CN104849715A - Underwater robot distance measuring device and underwater robot distance measuring method based on wireless technology - Google Patents
Underwater robot distance measuring device and underwater robot distance measuring method based on wireless technology Download PDFInfo
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- CN104849715A CN104849715A CN201510288939.7A CN201510288939A CN104849715A CN 104849715 A CN104849715 A CN 104849715A CN 201510288939 A CN201510288939 A CN 201510288939A CN 104849715 A CN104849715 A CN 104849715A
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- wireless
- sending module
- microprocessor
- signal
- receiving module
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an underwater robot distance measuring device and an underwater robot distance measuring method based on a wireless technology, and relates to distance measuring methods. The underwater robot distance measuring device based on the wireless technology is provided with an ultrasonic transmission module, an ultrasonic receiving module, a first wireless transmission module, a second wireless transmission module, a first wireless receiving module, a second wireless receiving module, a display screen and a micro-processor, wherein the ultrasonic transmission module transmits ultrasonic waves, the first wireless transmission module which is connected with the ultrasonic transmission module synchronously transmits a signal to the first wireless receiving module, and the micro-processor starts timing when the first wireless receiving module receives the signal; when the ultrasonic receiving module receives an ultrasonic signal, the second wireless transmission module which is connected with the ultrasonic receiving module synchronously transmits a signal to the second wireless receiving module, and the micro-processor stops timing when the second wireless receiving module receives the signal; and then the time which is obtained by timing is multiplied by the speed of the ultrasonic waves to obtain the distance between the ultrasonic waves, and the distance is displayed on the display screen.
Description
Technical field
The present invention relates to distance-finding method, especially relate to a kind of underwater robot distance measuring equipment based on wireless technology and distance-finding method thereof.
Background technology
At present, underwater robot (ROV) has a very wide range of applications in China, particularly in fields such as ocean research, offshore oil drilling, sea rescue, Marine Geology, landforms, mineral products investigation.This wherein, underwater robot range finding be again one of them base application (Chinese patent CN 102029611 A).Hyperacoustic good directionality, penetration capacity is strong, is easy to obtain the acoustic energy comparatively concentrated, and in the larger solid of density and liquid, propagation distance is far away, is the good method for undersea ranging.Underwater robot range finding also can be used for underwater robot location, recovery, docking, crawl operation etc., for underwater robot provides a base application (Chinese patent CN 103926934 A).
Summary of the invention
The object of the present invention is to provide a kind of underwater robot distance measuring equipment based on wireless technology and distance-finding method thereof of being found range by ultrasound wave.
The described underwater robot distance measuring equipment based on wireless technology is provided with ultrasound wave sending module, ultrasound wave receiver module, the first wireless sending module, the second wireless sending module, the first wireless receiving module, the second wireless receiving module, display screen and microprocessor; Described ultrasound wave sending module and the first wireless sending module are connected by neutral buoyancy cable and carry out data transmission, ultrasound wave is sent by ultrasound wave sending module, first wireless sending module sends a signal to the first wireless receiving module, and the first wireless receiving module is connected with microprocessor; Described ultrasound wave receiver module and the second wireless sending module are connected by neutral buoyancy cable and carry out data transmission, ultrasound wave is sent by the second wireless sending module, second wireless sending module sends a signal to the second wireless receiving module, and the second wireless receiving module is connected with microprocessor; The output port of microprocessor is connected with the input end of display screen, by display screen display distance data.
Described ultrasound wave sending module can be driven by microprocessor STM32, hyperchannel and form with receiver ST232 and ultrasonic sensor.Microprocessor STM32 produces the ultrasonic signal of two anti-phase 40kHz by being programmed in port PA6, PA7, drive and deliver to ultrasonic sensor with receiver ST232, so just can send corresponding ultrasonic signal by ultrasonic sensor through hyperchannel.
Described ultrasound wave receiver module can be made up of microprocessor STM32, OP37 amplifying circuit, TL082 filtering circuit, LM393 shaping circuit and ultrasonic sensor, ultrasonic sensor receives ultrasonic signal, after amplification, filtering and shaping, deliver to microprocessor STM32, so just can receive corresponding ultrasonic signal by ultrasonic sensor.
Described wireless sending module can be made up of microprocessor STM8, wireless chip SX1276 and radio-frequency (RF) switch PE4259, and wireless sending module controls wireless chip serial ports by microprocessor STM8, then through match circuit, sends signal by radio-frequency (RF) switch; Wireless receiving module by radio-frequency (RF) switch Received signal strength, then through filtering circuit to wireless chip, feeds back to microprocessor STM8 by serial ports.
Based on the underwater robot distance-finding method of wireless technology, adopt the described underwater robot distance measuring equipment based on wireless technology, comprise the following steps:
Send ultrasound wave by ultrasound wave sending module, the first coupled wireless sending module sends a signal to the first wireless receiving module simultaneously, and when the first wireless receiving module receives signal, microprocessor starts timing; When ultrasound wave receiver module receives ultrasonic signal, the second coupled wireless sending module sends a signal to the second wireless receiving module simultaneously, and when the second wireless receiving module receives signal, microprocessor stops timing; Again is multiplied by hyperacoustic speed the time that timing obtains and is distance between them, and show on a display screen.
The present invention adopts the method for ultrasonic ranging to carry out undersea ranging, is one of the most reliable current technology.Hyperacoustic good directionality, penetration capacity is strong, is easy to obtain the acoustic energy comparatively concentrated, and in the larger solid of density and liquid, propagation distance is far away, is the good method for undersea ranging.Ultrasonic module is combined with wireless module by the present invention, not only can well be used for undersea ranging, and improves real-time and accuracy.And can be used for underwater robot location, recovery, docking, crawl operation etc., for underwater robot provides a base application.
Accompanying drawing explanation
Fig. 1 is the structure composition schematic diagram of the underwater robot distance measuring equipment embodiment based on wireless technology of the present invention.
Fig. 2 is the schematic diagram of ultrasound wave sending module provided by the invention.
Fig. 3 is the schematic diagram of ultrasound wave receiver module provided by the invention.
Fig. 4 is the schematic diagram of wireless module provided by the invention.
Embodiment
Following examples will the present invention is further illustrated by reference to the accompanying drawings.
See Fig. 1, the described underwater robot distance measuring equipment embodiment based on wireless technology is provided with ultrasound wave sending module 1, ultrasound wave receiver module 2, first wireless sending module 3, second wireless sending module 4, first wireless receiving module 5, second wireless receiving module 6, display screen 7 and microprocessor 8; Described ultrasound wave sending module 1 and the first wireless sending module 3 are connected by neutral buoyancy cable and carry out data transmission, ultrasound wave is sent by ultrasound wave sending module 1, first wireless sending module 3 sends a signal to the first wireless receiving module 5, first wireless receiving module 5 and is connected with microprocessor 8; Described ultrasound wave receiver module 2 and the second wireless sending module 4 are connected by neutral buoyancy cable and carry out data transmission, ultrasound wave is sent by the second wireless sending module 4, second wireless sending module 4 sends a signal to the second wireless receiving module 6, second wireless receiving module 6 and is connected with microprocessor 8; The output port of microprocessor 8 is connected with the input end of display screen 7, by display screen 7 display distance data.
Described ultrasound wave sending module can be driven by microprocessor STM32, hyperchannel and form with receiver ST232 and ultrasonic sensor.Microprocessor STM32 produces the ultrasonic signal of two anti-phase 40kHz by being programmed in port PA6, PA7, drive and deliver to ultrasonic sensor with receiver ST232, so just can send corresponding ultrasonic signal by ultrasonic sensor through hyperchannel.
Described ultrasound wave receiver module can be made up of microprocessor STM32, OP37 amplifying circuit, TL082 filtering circuit, LM393 shaping circuit and ultrasonic sensor, ultrasonic sensor receives ultrasonic signal, after amplification, filtering and shaping, deliver to microprocessor STM32, so just can receive corresponding ultrasonic signal by ultrasonic sensor.
Described wireless sending module can be made up of microprocessor STM8, wireless chip SX1276 and radio-frequency (RF) switch PE4259, and wireless sending module controls wireless chip serial ports by microprocessor STM8, then through match circuit, sends signal by radio-frequency (RF) switch; Wireless receiving module by radio-frequency (RF) switch Received signal strength, then through filtering circuit to wireless chip, feeds back to microprocessor STM8 by serial ports.
In FIG, mark A is the water surface, and B is under water.
Based on the underwater robot distance-finding method of wireless technology, adopt the described underwater robot distance measuring equipment based on wireless technology, comprise the following steps:
Send ultrasound wave by ultrasound wave sending module, the first coupled wireless sending module sends a signal to the first wireless receiving module simultaneously, and when the first wireless receiving module receives signal, microprocessor starts timing; When ultrasound wave receiver module receives ultrasonic signal, the second coupled wireless sending module sends a signal to the second wireless receiving module simultaneously, and when the second wireless receiving module receives signal, microprocessor stops timing; Again is multiplied by hyperacoustic speed the time that timing obtains and is distance between them, and show on a display screen.
See Fig. 2, ultrasound wave sending module is driven by microprocessor STM32, hyperchannel and forms with receiver ST232 and ultrasonic sensor.Microprocessor STM32 produces the ultrasonic signal of two anti-phase 40kHz by being programmed in port PA6, PA7, drive and deliver to ultrasonic sensor with receiver ST232, so just can send corresponding ultrasonic signal by ultrasonic sensor through hyperchannel.
See Fig. 3, ultrasound wave receiver module is made up of microprocessor STM32, OP37 amplifying circuit, TL082 filtering circuit, LM393 shaping circuit and ultrasonic sensor.Ultrasonic sensor receives ultrasonic signal, delivers to microprocessor STM32, so just can receive corresponding ultrasonic signal by ultrasonic sensor after amplification, filtering and shaping.
See Fig. 4, wireless module is made up of microprocessor STM8, wireless chip SX1276 and radio-frequency (RF) switch PE4259.Wireless sending module controls wireless chip serial ports by microprocessor STM8, via match circuit, sends signal by radio-frequency (RF) switch; Wireless receiving module by radio-frequency (RF) switch Received signal strength, then via filtering circuit to wireless chip, feeds back to microprocessor STM8 by serial ports.
Claims (5)
1., based on a underwater robot distance measuring equipment for wireless technology, it is characterized in that being provided with ultrasound wave sending module, ultrasound wave receiver module, the first wireless sending module, the second wireless sending module, the first wireless receiving module, the second wireless receiving module, display screen and microprocessor; Described ultrasound wave sending module and the first wireless sending module are connected by neutral buoyancy cable and carry out data transmission, ultrasound wave is sent by ultrasound wave sending module, first wireless sending module sends a signal to the first wireless receiving module, and the first wireless receiving module is connected with microprocessor; Described ultrasound wave receiver module and the second wireless sending module are connected by neutral buoyancy cable and carry out data transmission, ultrasound wave is sent by the second wireless sending module, second wireless sending module sends a signal to the second wireless receiving module, and the second wireless receiving module is connected with microprocessor; The output port of microprocessor is connected with the input end of display screen, by display screen display distance data.
2. a kind of underwater robot distance measuring equipment based on wireless technology as claimed in claim 1, it is characterized in that described ultrasound wave sending module is driven by microprocessor STM32, hyperchannel to form with receiver ST232 and ultrasonic sensor, microprocessor STM32 produces two anti-phase ultrasonic signals by being programmed in port, drive through hyperchannel and deliver to ultrasonic sensor with receiver ST232, send corresponding ultrasonic signal by ultrasonic sensor.
3. a kind of underwater robot distance measuring equipment based on wireless technology as claimed in claim 1, it is characterized in that described ultrasound wave receiver module is made up of microprocessor STM32, OP37 amplifying circuit, TL082 filtering circuit, LM393 shaping circuit and ultrasonic sensor, ultrasonic sensor receives ultrasonic signal, after amplification, filtering and shaping, deliver to microprocessor STM32, receive corresponding ultrasonic signal by ultrasonic sensor.
4. a kind of underwater robot distance measuring equipment based on wireless technology as claimed in claim 1, it is characterized in that described wireless sending module is made up of microprocessor STM8, wireless chip SX1276 and radio-frequency (RF) switch PE4259, wireless sending module controls wireless chip serial ports by microprocessor STM8, again through match circuit, send signal by radio-frequency (RF) switch; Wireless receiving module by radio-frequency (RF) switch Received signal strength, then through filtering circuit to wireless chip, feeds back to microprocessor STM8 by serial ports.
5., based on the underwater robot distance-finding method of wireless technology, it is characterized in that adopting as claimed in claim 1 based on the underwater robot distance measuring equipment of wireless technology, the concrete steps of described method are as follows:
Send ultrasound wave by ultrasound wave sending module, the first coupled wireless sending module sends a signal to the first wireless receiving module simultaneously, and when the first wireless receiving module receives signal, microprocessor starts timing; When ultrasound wave receiver module receives ultrasonic signal, the second coupled wireless sending module sends a signal to the second wireless receiving module simultaneously, and when the second wireless receiving module receives signal, microprocessor stops timing; Again is multiplied by hyperacoustic speed the time that timing obtains and is distance between them, and show on a display screen.
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| CN201510288939.7A CN104849715A (en) | 2015-05-31 | 2015-05-31 | Underwater robot distance measuring device and underwater robot distance measuring method based on wireless technology |
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| CN201510288939.7A CN104849715A (en) | 2015-05-31 | 2015-05-31 | Underwater robot distance measuring device and underwater robot distance measuring method based on wireless technology |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105356950A (en) * | 2015-11-06 | 2016-02-24 | 姜松燕 | Hydrological two-channel underwater communication system |
| CN109001738A (en) * | 2018-06-11 | 2018-12-14 | 燕山大学 | A kind of the High Precision Underwater distance-measuring equipment and distance measuring method isolated based on transmitting-receiving |
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| CN109001738A (en) * | 2018-06-11 | 2018-12-14 | 燕山大学 | A kind of the High Precision Underwater distance-measuring equipment and distance measuring method isolated based on transmitting-receiving |
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Application publication date: 20150819 |
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