CN108226431B - Deep sea detection device with adjustable depth - Google Patents
Deep sea detection device with adjustable depth Download PDFInfo
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- CN108226431B CN108226431B CN201810001693.4A CN201810001693A CN108226431B CN 108226431 B CN108226431 B CN 108226431B CN 201810001693 A CN201810001693 A CN 201810001693A CN 108226431 B CN108226431 B CN 108226431B
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- 238000001514 detection method Methods 0.000 title claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 8
- 239000000523 sample Substances 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- 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 deep sea detection device with adjustable depth, which comprises an unmanned ship and an angle sensor, wherein a fixed shell is arranged outside the angle sensor, a first circuit board is arranged inside the unmanned ship, the angle sensor is arranged on the side wall of the bottom of the unmanned ship, the angle sensor comprises a fixed end and a movable end, a second circuit board is arranged in the fixed shell, the angle sensor is connected with the second circuit board through a data transmission line, a first steering engine and a second steering engine are also arranged in the fixed shell, the first steering engine and the second steering engine are respectively arranged at two ends of the fixed shell, the first steering engine and the second steering engine are respectively provided with a fixed end and a rotating end, and the fixed ends are embedded into the fixed shell.
Description
Technical Field
The invention relates to the technical field of deep sea detection, in particular to a deep sea detection device with adjustable depth.
Background
At present, the design of water quality parameters applied to oceans and general water areas generally adopts the mode of directly placing a sensor into water for testing. The general measurement place is fixed, and even if the general measurement place can be fixed on a moving object to carry out dragging type measurement, the water quality parameters of different depths can not be determined. In production life or scientific research work, the water quality parameters at different depths are greatly different, so that the water quality parameters at different depths are required to be known. The method now available, which uses underwater robots carrying various sensors for measurements, is very complex and expensive.
Therefore, it is important to measure water quality parameters at different depths with low cost and easy operation, and it should be the focus of research, and no similar device introduction to this invention is found in core journal and patent inquiry.
Disclosure of Invention
The invention aims to provide a deep sea detection device with adjustable depth, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the deep sea detection device with the adjustable depth comprises an unmanned ship and an angle sensor, wherein a fixed shell is arranged on the outer side of the angle sensor, a first circuit board is arranged inside the unmanned ship, the angle sensor is arranged on the side wall of the bottom of the unmanned ship and comprises a fixed end and a movable end, a second circuit board is arranged in the fixed shell, the angle sensor is connected with the second circuit board through a data transmission line, a first steering engine and a second steering engine are further arranged in the fixed shell and are respectively arranged at the two ends of the fixed shell, a first fixed end and a first rotating end are arranged on the first steering engine, a second fixed end and a second rotating end are arranged on the second steering engine, and the first fixed end and the second fixed end are both embedded into the fixed shell.
Preferably, be equipped with first singlechip and second singlechip on first circuit board and the second circuit board respectively, first singlechip and second singlechip model are STM32F103T8U6, second singlechip and angle sensor are connected respectively to first singlechip, first steering wheel, second steering wheel and quality of water parameter sensor are connected respectively to the second singlechip.
Preferably, the data transmission line adopts an RS485 transmission line.
Preferably, the first steering engine and the second steering engine are FUTABA-S3003 type steering engines, and core chips of the first steering engine and the second steering engine are BA6688L and BAL 6686.
Preferably, the using method comprises the following steps:
A. the upper computer sends a water quality parameter with a specified depth H to the first single chip microcomputer; when the first single chip microcomputer receives an instruction, the first single chip microcomputer firstly acquires the current angle of the sensor through the angle sensor, and the line length of the sensor is known, so that the current depth h can be calculated;
B. the values of H and H are compared at the moment to obtain the rotation angle of the control surface, and then the rotation angle is transmitted to a second single chip microcomputer through RS485, and the second single chip microcomputer processes the rotation angle and can calculate the corresponding rotation angle;
C. the angle sensor continuously collects the angle alpha until the angle alpha is equal to the ideal angle theta, and then sends a collection instruction to the water quality parameter sensor;
D. and finally, the acquired data is transmitted to an upper computer through an RS485 transmission line, so that the purpose of measuring the water quality parameter at the specified depth is realized.
Compared with the prior art, the invention has the beneficial effects that: the invention has simple structure principle, can automatically adjust the depth of the angle sensor and realizes the purpose of measuring the water quality parameter of the specified depth.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the relationship between the angle and the depth of the sensor according to the present invention;
FIG. 3 is a schematic diagram showing the relationship between the rotation angle of the control surface and the elevation angle of the sensor according to the present invention;
fig. 4 is a control schematic block diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a deep sea detection device with adjustable depth comprises an unmanned ship 1 and an angle sensor 2, wherein a fixed shell 3 is arranged on the outer side of the angle sensor 2, a first circuit board is arranged inside the unmanned ship 1, the angle sensor 2 is installed on the side wall of the bottom of the unmanned ship 1, the angle sensor 2 comprises a fixed end 21 and a movable end 22, a second circuit board is arranged in the fixed shell 3, the angle sensor 2 is connected with the second circuit board through a data transmission line 4, and the data transmission line 4 adopts an RS485 transmission line; still be equipped with first steering wheel 5 and second steering wheel 6 in the fixed casing 3, install respectively at fixed casing 3 both ends first steering wheel 5 and second steering wheel 6, be equipped with first fixed tip 51 and first rotatory tip 52 on first steering wheel 5, be equipped with the fixed tip 61 of second and the rotatory tip 62 of second on the second steering wheel 6, just in the fixed tip 61 of first fixed tip 51 and second all imbeds fixed casing 3, just so can guarantee first fixed tip and quality of water parameter sensor on same plane. The rotating end part can rotate to different angles according to different PWM signals of the single chip microcomputer, so that the purpose of adjusting the depth of the sensor is achieved; the first steering engine 5 and the second steering engine 6 are FUTABA-S3003 type steering engines, and core chips of the first steering engine 5 and the second steering engine 6 are BA6688L and BAL 6686.
As shown in fig. 2, if the angle α of the sensor is known and the line length L of the towing device is known, the depth h of the sensor at that time can be derived from triangulation. The angle measurement is performed by an angle sensor, which has a fixed end and a movable end, and the angle between the fixed end and the movable end is the angle alpha of the current sensor.
As shown in fig. 3, if the single chip processing module calculates the angle β that the control surface needs to rotate, the sensor has different stresses under the influence of different water flows, and the control surface rotates by β degrees on the X axis, so that the elevation angle of the sensor can be changed, and the angle of the sensor can be changed.
As shown in fig. 4, in the invention, a first single chip microcomputer 7 and a second single chip microcomputer 8 are respectively arranged on a first circuit board and a second circuit board, the models of the first single chip microcomputer 7 and the second single chip microcomputer 8 are both STM32F103T8U6, the first single chip microcomputer 7 is respectively connected with the second single chip microcomputer 8 and an angle sensor 2, and the second single chip microcomputer 8 is respectively connected with a first steering engine 5, a second steering engine 6 and a water quality parameter sensor 9.
The using method of the invention comprises the following steps:
A. the upper computer sends a water quality parameter with a specified depth H to the first single chip microcomputer; when the first single chip microcomputer receives an instruction, the first single chip microcomputer firstly acquires the current angle of the sensor through the angle sensor, and the line length of the sensor is known, so that the current depth h can be calculated;
B. the values of H and H are compared at the moment to obtain the rotation angle of the control surface, and then the rotation angle is transmitted to a second single chip microcomputer through RS485, and the second single chip microcomputer processes the rotation angle and can calculate the corresponding rotation angle;
C. the angle sensor continuously collects the angle alpha until the angle alpha is equal to the ideal angle theta, and then sends a collection instruction to the water quality parameter sensor;
D. and finally, the acquired data is transmitted to an upper computer through an RS485 transmission line, so that the purpose of measuring the water quality parameter at the specified depth is realized.
In conclusion, the invention has simple structure and principle, can automatically adjust the depth of the angle sensor and achieves the aim of measuring the water quality parameter with the specified depth.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides a depth-adjustable deep sea detection device, includes unmanned ship (1) and angle sensor (2), its characterized in that: a fixed shell (3) is arranged on the outer side of the angle sensor (2), a first circuit board is arranged in the unmanned ship (1), the angle sensor (2) is installed on the side wall of the bottom of the unmanned ship (1), the angle sensor (2) comprises a fixed end (21) and a moving end (22), a second circuit board is arranged in the fixed shell (3), the angle sensor (2) is connected with the second circuit board through a data transmission line (4), a first steering engine (5) and a second steering engine (6) are further arranged in the fixed shell (3), the first steering engine (5) and the second steering engine (6) are respectively installed at two ends of the fixed shell (3), a first fixed end part (51) and a first rotating end part (52) are arranged on the first steering engine (5), a second fixed end part (61) and a second rotating end part (62) are arranged on the second steering engine (6), and the first fixed end (51) and the second fixed end (61) are both embedded in the fixed shell (3); be equipped with first singlechip (7) and second singlechip (8) on first circuit board and the second circuit board respectively, first singlechip (7) and second singlechip (8) model are STM32F103T8U6, second singlechip (8) and angle sensor (2) are connected respectively in first singlechip (7), first steering wheel (5), second steering wheel (6) and quality of water parameter sensor (9) are connected respectively in second singlechip (8).
2. The deep sea exploration device with adjustable depth as claimed in claim 1, wherein: and the data transmission line (4) adopts an RS485 transmission line.
3. The deep sea exploration device with adjustable depth as claimed in claim 1, wherein: first steering wheel (5) and second steering wheel (6) are FUTABA-S3003 type steering wheel, the constitution core chip of first steering wheel (5) and second steering wheel (6) is BA6688L and BAL 6686.
4. Use method for realizing a deep sea probe with adjustable depth according to any one of claims 1 to 3, characterized in that: the using method comprises the following steps:
A. the upper computer sends a water quality parameter with a specified depth H to the first single chip microcomputer; when the first single chip microcomputer receives an instruction, the first single chip microcomputer firstly acquires the current angle of the sensor through the angle sensor, and the line length of the sensor is known, so that the current depth h can be calculated;
B. the values of H and H are compared at the moment to obtain the rotation angle of the control surface, and then the rotation angle is transmitted to a second single chip microcomputer through RS485, and the second single chip microcomputer processes the rotation angle and can calculate the corresponding rotation angle;
C. the angle sensor continuously collects the angle alpha until the angle alpha is equal to the ideal angle theta, and then sends a collection instruction to the water quality parameter sensor;
D. and finally, the acquired data is transmitted to an upper computer through an RS485 transmission line, so that the purpose of measuring the water quality parameter at the specified depth is realized.
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 |
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| Publication Number | Publication Date |
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| CN108226431A CN108226431A (en) | 2018-06-29 |
| CN108226431B true CN108226431B (en) | 2020-10-30 |
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| CN201810001693.4A Expired - Fee Related CN108226431B (en) | 2018-01-02 | 2018-01-02 | Deep sea detection device with adjustable depth |
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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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| CN108226431A (en) | 2018-06-29 |
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Granted publication date: 20201030 |