on the control signal to more accurately project the rescue device to the location of the victim.
在一實施例中，本創作提供一種多軸拋物裝置，包括有一支撐座、一旋轉座、一拋物模組以及一控制單元。該旋轉座，其係與該支撐座轉動地耦接，該旋轉座接受一第一控制訊號，進行一第一軸向的轉動運動，以調整該旋轉座之方位角。該拋物模組，其係與該旋轉座轉動地耦接，該拋物模組接受一第二控制訊號以進行一第二軸向的轉動運動，以調整該拋物模組之俯仰角。該控制單元，與該拋物模組以及該旋轉座耦接，該控制單元產生該第一與第二控制訊號。In one embodiment, the present disclosure provides a multi-axis parabolic device including a support base, a rotary base, a parabolic module, and a control unit. The rotating base is rotatably coupled to the support base, and the rotating base receives a first control signal to perform a first axial rotational movement to adjust an azimuth of the rotating base. The parabolic module is rotatably coupled to the rotating base. The parabolic module receives a second control signal for performing a second axial rotational movement to adjust a pitch angle of the parabolic module. The control unit is coupled to the parabolic module and the rotating base, and the control unit generates the first and second control signals.
在另一實施例中，該旋轉座更具有一對安裝座以及一凹槽。該對安裝座，其表面係由複數個相互連接的子平面所構成，相鄰子平面之間具有一夾角。該凹槽，其係位於該安裝座之間，該凹槽係提供該拋物模組進行該第二軸向轉動運動的空間。In another embodiment, the rotating base further has a pair of mounting seats and a recess. The pair of mounts have a surface formed by a plurality of interconnected sub-planes having an included angle between adjacent sub-planes. The groove is located between the mounts, and the groove provides a space for the parabolic module to perform the second axial rotational movement.
在另一實施例中，該拋物模組更具有承載架、拋物器以及轉軸模組，該承載架用以承載拋物器，該轉軸模組則分別設置在承載架的兩側。該轉軸模組更具有第一軸承、第二軸承以及軸桿，第一軸承和該承載架相連接，第二軸承則和旋轉座相連接，而軸桿則穿設於第一軸承與第二軸承之間，而與該第一與第二軸承與轉動連接。在另一實施例中，該承載架與該拋物器整合成單一結構。In another embodiment, the parabolic module further has a carrier, a parabolic device and a rotating shaft module, wherein the carrier is configured to carry a parabolic device, and the rotating shaft modules are respectively disposed on two sides of the carrier. The shaft module further has a first bearing, a second bearing and a shaft, the first bearing is connected with the carrier, the second bearing is connected with the rotating seat, and the shaft is inserted through the first bearing and the second Between the bearings, and the first and second bearings are connected in rotation. In another embodiment, the carrier is integrated with the parabolic device into a single structure.
請參閱圖1A所示，該圖為本創作之拋物控制系統實施例架構示意圖。在本實施例中，該拋物控制系統2包括有至少一個拋物裝置20、一微處理機21、一偵測模組22、一主操控模組23以及複數個子控制模組24。拋物裝置20的數量可以根據需求而定，至少一個就可以實施。本實施例的拋物裝置20可以進行俯仰角度以及方位角度的控制，用以將救援器具投射至目標物，其角度精度可以達0.5 mrad，但不以此為限制。救援器具可以為救生圈、網子、繩子、維生器具或食品等，但不以此為限制。此外，該拋物裝置20可以透過火藥引爆或者是高壓流體，例如：液體或氣體來推動救援器具至目標物。Please refer to FIG. 1A, which is a schematic diagram of an architectural embodiment of a parabolic control system. In this embodiment, the parabolic control system 2 includes at least one parabolic device 20, a microprocessor 21, a detection module 22, a main control module 23, and a plurality of sub-control modules 24. The number of parabolic devices 20 can be as desired, at least one can be implemented. The parabolic device 20 of the present embodiment can perform the control of the pitch angle and the azimuth angle for projecting the rescue tool to the target, and the angular accuracy can be up to 0.5 mrad, but is not limited thereto. The rescue device may be a lifebuoy, a net, a rope, a living utensil or a food, but is not limited thereto. In addition, the parabolic device 20 can be used to push the rescue device to the target by detonating the gunpowder or by a high pressure fluid, such as a liquid or gas.
每一個拋物裝置20間的距離並無一定限制，可以根據實際的需求而定。複數個拋物裝置可以設置在海岸線上，或者是船舶載具上，但不以此為限制，例如：也可以設置在陸上可移動的載具上，其可以根據實際需求而定，並不以海上救援為限制。此外，每一個拋物裝置20上更可以設置一輔助裝置202g，其係可以為影像擷取裝置、或距離偵測裝置或前述之組合。影像擷取裝置可以為單色或彩色的影像擷取裝置，例如：紅外線攝影機、日夜雙用的攝影機等，距離偵測裝置可以為雷達測距儀等。The distance between each parabolic device 20 is not limited and may be determined according to actual needs. A plurality of parabolic devices may be disposed on the shoreline or on the ship's vehicle, but are not limited thereto. For example, it may be disposed on a land-movable vehicle, which may be determined according to actual needs, and is not at sea. Rescue is a limitation. In addition, each of the parabolic devices 20 may further be provided with an auxiliary device 202g, which may be an image capturing device, or a distance detecting device or a combination thereof. The image capturing device may be a monochrome or color image capturing device, such as an infrared camera, a day/night dual-purpose camera, etc., and the distance detecting device may be a radar range finder or the like.
如圖1B與圖1C所示，該圖為本創作之拋物裝置以及拋物模組立體示意圖。在本實施例中，該拋物裝置20更包括有一支撐座200、一旋轉座201、一拋物模組202以及一控制單元203。該旋轉座201，其係與該支撐座200轉動地耦接，該旋轉座201接受一第一控制訊號，進行一第一軸向的轉動運動，本實施例之第一軸向為Z軸向，以調整該旋轉座201之方位角。支撐座200與旋轉座201之間的耦接方式係透過迴旋齒環來耦接，使得旋轉座201可以在支撐座200上進行轉動。迴旋齒環的實施方式為本領域技術之人所熟知，以下僅以一實施例來說明，但並不以此實施例為限制。As shown in FIG. 1B and FIG. 1C , the figure is a perspective view of the parabolic device and the parabolic module of the creation. In this embodiment, the parabolic device 20 further includes a support base 200, a rotating base 201, a parabolic module 202, and a control unit 203. The rotating base 201 is rotatably coupled to the support base 200. The rotating base 201 receives a first control signal for performing a first axial rotational movement. The first axial direction of the embodiment is a Z-axis. To adjust the azimuth of the rotating base 201. The coupling between the support base 200 and the rotating base 201 is coupled through the revolving ring gear such that the rotating base 201 can be rotated on the support base 200. The embodiment of the gyro tooth ring is well known to those skilled in the art, and the following is merely an embodiment, but is not limited by this embodiment.
如圖1D所示，該圖為習用之迴旋齒環實施例示意圖。在本實施例中，迴旋齒環40與旋轉座201連接，其具有內齒輪41，其係與一驅動齒輪組5相耦接。該驅動齒輪組5具有一第一齒輪50、一第二驅動齒輪51、一驅動螺桿52以及一第三驅動齒輪53。該第一驅動齒輪50，其係與該內齒輪41相齒接，在本實施例中，該第一驅動齒輪50為正齒輪(spur gear)。該第二驅動齒輪51與該第一驅動齒輪50同軸配置，其係為蝸齒輪(worm gear)且與該驅動螺桿52一端的蝸齒520相齒接。該驅動螺桿52之一另一端具有斜齒輪(bevel gear)521其係與該第三驅動齒輪53相齒接。在本實施例中，該第三驅動齒輪53為斜齒輪。第三驅動齒輪53再與一動力單元，例如驅動馬達相耦接，而驅動馬達則與該控制單元203電訊連接。透過控制單元203產生的第一控制訊號，可以控制驅動齒輪組5轉動，進而帶動該迴旋齒40環轉動，而使得旋轉座201轉動。在一實施例中，旋轉座201轉動的方位角介於+160~-160度之間。As shown in FIG. 1D, the figure is a schematic view of a conventional embodiment of a ratchet ring. In the present embodiment, the whirling ring 40 is coupled to the swivel mount 201 and has an internal gear 41 coupled to a drive gear set 5. The drive gear set 5 has a first gear 50, a second drive gear 51, a drive screw 52 and a third drive gear 53. The first drive gear 50 is toothed to the internal gear 41. In the embodiment, the first drive gear 50 is a spur gear. The second drive gear 51 is disposed coaxially with the first drive gear 50, and is a worm gear and is toothed to the worm gear 520 at one end of the drive screw 52. The other end of the drive screw 52 has a bevel gear 521 which is in contact with the third drive gear 53. In the present embodiment, the third drive gear 53 is a helical gear. The third drive gear 53 is coupled to a power unit, such as a drive motor, and the drive motor is in telecommunication connection with the control unit 203. Through the first control signal generated by the control unit 203, the rotation of the driving gear set 5 can be controlled, thereby driving the ring of the rotating tooth 40 to rotate, so that the rotating base 201 rotates. In an embodiment, the rotation of the rotating base 201 is between +160 and -160 degrees.
此外要說明的是，旋轉座201旋轉時，爲了避免轉動過量，而損傷自身的設備，或與其他機構相互干涉，更可以透過多道防護機制來進行控制。第一層可以透過軟體的方式來監控其轉動的角度是否有錯誤。第二層則是透過感測器來偵測旋轉座是否旋轉過量。第三層則是透過機械結構，例如設置彈簧來防護，避免因為轉動過量而損傷自身的機構。In addition, when the rotating base 201 rotates, in order to avoid excessive rotation, damage to its own equipment, or interfere with other mechanisms, it is also possible to control through multiple protection mechanisms. The first layer can be monitored by software to see if there is an error in its angle of rotation. The second layer is used to detect whether the rotating seat is excessively rotated through the sensor. The third layer is protected by mechanical structures, such as springs, to avoid damage to the body due to excessive rotation.
再回到圖1B與圖1C所示，該拋物模組202係與該旋轉座轉動地耦接，該拋物模組202接受一第二控制訊號以進行一第二軸向的轉動運動，以調整該拋物模組202之俯仰角，其中該俯仰角介於-20~60度之間，該第二軸向在本實施例中為Y軸向。該拋物模組202用來拋射救援器具，其係更具有承載架202a、拋物器202b以及轉軸模組202c。在本實施例中，該承載架202a用以承載拋物器202b。而轉軸模組202c則分別設置在承載架202a的兩側。本實施例中，轉軸模組202c更具有第一軸承2020、第二軸承 2021以及軸桿2022。第一軸承2020和該承載架202a相連接，第二軸承2021則和旋轉座201的結構相連接，而軸桿2022則穿設於第一軸承2020與第二軸承2021，而與該第一與第二軸承2020與2021轉動連接。要說明的是，雖然本實施例中的承載架202a和拋物器202b分屬兩個元件，在另一實施例中，承載架202a也可以和拋物器202b相互整合成單一元件。例如：承載架202a作為拋物器202b的外殼。Returning to FIG. 1B and FIG. 1C , the parabolic module 202 is rotatably coupled to the rotating base, and the parabolic module 202 receives a second control signal for performing a second axial rotational movement to adjust The pitch angle of the parabolic module 202, wherein the pitch angle is between -20 and 60 degrees, and the second axis is the Y axis in this embodiment. The parabolic module 202 is used to project a rescue device, which further has a carrier 202a, a parabolic device 202b, and a rotating shaft module 202c. In this embodiment, the carrier 202a is used to carry the parabolic device 202b. The rotating shaft modules 202c are respectively disposed on both sides of the carrier 202a. In this embodiment, the rotating shaft module 202c further has a first bearing 2020, a second bearing 2021, and a shaft 2022. The first bearing 2020 is connected to the carrier 202a, the second bearing 2021 is connected to the structure of the rotating base 201, and the shaft 2022 is disposed through the first bearing 2020 and the second bearing 2021, and the first bearing The second bearing 2020 is rotatably coupled to 2021. It should be noted that although the carrier 202a and the parabolic device 202b in the present embodiment belong to two components, in another embodiment, the carrier 202a may be integrated with the parabolic device 202b into a single component. For example, the carrier 202a acts as a housing for the parabolic device 202b.
如圖1C與1E所示，該轉軸模組之轉軸2022與一扇形齒條202d連接，其係可以和驅動齒輪202e與驅動馬達202f耦接。該驅動馬達202f根據控制單元203電訊連接，該控制單元203產生該第二控制訊號給該驅動馬達202f用以帶動該拋物模組202進行第二軸向的轉動運動，而調整其俯仰角。在另一實施例中，該拋物裝置202更具有一輔助裝置202g，用以擷取外在環境的影像，該影響的資訊可以藉由電纜線或者是光纖傳回至微處理機21。拋物器202b之一端具有開口2023，可以用來拋射救難用的網具、繩子、維生器具或食品等，但不以此為限制。此外要說明的是，拋物模組202進行第二軸向旋轉時，爲了避免轉動過量，而損傷自身的設備，或與其他機構相互干涉，更可以透過多道防護機制來進行控制。第一層可以透過軟體的方式來監控其轉動的角度是否有錯誤。第二層則是透過感測器來偵測是否旋轉過量。第三層則是透過機械結構，例如設置彈簧來防護，避免因為轉動過量而損傷自身的機構或與其他機構相互干涉。As shown in FIGS. 1C and 1E, the rotating shaft 2022 of the rotating shaft module is coupled to a sector rack 202d, which can be coupled to the driving gear 202e and the driving motor 202f. The driving motor 202f is telecommunicationally connected according to the control unit 203. The control unit 203 generates the second control signal to the driving motor 202f for driving the parabolic module 202 to perform a second axial rotational motion to adjust the pitch angle. In another embodiment, the parabolic device 202 further has an auxiliary device 202g for capturing an image of the external environment, and the information of the influence can be transmitted back to the microprocessor 21 by a cable or an optical fiber. One end of the parabolic device 202b has an opening 2023, which can be used to throw a rescue net, a rope, a living utensil or a food, etc., but is not limited thereto. In addition, when the parabolic module 202 performs the second axial rotation, in order to avoid excessive rotation, damage the device itself, or interfere with other mechanisms, it is also possible to control through multiple protection mechanisms. The first layer can be monitored by software to see if there is an error in its angle of rotation. The second layer is used to detect excessive rotation through the sensor. The third layer is protected by mechanical structures, such as springs, to avoid damage to the body due to excessive rotation or interference with other mechanisms.
再回到圖1B所示，該旋轉座201更具有一對安裝座以及一凹槽。該對安裝座201a與201b，其表面係由複數個相互連接的子平面2010所構成，相鄰子平面2010之間具有一夾角。由於相鄰子平面間距有一個夾角，因此每一個安裝座201a與201b的表面形成具有複數個折面的結構，如此的設計可以具有降低風切阻力，以及反射或散射電磁波等效果。此外，更進一步地，在每一個安裝座201a與201b的表面可以塗佈一層吸收電磁波的保護層。該凹槽201c，其係位於該安裝座201a與201b之間，該凹槽201c係提供該拋物模組202進行該第二軸向轉動運動所需的空間。在本實施例中，每一個安裝座201a與201b的上方具有凹部，用以提供承載轉軸模組202c之第二軸承 2021。要說明的是，轉軸模組202c和安裝座201a與201b耦接的方式並不以前述之方式為限制。Returning to FIG. 1B, the rotating base 201 further has a pair of mounting seats and a recess. The pair of mounts 201a and 201b have a surface formed by a plurality of interconnected sub-planes 2010 having an included angle between adjacent sub-planes 2010. Since the adjacent sub-plane spacing has an included angle, the surface of each of the mounts 201a and 201b forms a structure having a plurality of folded faces, and such a design can have effects of reducing wind shear resistance and reflecting or scattering electromagnetic waves. Further, further, a surface of each of the mounts 201a and 201b may be coated with a protective layer that absorbs electromagnetic waves. The recess 201c is located between the mounts 201a and 201b, and the recess 201c provides a space required for the parabolic module 202 to perform the second axial rotational movement. In the present embodiment, each of the mounts 201a and 201b has a recess above the second bearing 2021 for carrying the spindle module 202c. It should be noted that the manner in which the hinge module 202c and the mounts 201a and 201b are coupled is not limited in the foregoing manner.
再回到圖1A所示，該微處理機21，具有主控或分散式控制的可切換架構。在一實施例中，該微處理機21內更具有一主控器210還有複數個分控器211，其中每一個分控器211和一個拋物裝置20電訊連接。電訊連接的方式可以用有線或者是無線通訊的方式來實施。有線的方式可以採用光纖或者是電纜的方式實施。在本實施例中，拋物裝置20和各個分控器211間係透過電纜來連接，其距離可以長達40公里以上，但不以此為限制。Returning to Figure 1A, the microprocessor 21 has a switchable architecture with either master or decentralized control. In an embodiment, the microprocessor 21 further has a main controller 210 and a plurality of sub-controllers 211, wherein each of the sub-controllers 211 and one of the parabolic devices 20 are electrically connected. The way telecommunications can be connected can be implemented by wired or wireless communication. The wired method can be implemented by using an optical fiber or a cable. In this embodiment, the parabolic device 20 and each of the sub-controllers 211 are connected by a cable, and the distance can be up to 40 kilometers or more, but is not limited thereto.
該主控器210與一主操控模組23電訊連接，其電訊連接方式可以選擇光纖、電纜或者是無線通訊的方式來實施。在本實施例中，該主控器210係以光纖與主操控模組電訊連接。主操控模組23可以設置在遠端，透過上述的方式和微處理機21電訊連接。此外，每一個分控器211也和一個子操控模組24電訊連接，其電訊連接方式可以選擇光纖、電纜或者是無線通訊的方式來實施。在本實施例中，每一分控器211係以光纖與子操控模組24電訊連接。子操控模組24可以設置在遠端或者是該拋物裝置20內，透過上述的方式和微處理機21電訊連接。The main controller 210 is connected to a main control module 23 by telecommunication, and the telecommunication connection mode can be implemented by selecting an optical fiber, a cable or a wireless communication. In this embodiment, the main controller 210 is electrically connected to the main control module by using an optical fiber. The main control module 23 can be disposed at the far end and is connected to the microprocessor 21 by way of the above. In addition, each of the sub-controllers 211 is also electrically connected to a sub-manipulation module 24, and the telecommunication connection mode can be implemented by selecting an optical fiber, a cable, or a wireless communication method. In this embodiment, each of the sub-controllers 211 is electrically connected to the sub-manipulation module 24 by an optical fiber. The sub-manipulation module 24 can be disposed at the remote end or within the parabolic device 20, and is electrically connected to the microprocessor 21 in the manner described above.
請參閱圖1A和圖2A所示，圖2A為本創作之主操控模組示意圖。在圖2A中所示的為主操控模組23的實施態樣，在一實施例中，該主操控模組23包括有一顯示器230以及一操控裝置231。該顯示器230的數量可以為一個或多個，其係根據實施需求而定。在本實施例中，顯示器230可以採用子母畫面PIP或者是多視窗顯示 POP的模式來顯示，使得顯示器230的顯示區域可以有多個畫面230a分別對應來自於不同拋物裝置20的輔助裝置202g所擷取到的影像資訊，以及顯示偵測模組22，例如：控制雷達掃描模組221以及影像測距模組222所回傳的資訊。而操控裝置231用以控制拋物裝置的方位角、俯仰角、拋射救援器具，以及控制設置在拋物裝置20上的輔助裝置202g的各種功能。此外，主操控模組23更可以用來控制偵測模組22，例如控制雷達掃描模組221以及影像測距模組222，還有進行各種不同控制模式切換。Please refer to FIG. 1A and FIG. 2A. FIG. 2A is a schematic diagram of the main control module of the present invention. In an embodiment of the main control module 23 shown in FIG. 2A, in an embodiment, the main control module 23 includes a display 230 and a manipulation device 231. The number of displays 230 can be one or more depending on implementation requirements. In this embodiment, the display 230 can be displayed in a mode of displaying a POP or a multi-window display POP, so that the display area of the display 230 can have a plurality of screens 230a corresponding to the auxiliary devices 202g from different parabolic devices 20, respectively. The captured image information and the display detection module 22, for example, control the information returned by the radar scanning module 221 and the image ranging module 222. The steering device 231 is used to control the azimuth, pitch angle, projectile rescue device of the parabolic device, and various functions of the auxiliary device 202g disposed on the parabolic device 20. In addition, the main control module 23 can be used to control the detection module 22, such as controlling the radar scanning module 221 and the image ranging module 222, and performing various control mode switching.
在一實施例中，操控裝置包括有搖桿231a與至少一發射控制鈕231b和操控按鍵231c的組合，操控裝置231可以根據使用需求而定，並不以本實施例所述以及圖中所示的方式為限制。請參閱圖1A和圖2B所示，圖2B為本創作之子操控模組示意圖。在本實施例中，同樣地，該子操控模組24也包括有一顯示器240與操控裝置241。顯示器240的顯示區域可以顯示與其對應之拋物裝置的輔助裝置所擷取到的影像資訊。而操控裝置241，亦是用來，控制拋物裝置的方位角、俯仰角、拋射救援器具，以及控制設置在拋物裝置上的輔助裝置的各種功能。操控裝置241，包括有搖桿241a與至少一發射控制鈕241b和操控按鍵241c的組合。要說明的是主操控模組23與子操控模組24的操控裝置231與241可以根據使用需求而定，並不以本實施例所述以及圖中所示的方式為限制。In an embodiment, the manipulation device includes a combination of a rocker 231a and at least one emission control button 231b and a manipulation button 231c. The manipulation device 231 can be determined according to the use requirement, and is not described in the embodiment and shown in the figure. The way is limited. Please refer to FIG. 1A and FIG. 2B , FIG. 2B is a schematic diagram of the sub-control module of the creation. In the embodiment, the sub-control module 24 also includes a display 240 and a control device 241. The display area of the display 240 can display image information captured by the auxiliary device of the corresponding parabolic device. The control device 241 is also used to control the azimuth and elevation angle of the parabolic device, the projectile rescue device, and various functions of controlling the auxiliary device disposed on the parabolic device. The manipulation device 241 includes a combination of a rocker 241a and at least one emission control button 241b and a manipulation button 241c. It should be noted that the control devices 231 and 241 of the main control module 23 and the sub-manipulation module 24 may be determined according to the use requirements, and are not limited by the manners described in the embodiment and shown in the drawings.
再回到圖1A所示，該偵測模組22，其係與該微處理機21電訊連接，該偵測模組22用以偵測至少一目標物的位置。在一實施例中，該偵測模組22具有一雷達掃描模組221以及一影像測距模組222。其中，該雷達掃描模組221與該微處理機21電訊連接，在一實施例中，電訊連接的方式為透過RS422介面來實施，但不以此為限制。該雷達掃描模組221用於平面搜索以偵測出目標物的方位和距離，其範圍可以在20公里到30公里之間，但不以此為限制。該影像測距模組222與該微處理機21電訊連接，用以根據該雷達掃描單元221所掃描到的資訊，進一步偵測目標物，以取得關於該目標物的相關資訊，例如：影像資訊、位置、方位與距離資訊等。在一實施例中，該影像測距模組222可以為一FLIR模組，其係為整合紅外線顯像裝置、日夜雙用影像擷取裝置以及雷射測距儀等設備已形成影像測距模組。其中，雷射測距儀的量測範圍可以在6km~20km之間，而日夜雙用影像擷取裝置可以在8km~20km之間，紅外線顯像裝置的波長為1~15μm之間，本實施的波長為5μm。FLIR模組的影像擷取裝置可以透過光纖和微處理機耦接。要說明的是，雷達掃描模組221作為粗略搜尋的用途，而影像測距模組222則為細部搜尋的用途，亦即當雷達掃描模組221掃描到目標物之後，微處理機21可以進一步控制影像測距模組222更精細的定位出目標物的位置與方位。Referring back to FIG. 1A, the detection module 22 is electrically connected to the microprocessor 21, and the detection module 22 is configured to detect the position of at least one target. In one embodiment, the detection module 22 has a radar scanning module 221 and an image ranging module 222. The radar scanning module 221 is connected to the microprocessor 21 in a telecommunication manner. In an embodiment, the manner of the telecommunication connection is implemented through the RS422 interface, but is not limited thereto. The radar scanning module 221 is used for plane searching to detect the orientation and distance of the target, and the range may be between 20 km and 30 km, but is not limited thereto. The image ranging module 222 is electrically connected to the microprocessor 21 for further detecting the target according to the information scanned by the radar scanning unit 221 to obtain related information about the target, for example, image information. , location, location and distance information. In an embodiment, the image ranging module 222 can be an FLIR module, which is an integrated infrared imaging device, a day and night dual image capturing device, and a laser range finder. group. Among them, the range of the laser range finder can be between 6km and 20km, and the day and night dual image capturing device can be between 8km and 20km, and the wavelength of the infrared imaging device is between 1~15μm. The wavelength is 5 μm. The image capture device of the FLIR module can be coupled through an optical fiber and a microprocessor. It should be noted that the radar scanning module 221 is used for rough searching, and the image ranging module 222 is used for detailed searching, that is, after the radar scanning module 221 scans the target, the microprocessor 21 can further The control image ranging module 222 finely positions the position and orientation of the object.
請參閱圖3所示，在一實施例中，該拋物控制系統可以設置在航行載具3，例如：船艦上，複數個拋物裝置20設置在航行載具3的甲板上。在航行載具的中控中心30內部設置有拋物控制系統的微處理機，而主操控模組亦設置在該中控中心30內部。在一實施例中，每一個子控制模組，也設置在該中控中心30內。此外，在另一實施例中，子控制模組亦可以則可以設置在拋物裝置20內。雷達掃描模組221以及影像測距模組22可以設置在中控中心30的頂端，以利偵測目標物。除了設置在航行載具3上之外，也可以設置在陸地的載具或者是沿著海岸線設置。Referring to FIG. 3, in an embodiment, the parabolic control system can be disposed on the navigation vehicle 3, such as a ship, and a plurality of parabolic devices 20 are disposed on the deck of the navigation vehicle 3. A microprocessor of a parabolic control system is disposed inside the central control center 30 of the navigation vehicle, and the main control module is also disposed inside the central control center 30. In an embodiment, each sub-control module is also disposed within the central control center 30. In addition, in another embodiment, the sub-control module can also be disposed in the parabolic device 20. The radar scanning module 221 and the image ranging module 22 may be disposed at the top of the central control center 30 to facilitate detection of the target. In addition to being placed on the navigation vehicle 3, it may be provided on a land carrier or along a coastline.
接下來說明本創作的操控方式，請參閱圖1A所示，在一實施例中，拋物控制系統2的偵測模組22的雷達偵測模組221偵測到有目標物時，偵測模組22的影像測距模組會做更進一步的偵測。在一實施例中，根據雷達偵測模組221的資訊，首先透過日夜雙用影像擷取裝置先擷取對應區域的影像，再進一步透過影像識別確認目標物，一但目標物確定之後，可以進一步透過紅外線影像擷取裝置，透過熱顯像的機制，更準確的進行判斷是否為目標物。當根據日夜雙用影像擷取裝置以及紅外線影像擷取裝置所得到的影像資訊，而判斷是目標物之後，偵測模組會進一步啟動雷射測距儀進一步量測和目標物之間的距離與方位。前述的方式是偵測模組自行決定出目標物的距離與方位等資訊，在另一實施例中，偵測模組也可以將日夜雙用影像擷取裝置、外線影像擷取裝置以及雷射測距儀所量測到的資訊回傳給微處理機，由微處理機演算決定出目標物的距離與方位資訊。此外，要說明的是，偵測模組所偵測到的影像資訊或距離、方位等資訊，可以同步即時地傳至主操控模組23的顯示器上顯示出對應的資訊。Next, the control mode of the present invention is described. Referring to FIG. 1A, in an embodiment, when the radar detection module 221 of the detection module 22 of the parabolic control system 2 detects a target object, the detection mode is detected. The image ranging module of group 22 will perform further detection. In an embodiment, according to the information of the radar detecting module 221, the image of the corresponding area is first captured by the dual-use image capturing device, and then the target object is further confirmed by the image recognition. Further, through the infrared image capturing device, the mechanism of the thermal imaging is used to more accurately determine whether or not the object is the target. After determining the target object according to the image information obtained by the dual-use image capturing device and the infrared image capturing device, the detecting module further activates the laser range finder to further measure the distance between the target and the object. And orientation. In the foregoing manner, the detection module can determine the distance and orientation of the target, and in another embodiment, the detection module can also use the day and night dual image capturing device, the external image capturing device, and the laser. The information measured by the range finder is transmitted back to the microprocessor, and the distance and orientation information of the target is determined by the microprocessor. In addition, it is to be noted that information such as image information or distance, orientation, and the like detected by the detection module can be synchronously transmitted to the display of the main control module 23 to display corresponding information.
另外，要說明的是，本創作之拋物控制系統2具有主控模式或分散控制模式，在主控模式中，操控者可以在主操控模組23上透過資訊的傳輸，控制在遠端的所有的拋物裝置20，或者是主控器210自動化地控制遠端的拋物裝置20。而控制的方式可以為一次控制一台或者是一次控制多台。而在分散控制的模式中，操作者可以透過主操控模組將每一台拋物裝置20的控制權設定給特定的子操控模組控制24，一但進入到此模式，操作者就可以在遠端透過子操控模組24來控制對應的拋物裝置。此外，主操控模組23也可以切換由拋物裝置20本身所具有的控制介面來控制。In addition, it should be noted that the parabolic control system 2 of the present invention has a master mode or a decentralized control mode. In the master mode, the controller can transmit information through the master control module 23 to control all of the remote terminals. The parabolic device 20, or the main controller 210, automatically controls the distal parabolic device 20. The control method can be one control at a time or multiple at one time. In the decentralized control mode, the operator can set the control of each parabolic device 20 to the specific sub-control module control 24 through the main control module. Once the mode is entered, the operator can be far away. The end controls the corresponding parabolic device through the sub-manipulation module 24. In addition, the main control module 23 can also be controlled by the control interface of the parabolic device 20 itself.
當在主控模式的時候，當微處理21機收到關於目標物的方位、距離等資訊之後，微處理機21會根據該些資訊，決定出合適的至少一台拋物裝置20來投射救援器具，並且同時產生控制拋物裝置20所需的方位角、俯仰角以及距離資訊。其中方位角以及俯仰角資訊，用以控制拋物裝置20拋物的方位以及角度，而距離則用以決定拋射所需的力道，例如：火藥量或者是液壓量等。當決定出方位角、俯仰角以及距離資訊之後，主控器210會將相關資訊傳給對應拋物裝置20的分控器211，在經由分控器211控制對應的拋物裝置20，拋物裝置20收到這些資訊，會進行方位角、俯仰角以及火藥量的裝填，進而準確地將救援器具投射至目標物的位置。要說明的是，前述的發射方式為自動控制的方式，在另一實施例中，也可以由操作者透過主操控模組23根據方位角、俯仰角以及距離資訊直接利用主操控模組23的顯示器230以及操控裝置231來控制拋物裝置20拋射救援器具。由於發射裝置20上有輔助裝置202g，因此操作者在操作時可以根據該輔助裝置202g所回傳的資訊確認是否有誤差。而主操控模組23所產生的相關控制訊號經過主控器210傳輸至對應的分控器211再經由電纜傳至對應的拋物裝置20。When in the master mode, when the microprocessor 21 receives information about the orientation, distance, and the like of the target, the microprocessor 21 determines, according to the information, at least one parabolic device 20 to project the rescue device. And at the same time, the azimuth, elevation angle and distance information required to control the parabolic device 20 are generated. The azimuth and elevation angle information is used to control the azimuth and angle of the parabolic device 20, and the distance is used to determine the force required for the projectile, such as the amount of gunpowder or the amount of hydraulic pressure. After determining the azimuth, elevation angle and distance information, the main controller 210 transmits the relevant information to the sub-controller 211 corresponding to the parabolic device 20, and controls the corresponding parabolic device 20 via the sub-controller 211, and the parabolic device 20 receives By this information, the azimuth, elevation angle, and amount of gunpowder are loaded, and the rescue apparatus is accurately projected to the position of the target. It should be noted that the foregoing transmission mode is an automatic control mode. In another embodiment, the operator can directly utilize the main control module 23 according to the azimuth angle, the elevation angle, and the distance information through the main control module 23. The display 230 and the manipulation device 231 control the parabolic device 20 to project the rescue device. Since the transmitting device 20 has the auxiliary device 202g, the operator can confirm whether there is an error according to the information returned by the auxiliary device 202g during operation. The relevant control signals generated by the main control module 23 are transmitted to the corresponding sub-controller 211 via the main controller 210 and then transmitted to the corresponding parabolic device 20 via the cable.
當在分散控制模式時，由於已經設定好由各個子操控模組具有控制的權利，因此由操作者在子操控模組24上可以根據方位角、俯仰角以及距離資訊，直接利用子操控模組23的顯示器230以及操控裝置231來控制拋物裝置20拋射救援器具。子操控模組24所產生的控制訊號經過分控器211再經由電纜傳至對應的拋物裝置20。When in the decentralized control mode, since the sub-control module has the right to control, the operator can directly use the sub-manipulation module according to the azimuth, elevation and distance information on the sub-control module 24. The display 230 of 23 and the handling device 231 control the parabolic device 20 to project the rescue device. The control signal generated by the sub-control module 24 is transmitted to the corresponding parabolic device 20 via the sub-controller 211 via the cable.
本創作之拋物控制系統，其係具有分散式或中控式的控制機制，並且輔以視覺與距離偵測的機制，透過視覺與距離資訊可以更進一步的調整與控制發射的距離，達到更精準以及時效性的救援保護的效果。The parabolic control system of this creation has a decentralized or centrally controlled control mechanism, and is supplemented by a visual and distance detection mechanism. Through the visual and distance information, the distance of the emission can be further adjusted and controlled to achieve more precision. And the effect of time-saving rescue protection.
惟以上所述之具體實施例，僅係用於例釋本創作之特點及功效，而非用於限定本創作之可實施範疇，於未脫離本創作上揭之精神與技術範疇下，任何運用本創作所揭示內容而完成之等效改變及修飾，均仍應為下述之申請專利範圍所涵蓋。However, the specific embodiments described above are only used to illustrate the features and functions of the present invention, and are not intended to limit the scope of implementation of the present invention, without departing from the spirit and technology of the present invention. The equivalent changes and modifications made by the present disclosure are still covered by the scope of the following patent application.
2‧‧‧拋物控制系統
20‧‧‧拋物裝置
20‧‧‧拋物裝置
200‧‧‧支撐座
201‧‧‧旋轉座
201a、201b‧‧‧安裝座
201c‧‧‧凹槽
2010‧‧‧子平面
202‧‧‧拋物模組
202a‧‧‧承載架
202b‧‧‧拋物模組
202c‧‧‧轉軸模組
202d‧‧‧扇形齒條
2020‧‧‧第一軸承
2021‧‧‧第二軸承
2022‧‧‧軸桿
2023‧‧‧開口
203‧‧‧控制單元
202e‧‧‧驅動齒輪
202f‧‧‧驅動馬達
202g‧‧‧輔助裝置
21‧‧‧微處理機
210‧‧‧主控器
211‧‧‧分控器
22‧‧‧偵測模組
221‧‧‧雷達掃描模組
222‧‧‧影像測距模組
23‧‧‧主操控模組
230‧‧‧顯示器
230a‧‧‧畫面
231‧‧‧操控裝置
231a‧‧‧搖桿
231b‧‧‧發射控制鈕
231c‧‧‧操控按鍵
24‧‧‧子操控模組
3‧‧‧航行載具
30‧‧‧中控中心
40‧‧‧迴旋齒環
41‧‧‧內齒輪
5‧‧‧驅動齒輪組
50‧‧‧第一齒輪
51‧‧‧第二驅動齒輪
52‧‧‧驅動螺桿
53‧‧‧第三驅動齒輪
520‧‧‧蝸齒
521‧‧‧斜齒輪2‧‧‧Parabolic Control System
20‧‧‧Parabolic device
20‧‧‧Parabolic device
200‧‧‧ support
201‧‧‧ rotating seat
201a, 201b‧‧‧ Mounting
201c‧‧‧ Groove
2010‧‧‧Subplane
202‧‧‧Parabolic module
202a‧‧‧ Carrier
202b‧‧‧Parabolic module
202c‧‧‧Rotary shaft module
202d‧‧‧ sector rack
2020‧‧‧First bearing
2021‧‧‧second bearing
2022‧‧‧ shaft
2023‧‧‧ openings
203‧‧‧Control unit
202e‧‧‧ drive gear
202f‧‧‧Drive motor
202g‧‧‧Auxiliary device
21‧‧‧Microprocessor
210‧‧‧Master
211‧‧‧ sub-controller
22‧‧‧Detection module
221‧‧‧ radar scanning module
222‧‧‧Image Ranging Module
23‧‧‧Main control module
230‧‧‧ display
230a‧‧‧ screen
231‧‧‧Control device
231a‧‧‧ rocker
231b‧‧‧ emission control button
231c‧‧‧Control buttons
24‧‧‧Child Control Module
3‧‧‧Sailing vehicle
30‧‧‧Central Control Center
40‧‧‧ gyro ring
41‧‧‧Internal gear
5‧‧‧Drive gear set
50‧‧‧First gear
51‧‧‧Second drive gear
52‧‧‧ drive screw
53‧‧‧ Third drive gear
520‧‧‧ worm teeth
521‧‧‧ helical gear
圖1A為本創作之拋物控制系統實施例架構示意圖。 圖1B為本創作之拋物裝置立體示意圖。 圖1C該圖為本創作之拋物模組立體示意圖。 圖1D為習用之迴旋齒環實施例示意圖。 圖1E為轉軸模組連接示意圖。 圖2A與圖2B分別為本創作之主操控模組以及子操控模組實施例示意圖。 圖3為本創作拋物控制系統應用方式示意圖。FIG. 1A is a schematic structural diagram of an embodiment of a parabolic control system of the present invention. FIG. 1B is a perspective view of the parabolic device of the present invention. FIG. 1C is a perspective view of the parabolic module of the present invention. Figure 1D is a schematic view of a conventional embodiment of a ratchet ring. Figure 1E is a schematic view of the connection of the rotating shaft module. 2A and 2B are schematic diagrams of embodiments of the main control module and the sub-manipulation module of the present invention. Figure 3 is a schematic diagram of the application of the parabolic control system.
20‧‧‧拋物裝置 20‧‧‧Parabolic device
200‧‧‧支撐座 200‧‧‧ support
201‧‧‧旋轉座 201‧‧‧ rotating seat
201a、201b‧‧‧安裝座 201a, 201b‧‧‧ Mounting
201c‧‧‧凹槽 201c‧‧‧ Groove
2010‧‧‧子平面 2010‧‧‧Subplane
202‧‧‧拋物模組 202‧‧‧Parabolic module
202a‧‧‧承載架 202a‧‧‧ Carrier
202c‧‧‧轉軸模組 202c‧‧‧Rotary shaft module
202d‧‧‧扇形齒條 202d‧‧‧ sector rack
2020‧‧‧第一軸承 2020‧‧‧First bearing
2021‧‧‧第二軸承 2021‧‧‧second bearing
2022‧‧‧軸桿 2022‧‧‧ shaft
203‧‧‧控制單元 203‧‧‧Control unit
Claims (13)
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| Application Number | Priority Date | Filing Date | Title |
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| Publication Number | Publication Date |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115946828A (en) * | 2023-01-10 | 2023-04-11 | 嘉兴市荣盛救生设备有限公司 | Water life-saving equipment and use method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115946828A (en) * | 2023-01-10 | 2023-04-11 | 嘉兴市荣盛救生设备有限公司 | Water life-saving equipment and use method thereof |
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