CN104913767B - Warm depth finding device, system and method based on CAN - Google Patents
Warm depth finding device, system and method based on CAN Download PDFInfo
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- CN104913767B CN104913767B CN201510290703.7A CN201510290703A CN104913767B CN 104913767 B CN104913767 B CN 104913767B CN 201510290703 A CN201510290703 A CN 201510290703A CN 104913767 B CN104913767 B CN 104913767B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
- G01K13/02—Thermometers specially adapted for specific purposes for measuring temperature of moving fluids or granular materials capable of flow
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
- G01K7/16—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements
- G01K7/22—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements the element being a non-linear resistance, e.g. thermistor
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
Abstract
The present invention relates to a kind of warm depth finding device, system and method based on CAN, described device includes：Pressure detection module, temperature sensing module, processing module, CAN module；Pressure detection module is used to obtain the first analog signal, and is sent to processing module；Temperature sensing module is used to obtain the second analog signal, and is sent to processing module；Processing module is used to the first analog signal and the second analog signal being respectively converted into the first data signal and the second data signal, and is sent to CAN module；CAN module is used to the first data signal and the second data signal being sent to host computer.Device, the system and method for the application offer, using the pressure sensor and temperature sensor gathered data of new technology, precision is greatly improved.Also, the data collected are passed into host computer by CAN.Carried out data transmission using CAN, error correcting capability is strong, long transmission distance, traffic rate height etc..
Description
Technical field
The application is related to Ocean environment information monitoring technical field, more particularly to a kind of based on controller local area network
The warm depth finding device, system and method for (Controller Area Network, CAN) bus.
Background technology
Formula temp probe (expendable bathythermograph, abbreviation XBT) is jettisoned, ships can not influenceed
Under operational configuration, quick obtaining ocean temperature section is asked for solving ocean environment parameter measurement of the ships under maneuvering condition
Topic, while being also very important measurement equipment and measurement means in terms of oceanographic survey, Underwater Detection.
XBT is mainly made up of gesture stability part, temperature sensor, signal transmssion line etc..Gesture stability portion on probe
Part, makes probe decline in the seawater according to certain rule.Deliver after XBT, when probe reaches sea, in data acquisition board
Timer starts timing, so by the decrease speed popped one's head in and fall time, it is possible to calculate the depth of probe in the seawater
Value；Meanwhile, installed in the temperature sensor of probe distal end, it is converted into corresponding electricity the temperature value of seawater according to certain rules
Resistance, and by signal transmssion line, the resistance value of temperature sensor, being transferred in real time in data acquisition unit is used to sample.
The temperature value of current seawater can just be calculated according to resistance value, so as to obtain the temperature depth section data of seawater.
In the prior art, XBT measurement accuracy is not very high, and is carried out using 485 bus communication modes with host computer
Communication, although 485 bus protocols are simple, it is convenient to realize, but poor with error correcting capability, the shortcomings of transmission range is short.At deep-sea
When being measured in environment, due to transmission range, 485 buses are extremely difficult to desired sample rate.
The content of the invention
The purpose of the application is to provide a kind of warm depth finding device, system and method based on CAN, to solve to pass
System XBT estimates that ocean depth measurement accuracy is not high by fall time and 485 buses are extremely difficult to require sample rate is asked
Topic.
To achieve the above object, in a first aspect, this application provides a kind of warm depth finding device based on CAN,
Described device includes：Pressure detection module, temperature sensing module, processing module, CAN module；
The pressure detection module is used to obtain the first analog signal, and first analog signal is sent into the place
Manage module；
The temperature sensing module is used to obtain the second analog signal, and second analog signal is sent into the place
Manage module；
The processing module is used to first analog signal and second analog signal being respectively converted into the first number
Word signal and the second data signal, and first data signal and second data signal are sent to the CAN
Module；
The CAN module is used to first data signal and second data signal being sent to host computer.
Second aspect, this application provides a kind of warm depth sensing system based on CAN, the system includes this hair
The warm depth finding device and host computer based on CAN that bright embodiment is provided；
The host computer is used to receive the first data signal and the second data signal that the CAN module is sent, and
Ocean depth information and ocean temperature information are determined according to first data signal and second data signal respectively.
The third aspect, this application provides a kind of warm depth finding method based on CAN, methods described includes：
The first analog signal and the second analog signal are obtained respectively；
First analog signal and the second analog signal are respectively converted into the first data signal and the second data signal；
First data signal and second data signal are transmitted based on CAN communication protocol；
Respectively according to first data signal and second data signal, ocean depth information and ocean temperature are determined
Information.
Warm depth finding device, the system and method based on CAN that the application is provided, using being placed on probe segment
New technology pressure sensor and temperature sensor obtain ocean temperature data and ocean depth data respectively, measurement accuracy is big
Width is improved.Also, the data collected are passed into host computer by XBT probes by CAN and are then passed to computer.Profit
Carried out data transmission with CAN, error correcting capability is strong, long transmission distance, traffic rate height etc..
Brief description of the drawings
Fig. 1 is the warm depth finding schematic device based on CAN that the embodiment of the present application one is provided；
Fig. 2 is the warm depth sensing system schematic diagram based on CAN that the embodiment of the present application two is provided；
Fig. 3 is the warm depth finding method flow diagram based on CAN that the embodiment of the present application three is provided；
Fig. 4 is pressure detection module diagram；
Fig. 5 is temperature sensing module diagram；
Fig. 6 is the pressure detection element circuit figure in pressure detection module；
Fig. 7 is the temperature detecting unit circuit diagram in temperature sensing module.
Embodiment
Below by drawings and examples, the technical scheme to the application is described in further detail.
Fig. 1 is the warm depth finding schematic device based on CAN that the embodiment of the present application one is provided.As shown in figure 1,
Described device includes：Pressure detection module 10, temperature sensing module 20, processing module 30, CAN module 40；
Pressure detection module 10 includes pressure detection unit 101 and transmitting element 102 (as shown in Figure 4).Pressure detection list
Member is with 101 in exporting the first analog signal；Transmitting element 102 is used to send the first analog signal to processing module 30.Temperature
Detecting module 20 includes temperature detecting unit 201 and transmitting element 202 (as shown in Figure 5).Temperature detecting unit 201 is used to export
Second analog signal, transmitting element 202 is used to send the second analog signal to processing module 30, and processing module 30 specifically can be with
For single-chip microcomputer.
It should be noted that the transmission list in transmitting element 102 and temperature sensing module wherein in pressure detection module
Member 202 can make the transmission list in the transmitting element 102 and temperature sensing module in pressure detection module by PC control
The first analog signal and the second analog signal are respectively sent in processing module at times of member 202.For example：Pressure detection mould
Transmitting element 102 in block sends the first analog signal into processing module in first time period；Second time period, temperature is visited
The transmitting element 202 surveyed in module sends the second analog signal into processing module, by that analogy.Processing module 30 also includes
Receiving unit, converting unit and transmitting element.Receiving unit in processing module 30 includes two receiving channels, for respectively
Receive the first analog signal that the transmitting element 102 in pressure detection module 10 is sent, and the hair in temperature sensing module 20
The second analog signal for sending unit 202 to send；Converting unit in processing module 30 (in the present embodiment by taking A/D converter as an example)
Will time segment be transformed into respectively in two passages of receiving unit of processing module 30, by the first analog signal and the second mould
Intend signal and be respectively converted into the first data signal and the second data signal.Transmitting element in processing module 30 believes the first numeral
Number and the second data signal carry out a point byte be sent to CAN module 40 (can be as needed, each data frame is voluntarily set
In for the first data signal and the second data signal byte distribute, for example, in a data frame before several bytes be
First data signal, remaining byte is the second data signal).Wherein, CAN module 40 receives the first data signal and second
Data signal is simultaneously sent to host computer.
The warm depth finding device based on CAN that the embodiment of the present application one is provided, using being placed on probe segment
The pressure sensor and temperature sensor of new technology obtain ocean temperature data and ocean depth data respectively, and measurement accuracy is significantly
Improve.Also, the data collected are passed into host computer by XBT probes by CAN and are then passed to computer.CAN
Bus has error correcting capability strong, long transmission distance, the features such as traffic rate is high.
Fig. 2 is the warm depth sensing system schematic diagram based on CAN that the embodiment of the present application two is provided.As shown in Fig. 2
The system includes the warm depth finding device and host computer 50 based on CAN of embodiment one.
Warm depth finding device based on CAN is by the first data signal and the second data signal according to CAN
Communication protocol, is sent into host computer 50 by twisted-pair feeder.Host computer 50 is according to certain rule by the first data signal and the
After two digital signal is parsed in a data frame, the first data signal (binary system) is converted into the first numerical value (the first data signal
Decimal form, while being also the numerical monitor form of the first analog signal), according to the first numerical computations ocean depth believe
Breath, the second value (decimal form of the second data signal, while being also second is converted to by the second data signal (binary system)
The numerical monitor form of analog signal), ocean temperature information is calculated according to second value.
Specifically, because the depth of the first numerical value and ocean is linear, it is upper according to certain proportionate relationship
Machine 50 can go out the depth information of ocean by the first numerical computations.
Equally, host computer 50 calculates the resistance of the thermistor in temperature sensor according to second value, according to temperature-sensitive electricity
The resistance of resistance, is often fitted by resistance-temperature curve of thermistor with Steinhart-Hart equations：
1/T=A+Bln (R)+C (lnR)3 (1-1)
Wherein:
T-absolute temperature (K °)；
The resistance (Ω) of R-thermistor；
The constant of A, B, C-curve matching.
It is the constant term in can determine that equation that three temperature spots are chosen in required temperature-measuring range.It is past in actual applications
Toward taking more temperature spots to be calibrated, more accurate matched curve can be obtained.And then the corresponding temperature letter for calculating ocean
Breath.
The warm depth sensing system based on CAN that the embodiment of the present application two is provided, using being placed on probe segment
The pressure sensor and temperature sensor of new technology obtain ocean temperature data and ocean depth data respectively, and measurement accuracy is significantly
Improve.Also, the data collected are passed into host computer by XBT probes by CAN and are then passed to computer.CAN
Bus has error correcting capability strong, long transmission distance, the features such as traffic rate is high.
Fig. 3 is the warm depth finding method flow diagram based on CAN that the embodiment of the present application three is provided.As shown in figure 3,
Methods described includes：
Step 301, the first analog signal and the second analog signal are obtained respectively；
Specifically, pressure detection module and temperature sensing module obtain the first analog signal and the second analog signal respectively.
Step 302, first analog signal and the second analog signal are respectively converted into the first data signal and second
Data signal；
Specifically, the transmitting element in the transmitting element and temperature sensing module in pressure detection module is distinguished at times
First analog signal and the second analog signal are converted into the first data signal and the second data signal.
Step 303, first data signal and second data signal are transmitted based on CAN communication protocol；
Specifically, the communication protocol based on CAN, by the first data signal and the second data signal by twisted-pair feeder,
It is sent in host computer.
Step 304, respectively according to first data signal and second data signal, determine ocean depth information and
Ocean temperature information.
Specifically, host computer parses the first data signal and the second data signal according to certain rule in a data frame
Afterwards, the first data signal (binary system) is converted into the first numerical value (decimal form of the first data signal, while being also first
The numerical monitor form of analog signal).Because the depth of the first numerical value and ocean is linear, according to certain ratio
Relation, can go out the depth information of ocean by the first numerical computations.
By the second data signal (binary system) be converted to second value (decimal form of the second data signal, while
It is the numerical monitor form of the second analog signal), the resistance of the thermistor in temperature sensor, root are calculated according to second value
According to the resistance of thermistor, the temperature information of ocean is calculated accordingly.
The specific implementation procedure of each step has been carried out being described in detail in embodiment one in the present embodiment, no longer goes to live in the household of one's in-laws on getting married herein
State.
The warm depth finding method based on CAN that the application is provided, utilizes the new technology for being placed on probe segment
Pressure sensor and temperature sensor obtain ocean temperature data and ocean depth data respectively, and measurement accuracy is greatly improved.And
And, the data collected are passed into host computer by XBT probes by CAN and are then passed to computer.Utilize CAN
Carry out data transmission, error correcting capability is strong, long transmission distance, traffic rate height etc..
Probe unit circuit diagram in the pressure detection module that Fig. 6 provides for the present invention, as shown in fig. 6, the probe unit
Including：Pressure sensor (not shown) and amplifying circuit.Pressure sensor is used to change the pressure signal in ocean
For the 3rd analog signal, and the 3rd analog signal is input in the amplifying circuit；
Amplifying circuit obtains first analog signal and exported specifically for the 3rd analog signal is changed.Its
In, amplifying circuit includes：First operational amplifier, the second operational amplifier, the 3rd operational amplifier, digital regulation resistance are (in figure
It is not shown) and resistance R1~R9；
Pressure sensor (does not mark pressure sensor, four ends of pressure sensor are connected respectively power supply in this figure
VO1 four terminals, i.e. 4v terminals connection power supply VO1 4V terminals, VO+, VO- are connected respectively two of pressure sensor
Output end, ground terminal connection power supply VO1 ground terminal, and by VO1 ground terminal ground, so 4 of VO1 in figure
Individual terminal can be considered as 4 connection terminals of pressure sensor) positive 4V terminals connection resistance R1 first end with resistance R2's
Node between first end；Positive output end is connected positive input terminal and the second computing of the first operational amplifier with negative output terminal respectively
The positive input terminal of amplifier；The ground terminal ground of pressure sensor；Resistance R1 the second end pass through digital regulation resistance first
It (is the first passage of digital regulation resistance, number between L0 and H0 in figure that passage is connected with the negative input end of the first operational amplifier
Word potentiometer is not marked in figure)；Resistance R2 the second end is connected with the negative input end of the second operational amplifier；Resistance R3
First end connection resistance R2 and the second operational amplifier negative input end between node；Resistance R3 the second end passes through number
It (is digital regulation resistance between L1 and H0 in figure that the second channel of word potentiometer is connected with the negative input end of the first operational amplifier
Second channel, digital regulation resistance do not mark in figure)；The negative input end of first operational amplifier passes through resistance R4 and the fortune
The output end for calculating amplifier is connected, and resistance R5 first end is connected with the negative input end of the second operational amplifier, the second end
It is connected with the output end of the second operational amplifier；Resistance R6 first end and the output end and resistance R5 of the second operational amplifier
The second end between node be connected；Resistance R6 the second end is connected with the negative input end of the 3rd operational amplifier；Resistance
Node between R7 first end and the output end and resistance R4 of the first operational amplifier is connected；Put with the 3rd computing at the second end
The positive input terminal connection of big device；The positive input terminal of 3rd operational amplifier is also connected with resistance R9 first end；Negative input end is connected
Resistance R8 first end；The output end connection resistance R8 of 3rd operational amplifier the second end；Resistance R9 the second end ground connection.
In addition, pressure detection unit also includes：First constant pressure source (4V) and the second constant pressure source (1.8V)；First constant pressure
Source, for providing voltage for all circuits in pressure detection unit in addition to the 3rd operational amplifier；Second constant pressure source, is used
In providing voltage for the 3rd operational amplifier.
It should be noted that the main function of above-mentioned introduced digital regulation resistance is to adjust the zero point in the circuit
And Full-span output, the resistance in the resistance and second channel of first passage can be designated as Rd0 and Rd1 respectively.
Wherein, the first analog signal Vp of output expression is shown below：
Because the numerical value Vp of the first calculated analog signal and the depth of ocean are linear, so when host computer is obtained
When taking the numerical value Vp of the first analog signal, it is possible to the corresponding depth for calculating ocean.
Temperature detecting unit circuit diagram in the temperature sensing module that Fig. 7 provides for the present invention, as shown in fig. 7, temperature is visited
Surveying unit includes：Temperature sensor and modulate circuit；
Temperature sensor is used to ocean temperature signal being converted to the 4th analog signal；Modulate circuit is used to simulate to the 4th
Signal is changed, and is obtained the second analog signal and is exported.
Wherein, temperature detecting unit circuit (circuit that i.e. modulate circuit is collectively constituted with temperature sensor) is specifically included：
3rd constant pressure source, resistance R14~R17 and resistance R19, temperature sensor RT1, four-operational amplifier and the 5th computing are put
Big device；
The output end of 3rd constant pressure source (1.8V) connects resistance R15 first end, the power supply of four-operational amplifier respectively
Electrode input end in terminal, and resistance R17 first input end；The first of resistance R15 the second end connection resistance R14
End；Resistance R14 the second end ground connection；The positive input terminal of four-operational amplifier is connected to the knot between resistance R15 and resistance R14
Point；The negative input end of four-operational amplifier connects the node between the output end of the operational amplifier and resistance R16 first ends；
Negative input end ground connection in the power supply terminal of four-operational amplifier；
Resistance R16 the second end is connected to the knot between the negative input end of the 5th operational amplifier and resistance R19 first ends
Point；
Resistance R17 the second end be connected to the positive input terminal of the 5th operational amplifier and temperature sensor RT1 first ends it
Between node；
Temperature sensor RT1 the second end ground connection；
The output end of 5th operational amplifier is connected to resistance R19 the second end.
It is shown below according to the second analog signal Vout of circuit output expression：
The resistance of each resistance of Reasonable adjustment it can be seen from formula 3-1, it is possible to which output voltage is limited to 0V to A/D's
In full scale input range.The formula also illustrates that (R17 is Low Drift Temperature resistance, and when temperature change is larger, resistance value is also several except R17
Will not change) beyond, if other each resistive elements have identical temperature coefficient, do not interfere with measurement result.
But R17 must small from temperature coefficient, performance stabilization metalfilmresistor.Select Low Drift Temperature, low noise operational amplifier for
Ensure that measurement stability and precision are beneficial.
It should be noted that the voltage of the 3rd constant pressure source is 1.8V, the constant pressure source is electric as temperature sensor RT1 excitation
Source, while the reference voltage of A/D converter during constant pressure source offer temperature survey.Such design eliminates driving source
Change the influence to A/D output results, so as to reduce the requirement to reference power supply, improve the stability of measurement.Also, temperature
The resistance R17 that connected on sensor RT1 is spent, the electric current of temperature sensor is flowed through for limiting, is surveyed caused by reduction spontaneous heating
Measure error.
Professional should further appreciate that, each example described with reference to the embodiments described herein
Object and algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software, generally describes the composition and step of each example according to function in the above description.
These functions are performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.
Professional and technical personnel can realize described function to each specific application using distinct methods, but this realize
It is not considered that beyond scope of the present application.
The step of method or algorithm for being described with reference to the embodiments described herein, can be performed with hardware, processing module
Software module, or the two combination implemented.Software module can be placed in random access memory (RAM), internal memory, read-only storage
Device (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology neck
In any other form of storage medium well known in domain.
Above-described embodiment, purpose, technical scheme and beneficial effect to the application have been carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the application, be not used to limit the application
Protection domain, all any modification, equivalent substitution and improvements within spirit herein and principle, done etc. all should include
Within the protection domain of the application.
Claims (4)
1. a kind of warm depth finding device based on controller local area network's CAN, it is characterised in that described device includes：
Pressure detection module, temperature sensing module, processing module, CAN module；
The pressure detection module is used to obtain the first analog signal, and first analog signal is sent into the processing mould
Block；
The temperature sensing module is used to obtain the second analog signal, and second analog signal is sent into the processing mould
Block；
The processing module is used to first analog signal and second analog signal being respectively converted into the first numeral letter
Number and the second data signal, and first data signal and second data signal are sent to the CAN module；
The CAN module is used to first data signal and second data signal being sent to host computer；
Wherein, the pressure detection module includes：Pressure detection unit and transmitting element；The pressure detection unit is used to export
First analog signal；The transmitting element is used to first analog signal being sent to the processing module；
The pressure detection unit includes：Pressure sensor and amplifying circuit；The pressure sensor is used to turn pressure signal
The 3rd analog signal is changed to, and the 3rd analog signal is input in the amplifying circuit；The amplifying circuit includes the
One operational amplifier, the second operational amplifier, the 3rd operational amplifier, digital regulation resistance and multiple resistance；The amplifying circuit
For the 3rd analog signal to be converted into first analog signal and exported；
The temperature sensing module includes：Temperature detecting unit and transmitting element；The temperature detecting unit is used to export described
Second analog signal；The transmitting element is used to second analog signal being sent to the processing module；
The temperature detecting unit includes：Temperature sensor and modulate circuit；The temperature sensor is used to believe ocean temperature
Number be converted to the 4th analog signal；The modulate circuit includes the 3rd constant pressure source, four-operational amplifier, the 5th operational amplifier
With multiple resistance；The modulate circuit is used to the 4th analog signal is converted into second analog signal and exported.
2. device according to claim 1, it is characterised in that the processing module includes：Receiving unit, converting unit with
And transmitting element；
The receiving unit is used to receive first analog signal and the temperature that the pressure detection module is sent respectively
Second analog signal that detecting module is sent；
Converting unit be used for respectively by first analog signal and second analog signal be converted to the first data signal and
Second data signal；
Transmitting element is used to first data signal and second data signal being sent to the CAN module.
3. a kind of warm depth sensing system based on CAN, it is characterised in that the system includes as claimed in claim 1
Device and host computer；
The host computer is used to receive the first data signal and the second data signal that the CAN module is sent, and respectively
Ocean depth information and ocean temperature information are determined according to first data signal and second data signal.
4. a kind of warm depth finding method based on CAN, it is characterised in that methods described passes through described in claim 3
System realizes that methods described includes：
The first analog signal and the second analog signal are obtained respectively；
First analog signal and the second analog signal are respectively converted into the first data signal and the second data signal；
First data signal and second data signal are transmitted based on CAN communication protocol；
Respectively according to first data signal and second data signal, ocean depth information and ocean temperature letter are determined
Breath.
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