CN102508287B - Underwater object detection device - Google Patents
Underwater object detection device Download PDFInfo
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- CN102508287B CN102508287B CN201110314810.0A CN201110314810A CN102508287B CN 102508287 B CN102508287 B CN 102508287B CN 201110314810 A CN201110314810 A CN 201110314810A CN 102508287 B CN102508287 B CN 102508287B
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Abstract
The invention discloses an underwater object detection device. The underwater object detection device comprises a piezoelectric transducer unit, an analog signal processing unit and an embedded system, wherein the piezoelectric transducer unit is used for performing electric-acoustic signal conversion and acoustic-electric signal conversion, namely converting electric signals to acoustic wave signals, then transmitting the acoustic wave signals to a detected object, receiving echo signals and further converting the echo signals to the electric signals; the analog signal processing unit is used for performing amplification, frequency mixing and filtering treatment on the electric signals; and the embedded system is used for controlling the piezoelectric transducer unit to convert the electric signals to the acoustic wave signals and then transmit the acoustic wave signals to the detected object, further converting the electric signals outputted by the analog signal processing unit to digital signals, then processing the digital signals and extracting the characteristics of the detected object. Compared with the existing artificial way, the underwater object detection device can save cost and improve detection stability and detection efficiency, hardware is simple in design and easy to be integrated in a portable device, and the underwater object detection device can be used for inshore underwater object detection, provide a basis for clearing or fishing the underwater objects and be applied in a variety of detection fields of submerged pipelines, ship corrosion and the like.
Description
Technical field
The invention belongs to Underwater Detection technical field, particularly relate to a kind of underwater object detection device.
Background technology
21 century is century of ocean, and rubbish detects, removes inshore is under water a new challenge.Prior art carries out the mode of manual work under water by mobilizing and organize diving fan, to inshore under water rubbish detect and remove.
But adopt the reliability of manual work mode low, human cost is high, along with the increasing of garbage-cleaning task under water in recent years, manual work mode reduces the efficiency of garbage-cleaning.
Summary of the invention
The object of the embodiment of the present invention is to provide a kind of underwater object detection device, is convenient to solve existing detection and the removing being carried out rubbish under water by manual work mode, and reliability is low, the problem that human cost is high.
The embodiment of the present invention is achieved in that a kind of underwater object detection device, and described device comprises:
Carry out the Piezoelectric transducer elements of electroacoustic signal conversion and acoustoelectric signal conversion, launch to detecting object after converting the electrical signal to acoustic signals, and convert echoed signal to electric signal after receiving echoed signal;
Analogy signal processing unit, exports for amplifying the electric signal after Piezoelectric transducer elements conversion, after mixing and filtering process;
Embedded system, for sending emissioning controling signal by analogy signal processing unit, control to launch to detecting object after Piezoelectric transducer elements converts the electrical signal to acoustic signals, and digital signal is converted to the electric signal that analogy signal processing unit exports, afterwards digital signal is processed, extract the feature of detecting object.
Underwater object detection device provided by the invention sends acoustic signals by Piezoelectric transducer elements to detection undersea detection object, and after receiving the echoed signal of feedback, Treatment Analysis is carried out to this echoed signal, and then extract the characteristic information of immersed body, for existing manual type, save cost, improve detection stability and detection efficiency, and hardware design is simple, be easy to be integrated in mancarried device, can be relevant department or tissue carry out inshore under water refuse cleaning foundation is provided, economical, social benefit is remarkable, and can be applicable to subsea pipeline, the multiple field of detecting such as marine corrosion.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of underwater object detection device provided by the invention;
Fig. 2 is the workflow diagram of underwater object detection device provided by the invention;
Fig. 3 is the circuit diagram of transmitter unit in Fig. 1;
Fig. 4 is the circuit diagram of mixing unit in Fig. 1, filter unit and local oscillator unit;
Fig. 5 is the circuit diagram receiving and dispatching converting unit in Fig. 1.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, underwater object detection device provided by the invention comprises: the Piezoelectric transducer elements 1 carrying out electroacoustic signal conversion and acoustoelectric signal conversion, launch to detecting object after converting the electrical signal to acoustic signals, and convert echoed signal to electric signal after receiving echoed signal; Analogy signal processing unit 2, amplifies for the electric signal after changing Piezoelectric transducer elements 1, exports after mixing and filtering process; Embedded system 3, for sending emissioning controling signal by analogy signal processing unit 2, control to launch to detecting object after Piezoelectric transducer elements 1 converts the electrical signal to acoustic signals, and digital signal is converted to the electric signal that analogy signal processing unit 2 exports, afterwards this digital signal is processed, extract the feature of detecting object, this feature comprises and the information such as the distance of this device, motion state and material.
Wherein, embedded system 3 processes this digital signal, the step extracting the feature of detecting object specifically comprises: embedded system 3 carries out fast fourier transform (FFT) to extract signal frequency to this digital signal, thus determines the motion state of detecting object; Embedded system 3 carries out digital filtering to this digital signal, extracts echo time information, calculates the distance of detecting object and this device; Embedded system 3 intercepts the coda wave of this digital signal, utilizes Hilbert transform to extract signal envelope, and by comparing with the training sample prestored, determines object material.
As shown in Figure 2, the workflow of underwater object detection device provided by the invention comprises:
In step s 11, after initialization, emission control;
In step s 12, ultrasound wave is launched to detecting object;
In step s 13, echo is received;
In step S14, echoed signal is processed;
In step S15, Graphics Processing result.
This underwater object detection device can also comprise: the power supply unit 4 of connecting analog signal processing unit 2; And/or connect the man-machine interface 5 of embedded system 3.
Wherein, analogy signal processing unit 12 comprises: transmitter unit 21, carries out power amplification for emissioning controling signal embedded system 3 sent, and excitation Piezoelectric transducer elements 1 launches ultrasound wave; Echoed signal amplifying unit 22, carries out impedance matching and amplification for the electric signal exported by analogy signal processing unit 2; Mixing unit 23, the frequency of the electric signal after amplifying for reducing echoed signal amplifying unit 22, to reach the sampling rate of embedded system 3; Filter unit 24, for the high frequency interference composition in the electric signal that filtering mixing unit 23 exports; Local oscillator unit 25, for providing the local frequency of 350kHz for mixing unit 23.
Wherein, echoed signal amplifying unit 22 adopts model to be that the chip of CA3140 forms voltage follower and completes impedance matching, and adopts model to be that the chip of CA3140 carries out two-stage amplification.
Wherein, as shown in Figure 3, transmitter unit 21 comprises: phase inverter U1, phase inverter U2, phase inverter U3, phase inverter U4, phase inverter U5, phase inverter U6, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, the first Darlington circuit Q1 be made up of two triodes, the second Darlington circuit Q2 be made up of two triodes, the 3rd Darlington circuit Q4 be made up of two triodes, the 4th Darlington circuit Q4 that is made up of two triodes.Wherein, the input end of phase inverter U1 connects the positive pin of the emission control+IN of embedded system 3, and pin-IN is born in the emission control of the input end connection embedded system 3 of phase inverter U2; The output terminal of phase inverter U1 connects the input end of phase inverter U3 and the input end of phase inverter U4, and the output terminal of phase inverter U2 connects the input end of phase inverter U5 and the input end of phase inverter U6; The output terminal of phase inverter U3 connects the output terminal of phase inverter U4, and the base stage of a triode in the base stage of a triode in the first Darlington circuit Q1 and the 4th Darlington circuit Q4 is connected by resistance R2, the output terminal of phase inverter U5 connects the output terminal of phase inverter U6, and connects the base stage of a triode in the base stage of a triode in the second Darlington circuit Q2 and the 3rd Darlington circuit Q3 by resistance R5; In first Darlington circuit Q1, the collector of another triode connects+5V direct current, in first Darlington circuit Q1, the emitter of another triode connects the collector of another triode in the second Darlington circuit Q2, and the grounded emitter of another triode in Piezoelectric transducer elements 1, second Darlington circuit Q2 is connected by an impedance-matching transformer; In 3rd Darlington circuit Q3, the collector of another triode connects+5V direct current, in 3rd Darlington circuit Q3, the emitter of another triode connects the collector of another triode in the 4th Darlington circuit Q4, and the grounded emitter of another triode in Piezoelectric transducer elements the 1, four Darlington circuit Q4 is connected by this impedance-matching transformer.
Embedded system 3 is born pin-IN by emission control positive pin+IN and emission control and is sent emissioning controling signal.Particularly, when emissioning controling signal be that the positive pin of emission control+IN is high level, emission control to bear pin-IN be low level time, the first Darlington circuit Q1 and the 4th Darlington circuit Q4 conducting, the 3rd Darlington circuit Q3 and the second Darlington circuit Q2 ends; When emissioning controling signal be that the positive pin of emission control+IN is low level, emission control to bear pin-IN be high level time, 3rd Darlington circuit Q3 and the second Darlington circuit Q2 conducting, first Darlington circuit Q1 and the 4th Darlington circuit Q4 ends, by impedance-matching transformer, driving pulse is added on Piezoelectric transducer elements 1, sends ultrasound wave to make Piezoelectric transducer elements 1.Emissioning controling signal be emission control positive pin+IN and emission control bear pin-IN be low level time, Darlington circuit all ends, bearing pin-IN in order to ensure emission control positive pin+IN and emission control is low level, transmitter unit 21 also comprises: resistance R1 and resistance R4, the input end of phase inverter U1 is by resistance R1 ground connection, and the input end of phase inverter U5 is by resistance R4 ground connection.
Wherein, because the sampling rate of embedded system 3 is lower, and the frequency of echoed signal is higher, in order to meet Shannon's sampling theorem, down-converted need be carried out to the electric echo signal after amplification, the electric signal exported by echoed signal amplifying unit 22 carries out mixing with the local oscillation signal of 350kHz, then by after filter unit filtering interference signals, the electric echo signal of 50kHz is sent into embedded system 3 and processes.As shown in Figure 4, mixing unit 23 adopts model to be the chip U1 of SA612, and its signal input pin 1 connects echoed signal amplifying unit 22 by electric capacity C1, and its signal output pin 4 connects filter unit 24.Filter unit 24 comprises resistance R10 and electric capacity C5.One end of resistance R10 connects the signal output pin of mixing unit 23, and the other end of resistance R10 connects embedded system 3, and by electric capacity C5 ground connection.This vibration unit 25 adopts 555 flip-flop chip U2.
555 flip-flop chip U2 produce the local oscillation signal of 350kHz and export to mixing unit 23, mixing unit 23 exports electric signal by 4 pin, this electric signal include electric echo signal, local oscillation signal, echoed signal and local oscillation signal with frequency signal, difference frequency signal and noise, this electric signal by filter unit 24 filtering echoed signal, local oscillation signal and and frequently after signal, export the difference frequency signal of 50kHz.
Piezoelectric transducer elements 1 comprises a piezoelectric transducer 11, and preferably, the PZT-5 of the model of piezoelectric transducer 11 to be resonance frequency be 400kHz, due to transmit-receive sharing, therefore Piezoelectric transducer elements 1 also comprises a transmitting-receiving converting unit 12.
Wherein, as shown in Figure 5, receive and dispatch converting unit 12 to comprise: transformer T1, diode D1, diode D2, transducer Y, resistance R7, diode D3, diode D4, inductance L 1.Wherein, the two ends of the primary coil of transformer T1 connect the electrical signal of transmitter unit 21 respectively, one end of the secondary coil of transformer T1 connects the anode of diode D1 and the negative electrode of diode D2, the negative electrode of diode D1 connects the anode of diode D2, and common one end of contact resistance R7 and one end of transducer Y, the other end of resistance R7 connects echoed signal amplifying unit 22; The other end of the secondary coil of the other end connection transformer T1 of transducer Y, the other end of transducer Y connects one end of inductance L 1 simultaneously, the other end of inductance L 1 connects the anode of diode D3 and the negative electrode of diode D4, the other end of the negative electrode of diode D3 and the equal contact resistance R7 of the anode of diode D4.
When system works is at emission state; transmit by diode D1 and diode D2; thus excitation transducer Y produces ultrasound wave; amplitude limiter circuit simultaneously through being made up of resistance R7, diode D3 and diode D4; the amplitude that transmits entering into amplifying circuit is dropped to about 0.6V, effectively protects amplifying circuit and subsequent process circuit.Transducer Y is by power choke coil ground connection simultaneously, effectively can reduce the interference transmitted to ground wire.When system works is in accepting state, the echoed signal that transducer Y receives can not by diode D1 and diode D2, effectively prevent echoed signal from returning transmitter unit 21, by the secondary coil bypass of transformer T1, on the contrary, the echoed signal that amplitude is very little almost not damply by the amplitude limiter circuit of R7, diode D3 and diode D4 composition, can enter into echoed signal amplifying unit 22 and effectively amplifies.
In order to improve the portability that inshore undersea detection object features is extracted, in the present invention, power supply unit 4 comprises: chargeable lithium cell; Connect the first mu balanced circuit of this lithium battery; And connect the second mu balanced circuit of the first mu balanced circuit.Wherein, the first mu balanced circuit adopts model to be the voltage regulator chip of 7812, and exports+12V the direct current of the power supply as transmitter unit 21 and echoed signal amplifying unit 22; Second mu balanced circuit employing signal is the voltage stabilizer signal of 7805, and exports+5V the direct current as the power supply of mixing unit 23, embedded system 3.
In order to ensure the reliability of power circuit, while each several part circuit input end has installed fuse, at lithium battery output terminal, fender being installed, having prevented overcharge and the overdischarge of battery; The input end of lithium battery is connected to circuit system by a diode, like this once the positive and negative termination of power supply is anti-, because of the unilateral conduction of diode, can not generation current in power supply and circuit, thus protect circuit and power supply.
In the present invention, embedded system 3 adopts a model to be the embedded board of S3C2440, utilizes GPB0 and the GPB1 port of this embedded board to send emissioning controling signal, preferably, the frequency of emissioning controling signal is 400kHz, and the duration is 1ms, and the repetition period is 500ms; The AIN0 port of this embedded board connects the output terminal of filtering 24, thus carries out analog to digital conversion and follow-up digital signal processing to the electric signal that the frequency that filter unit 24 exports is 50kHz.
In order to improve the antijamming capability of each circuit, power supply unit 4 and transmitter unit 21 being integrated on a pcb board, and other unit in analogy signal processing unit 2 is integrated on another pcb board.
Underwater object detection device provided by the invention sends acoustic signals by Piezoelectric transducer elements 11 to detection undersea detection object, and after receiving the echoed signal of feedback, Treatment Analysis is carried out to this echoed signal, and then extract the characteristic information of immersed body, for existing manual type, save cost, improve detection stability and detection efficiency, and hardware design is simple, be easy to be integrated in mancarried device, can be relevant department or tissue carry out inshore under water refuse cleaning foundation is provided, economical, social benefit is remarkable, and can be applicable to subsea pipeline, the multiple field of detecting such as marine corrosion.
The above; be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (7)
1. a underwater object detection device, is characterized in that, described device comprises:
Carry out the Piezoelectric transducer elements of electroacoustic signal conversion and acoustoelectric signal conversion, launch to detecting object after converting the electrical signal to acoustic signals, and convert echoed signal to electric signal after receiving echoed signal;
Analogy signal processing unit, exports for amplifying the electric signal after Piezoelectric transducer elements conversion, after mixing and filtering process;
Embedded system, for sending emissioning controling signal by analogy signal processing unit, control to launch to detecting object after Piezoelectric transducer elements converts the electrical signal to acoustic signals, and digital signal is converted to the electric signal that analogy signal processing unit exports, afterwards digital signal is processed, extract the feature of detecting object;
Wherein, feature comprises and the distance of this device, motion state and material information; Embedded system processes digital signal, and the step extracting the feature of detecting object specifically comprises:
Embedded system carries out fast fourier transform to extract signal frequency to digital signal, thus determines the motion state of detecting object;
Embedded system carries out digital filtering to digital signal, to extract echo time information exactly, calculates the distance of detecting object and this device;
Embedded system intercepts the coda wave of this digital signal, utilizes Hilbert transform to extract signal envelope, and by comparing with the training sample prestored, determines object material;
Described device also comprises:
The power supply unit of connecting analog signal processing unit; And/or
Connect the man-machine interface of embedded system;
Described power supply unit and transmitter unit are integrated on a pcb board, and other unit in described analogy signal processing unit is integrated on another pcb board;
Described analogy signal processing unit comprises:
Transmitter unit, carries out power amplification for emissioning controling signal embedded system sent, and excitation Piezoelectric transducer elements launches ultrasound wave;
Echoed signal amplifying unit, carries out impedance matching and amplification for the electric signal exported by Piezoelectric transducer elements;
Mixing unit, the frequency of the electric signal after amplifying for reducing echoed signal amplifying unit (22), to meet the sampling rate of embedded system;
Filter unit, for the high frequency interference composition in the electric signal that filtering mixing unit exports;
Local oscillator unit, for providing the local oscillation signal of 350kHz for mixing unit.
2. underwater object detection device as claimed in claim 1, is characterized in that, echoed signal amplifying unit adopts model to be that the chip of CA3140 forms voltage follower and completes impedance matching, and adopts model to be that the chip of CA3140 carries out two-stage amplification.
3. underwater object detection device as claimed in claim 2, it is characterized in that, transmitter unit comprises: phase inverter U1, phase inverter U2, phase inverter U3, phase inverter U4, phase inverter U5, phase inverter U6, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, the first Darlington circuit Q1 be made up of two triodes, the second Darlington circuit Q2 be made up of two triodes, the 3rd Darlington circuit Q3 be made up of two triodes, the 4th Darlington circuit Q4 that is made up of two triodes;
The input end of phase inverter U1 connects the positive pin of the emission control+IN of embedded system (3), and pin-IN is born in the emission control of input end connection embedded system (3) of phase inverter U2; The output terminal of phase inverter U1 connects the input end of phase inverter U3 and the input end of phase inverter U4, and the output terminal of phase inverter U2 connects the input end of phase inverter U5 and the input end of phase inverter U6; The output terminal of phase inverter U3 connects the output terminal of phase inverter U4, and the base stage of a triode in the base stage of a triode in the first Darlington circuit Q1 and the 4th Darlington circuit Q4 is connected by resistance R2, the output terminal of phase inverter U5 connects the output terminal of phase inverter U6, and connects the base stage of a triode in the base stage of a triode in the second Darlington circuit Q2 and the 3rd Darlington circuit Q3 by resistance R5; In first Darlington circuit Q1, the collector of another triode connects+5V direct current, in first Darlington circuit Q1, the emitter of another triode connects the collector of another triode in the second Darlington circuit Q2, and connect Piezoelectric transducer elements (1) by an impedance-matching transformer, the grounded emitter of another triode in the second Darlington circuit Q2; In 3rd Darlington circuit Q3, the collector of another triode connects+5V direct current, in 3rd Darlington circuit Q3, the emitter of another triode connects the collector of another triode in the 4th Darlington circuit Q4, and connect Piezoelectric transducer elements (1) by this impedance-matching transformer, the grounded emitter of another triode in the 4th Darlington circuit Q4.
4. underwater object detection device as claimed in claim 3, it is characterized in that, transmitter unit also comprises: the input end of resistance R1 and resistance R4, phase inverter U1 is by resistance R1 ground connection, and the input end of phase inverter U5 is by resistance R4 ground connection.
5. underwater object detection device as claimed in claim 4, is characterized in that, mixing unit employing model is the chip U1 of SA612, and its signal input pin connects echoed signal amplifying unit by electric capacity C1, and its signal output pin connects filter unit;
Filter unit comprises resistance R10 and electric capacity C5; One end of resistance R10 connects the signal output pin of mixing unit, and the other end of resistance R10 connects embedded system, and by electric capacity C5 ground connection;
Local oscillator unit adopts 555 flip-flop chip U2.
6. underwater object detection device as claimed in claim 5, it is characterized in that, Piezoelectric transducer elements comprises the piezoelectric transducer that a model is PZT-5, and transmitting-receiving converting unit (12);
Transmitting-receiving converting unit comprises: transformer T1, diode D1, diode D2, transducer Y, resistance R7, diode D3, diode D4, inductance L 1; The two ends of the primary coil of transformer T1 connect the electrical signal of transmitter unit respectively, one end of the secondary coil of transformer T1 connects the anode of diode D1 and the negative electrode of diode D2, the negative electrode of diode D1 connects the anode of diode D2, and common one end of contact resistance R7 and one end of transducer Y, the other end of resistance R7 connects echoed signal amplifying unit; The other end of the secondary coil of the other end connection transformer T1 of transducer Y, the other end of transducer Y connects one end of inductance L 1 simultaneously, the other end of inductance L 1 connects the anode of diode D3 and the negative electrode of diode D4, the other end of the negative electrode of diode D3 and the equal contact resistance R7 of the anode of diode D4.
7. underwater object detection device as claimed in claim 6, is characterized in that, embedded system adopts a model to be the embedded board of S3C2440, utilizes GPB0 and the GPB1 port of this embedded board to send emissioning controling signal; The frequency of emissioning controling signal is 400kHz, and the duration is 1ms, and the repetition period is 500ms; The AIN0 port of embedded board connects the output terminal of filter unit, thus carries out analog to digital conversion and follow-up digital signal processing to the electric signal that the frequency that filter unit exports is about 50kHz.
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| CN104809350B (en) * | 2015-04-29 | 2018-11-09 | 浙江工商大学 | The differentiating method of ocean rubbish and bion |
| CN105158341B (en) * | 2015-09-18 | 2018-05-25 | 重庆大学 | Transformer winding material discrimination method based on the velocity of sound |
| CN106873042A (en) * | 2015-12-14 | 2017-06-20 | 北京卫星环境工程研究所 | The detection system of the water surface/submarine target based on magnetic core coil |
| FR3050531B1 (en) * | 2016-04-21 | 2018-05-25 | Safran | SYSTEM AND METHOD FOR CONTROLLING ACOUSTIC WAVE STRUCTURE OF CODA |
| CN107277682B (en) * | 2017-08-16 | 2023-11-14 | 大连海洋大学 | Underwater sound production device and fish trapping detection system |
| CN109917448A (en) * | 2019-04-04 | 2019-06-21 | 常德市鼎城九申管道燃气有限公司 | A kind of detection of nonmetal pipeline and localization method |
| CN110542766B (en) * | 2019-08-22 | 2021-08-20 | 中国船舶重工集团公司第七0七研究所九江分部 | Processing circuit suitable for acoustic Doppler measures velocity of flow |
| CN112558142A (en) * | 2020-11-13 | 2021-03-26 | 天津大学 | Buried sound source with 35kHz as central frequency |
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| CN101000241A (en) * | 2006-12-31 | 2007-07-18 | 哈尔滨工程大学 | Portable multi-beam depth sounder |
| CN101369021A (en) * | 2008-10-09 | 2009-02-18 | 中国人民解放军海军工程大学 | Two-dimension scattering property measuring method for underwater movement objective |
| CN101650436A (en) * | 2009-09-23 | 2010-02-17 | 哈尔滨工程大学 | Embedded type intelligent acoustic detection system |
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| CN101000241A (en) * | 2006-12-31 | 2007-07-18 | 哈尔滨工程大学 | Portable multi-beam depth sounder |
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| CN101650436A (en) * | 2009-09-23 | 2010-02-17 | 哈尔滨工程大学 | Embedded type intelligent acoustic detection system |
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