CN108226431A - The adjustable deep sea exploring device of depth - Google Patents
The adjustable deep sea exploring device of depth Download PDFInfo
- Publication number
- CN108226431A CN108226431A CN201810001693.4A CN201810001693A CN108226431A CN 108226431 A CN108226431 A CN 108226431A CN 201810001693 A CN201810001693 A CN 201810001693A CN 108226431 A CN108226431 A CN 108226431A
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- China
- Prior art keywords
- steering engine
- singlechip
- angular transducer
- depth
- fixed shell
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 2
- 238000005259 measurement Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
Abstract
The invention discloses a kind of adjustable deep sea exploring devices of depth, including unmanned boat and angular transducer, fixed shell is equipped on the outside of angular transducer, unmanned boat is internally provided with first circuit board, angular transducer is mounted on unmanned boat bottom sidewall, angular transducer includes fixing end and mobile terminal, second circuit board is equipped in fixed shell, angular transducer connects second circuit board by data transmission link, the first steering engine and the second steering engine are additionally provided in fixed shell, first steering engine and the second steering engine are separately mounted to fixed shell both ends, first steering engine and the second steering engine are equipped with fixed end and rotation end, and fixed end is embedded into fixed shell, structural principle of the present invention is simple, angular transducer depth can be automatically adjusted, realize the purpose for the water quality parameter for measuring designated depth.
Description
Technical field
The present invention relates to deep-sea detecting technical field, specially a kind of adjustable deep sea exploring device of depth.
Background technology
It generally uses using the design of Yu Haiyang and the water quality parameter in general waters and sensor is put into water at present directly
It is tested.General measure place is fixed, even if can be fixed on mobile object, carries out pull-alongs measurement, still can not be true
Determine the water quality parameter of different depth.Because in production and living or in research work, the water quality parameter under different depth is poor
It is very not big, it is necessary to know the water quality parameter under different depth.The method that can be realized now is carried each using underwater robot
Kind sensor measures, but this mode is extremely complex and expensive.
So reducing the water quality parameter of the measurement different depth of cost and operation easy to use becomes particularly important, also should
This is the emphasis of research, does not find the equipment introduction similar with the invention in core periodical and patent consulting.
Invention content
The purpose of the present invention is to provide a kind of adjustable deep sea exploring device of depth, to solve to carry in above-mentioned background technology
The problem of going out.
To achieve the above object, the present invention provides following technical solution：A kind of adjustable deep sea exploring device of depth, including
Unmanned boat and angular transducer, the angular transducer outside are equipped with fixed shell, and the unmanned boat is internally provided with the first circuit
Plate, the angular transducer are mounted on unmanned boat bottom sidewall, and the angular transducer includes fixing end and mobile terminal, described solid
Second circuit board is equipped in fixed shell, the angular transducer connects second circuit board, the fixation by data transmission link
The first steering engine and the second steering engine are additionally provided in housing, first steering engine and the second steering engine are separately mounted to fixed shell both ends,
First steering engine be equipped with first fix end and first rotation end, second steering engine be equipped with second fix end and
Second rotation end, and the first fixation end and the second fixation end are embedded into fixed shell.
Preferably, first singlechip and second singlechip are respectively equipped on the first circuit board and second circuit board, institute
It is STM32F103T8U6 to state first singlechip and second singlechip model, and the first singlechip connects the second monolithic respectively
Machine and angular transducer, the second singlechip connect the first steering engine, the second steering engine and water quality parameter sensor respectively.
Preferably, the data transmission link uses RS485 transmission lines.
Preferably, first steering engine and the second steering engine are FUTABA-S3003 type steering engines, first steering engine and
The composition acp chip of two steering engines is BA6688L and BAL6686.
Preferably, application method includes the following steps：
A, host computer sends the water quality parameter of designated depth H to first singlechip；When first singlechip receives instruction
When, first singlechip acquires the angle of current sensor by angular transducer first, it is known that the line length of sensor, so can
To calculate current depth h；
B, the value for carrying out H and h at this time compares, it can be deduced that the angle of rudder face rotation, then by RS485 by rotation angle
Second singlechip is transferred to, second singlechip is handled, and can calculate corresponding rotation angle；
C, the continuous acquisition angles α of angular transducer when equal with desired angle θ, is then sensed to water quality parameter
Device sends acquisition instructions；
D, it is last, collected data are sent to host computer by RS485 transmission lines, realize measurement designated depth
Water quality parameter purpose.
Compared with prior art, the beneficial effects of the invention are as follows：Structural principle of the present invention is simple, can automatically adjust angle
Sensor depth realizes the purpose for the water quality parameter for measuring designated depth.
Description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is the relation schematic diagram of inventive sensor angle and depth；
Fig. 3 is rudder face rotation angle of the present invention and the relation schematic diagram at the sensor elevation angle；
Fig. 4 is the control principle block diagram of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
- 4 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of adjustable deep sea exploring device of depth, including nothing
People's ship 1 and angular transducer 2,2 outside of angular transducer are equipped with fixed shell 3, and the unmanned boat 1 is internally provided with the first electricity
Road plate, the angular transducer 2 are mounted on 1 bottom sidewall of unmanned boat, and the angular transducer 2 includes fixing end 21 and mobile terminal
22, the fixed shell 3 is interior to be equipped with second circuit board, and the angular transducer 2 passes through data transmission link 4 and connects second circuit
Plate, data transmission link 4 use RS485 transmission lines；The first steering engine 5 and the second steering engine 6 are additionally provided in the fixed shell 3,
First steering engine, 5 and second steering engine 6 is separately mounted to 3 both ends of fixed shell, and first steering engine 5 is equipped with the first fixing end
Portion 51 and first rotates end 52, and second steering engine 6 is equipped with second and fixes the rotation end 62 of end 61 and second, and described
First fixation end 51 and second fix end 61 is embedded into fixed shell 3, just can guarantee in this way the first fixation end with
Water quality parameter sensor is in the same plane.Rotation end can be gone out different by the different rotary of the pwm signal of microcontroller
Angle achievees the purpose that adjust sensor depth；First steering engine 5 and the second steering engine 6 are FUTABA-S3003 type steering engines, described
The composition acp chip of first steering engine 5 and the second steering engine 6 is BA6688L and BAL6686.
If as shown in Fig. 2, the angle [alpha] of known sensor, and the line length L of towing gear according to triangle it is known that can survey
Calculation method obtains the depth h of sensor at this time.And the measurement of angle is completed by angular transducer, there are one fixed for angular transducer
It holds, mobile terminal, fixing end, the angle between mobile terminal is exactly the angle [alpha] when lower sensor.
As shown in figure 3, if single chip processing module calculates the angle beta that rudder face needs rotate, such sensor is in difference
Under the influence of flow, stress is different, rudder face can in X-axis rotation β degree, can thus change the elevation angle of sensor, and then change
The angle of sensor.
As shown in figure 4, in the present invention, first singlechip 7 and second is respectively equipped on first circuit board and second circuit board
Microcontroller 8, the first singlechip 7 and 8 model of second singlechip are STM32F103T8U6, and the first singlechip 7 is distinguished
Connection second singlechip 8 and angular transducer 2, the second singlechip 8 connect the first steering engine 5, the second steering engine 6 and water quality respectively
Parameter sensors 9.
The application method of the present invention includes the following steps：
A, host computer sends the water quality parameter of designated depth H to first singlechip；When first singlechip receives instruction
When, first singlechip acquires the angle of current sensor by angular transducer first, it is known that the line length of sensor, so can
To calculate current depth h；
B, the value for carrying out H and h at this time compares, it can be deduced that the angle of rudder face rotation, then by RS485 by rotation angle
Second singlechip is transferred to, second singlechip is handled, and can calculate corresponding rotation angle；
C, the continuous acquisition angles α of angular transducer when equal with desired angle θ, is then sensed to water quality parameter
Device sends acquisition instructions；
D, it is last, collected data are sent to host computer by RS485 transmission lines, realize measurement designated depth
Water quality parameter purpose.
In conclusion structural principle of the present invention is simple, angular transducer depth can be automatically adjusted, it is specified to realize measurement
The purpose of the water quality parameter of depth.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of adjustable deep sea exploring device of depth, including unmanned boat (1) and angular transducer (2), it is characterised in that：It is described
Fixed shell (3) is equipped on the outside of angular transducer (2), the unmanned boat (1) is internally provided with first circuit board, the angle sensor
For device (2) mounted on unmanned boat (1) bottom sidewall, the angular transducer (2) includes fixing end (21) and mobile terminal (22), described
Second circuit board is equipped in fixed shell (3), the angular transducer (2) connects second circuit by data transmission link (4)
Plate, the fixed shell (3) is interior to be additionally provided with the first steering engine (5) and the second steering engine (6), first steering engine (5) and the second steering engine
(6) fixed shell (3) both ends are separately mounted to, first steering engine (5) is equipped with first and fixes end (51) and the first rotation
End (52), second steering engine (6) are equipped with second and fix end (61) and the second rotation end (62), and described first is solid
Fixed end portion (51) and the second fixation end (61) are embedded into fixed shell (3).
2. a kind of adjustable deep sea exploring device of depth according to claim 1, it is characterised in that：The first circuit board
Be respectively equipped with first singlechip (7) and second singlechip (8) on second circuit board, the first singlechip (7) and second single
Piece machine (8) model is STM32F103T8U6, and the first singlechip (7) connects second singlechip (8) and angle sensor respectively
Device (2), the second singlechip (8) connect the first steering engine (5), the second steering engine (6) and water quality parameter sensor (9) respectively.
3. a kind of adjustable deep sea exploring device of depth according to claim 1, it is characterised in that：The data line
Road (4) is using RS485 transmission lines.
4. a kind of adjustable deep sea exploring device of depth according to claim 1, it is characterised in that：First steering engine
(5) and the second steering engine (6) is FUTABA-S3003 type steering engines, the composition core of first steering engine (5) and the second steering engine (6)
Chip is BA6688L and BAL6686.
5. realize a kind of application method of the adjustable deep sea exploring device of depth of claim 1-4 any one of them, feature
It is：Its application method includes the following steps：
A, host computer sends the water quality parameter of designated depth H to first singlechip；When first singlechip receives instruction,
First singlechip acquires the angle of current sensor by angular transducer first, it is known that the line length of sensor, it is possible to count
Calculate current depth h；
B, the value for carrying out H and h at this time compares, it can be deduced that then the angle of rudder face rotation is transmitted rotation angle by RS485
To second singlechip, second singlechip is handled, and can calculate corresponding rotation angle；
C, the continuous acquisition angles α of angular transducer when equal with desired angle θ, is then sent out to water quality parameter sensors
Send acquisition instructions；
D, it is last, collected data are sent to host computer by RS485 transmission lines, realize the water for measuring designated depth
The purpose of matter parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810001693.4A CN108226431B (en) | 2018-01-02 | 2018-01-02 | Deep sea detection device with adjustable depth |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810001693.4A CN108226431B (en) | 2018-01-02 | 2018-01-02 | Deep sea detection device with adjustable depth |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108226431A true CN108226431A (en) | 2018-06-29 |
| CN108226431B CN108226431B (en) | 2020-10-30 |
Family
ID=62645036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810001693.4A Expired - Fee Related CN108226431B (en) | 2018-01-02 | 2018-01-02 | Deep sea detection device with adjustable depth |
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| Country | Link |
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| CN (1) | CN108226431B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101074586B1 (en) * | 2011-03-29 | 2011-10-17 | (주)백년기술 | Autonomous water quality measurement and sample collection apparatus for agriculture reservoir |
| CN104569333A (en) * | 2015-01-06 | 2015-04-29 | 安徽科微智能科技有限公司 | Autonomous navigation type surface water quality sampling and real-time monitoring water level robot |
| CN105775082A (en) * | 2016-03-04 | 2016-07-20 | 中国科学院自动化研究所 | Bionic robotic dolphin for water quality monitoring |
| CN106017991A (en) * | 2016-07-25 | 2016-10-12 | 安徽科微智能科技有限公司 | Automatic sampling mechanism and sampling method |
| CN206307246U (en) * | 2016-10-28 | 2017-07-07 | 杭州电子科技大学 | A kind of unmanned boat adds the combined system of unmanned submersible |
| CN206638664U (en) * | 2017-03-15 | 2017-11-14 | 伊犁师范学院 | A kind of water pollution detection means |
-
2018
- 2018-01-02 CN CN201810001693.4A patent/CN108226431B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101074586B1 (en) * | 2011-03-29 | 2011-10-17 | (주)백년기술 | Autonomous water quality measurement and sample collection apparatus for agriculture reservoir |
| CN104569333A (en) * | 2015-01-06 | 2015-04-29 | 安徽科微智能科技有限公司 | Autonomous navigation type surface water quality sampling and real-time monitoring water level robot |
| CN105775082A (en) * | 2016-03-04 | 2016-07-20 | 中国科学院自动化研究所 | Bionic robotic dolphin for water quality monitoring |
| CN106017991A (en) * | 2016-07-25 | 2016-10-12 | 安徽科微智能科技有限公司 | Automatic sampling mechanism and sampling method |
| CN206307246U (en) * | 2016-10-28 | 2017-07-07 | 杭州电子科技大学 | A kind of unmanned boat adds the combined system of unmanned submersible |
| CN206638664U (en) * | 2017-03-15 | 2017-11-14 | 伊犁师范学院 | A kind of water pollution detection means |
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| Publication number | Publication date |
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| CN108226431B (en) | 2020-10-30 |
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Granted publication date: 20201030 |
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