CN109501986A - A kind of underwater torpedo humanoid robot and its detection method for water quality detection - Google Patents
A kind of underwater torpedo humanoid robot and its detection method for water quality detection Download PDFInfo
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 68
- 238000001514 detection method Methods 0.000 title claims abstract description 41
- 238000004891 communication Methods 0.000 claims abstract description 67
- 230000009467 reduction Effects 0.000 claims abstract description 34
- 239000002002 slurry Substances 0.000 claims abstract description 20
- 239000003643 water by type Substances 0.000 claims abstract description 8
- 230000006837 decompression Effects 0.000 claims description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 229910052760 oxygen Inorganic materials 0.000 claims description 3
- 239000001301 oxygen Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003653 coastal water Substances 0.000 description 1
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- 238000005183 dynamical system Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012806 monitoring device Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/26—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating electrochemical variables; by using electrolysis or electrophoresis
- G01N27/416—Systems
- G01N27/417—Systems using cells, i.e. more than one cell and probes with solid electrolytes
- G01N27/419—Measuring voltages or currents with a combination of oxygen pumping cells and oxygen concentration cells
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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Abstract
The present invention relates to a kind of underwater torpedo humanoid robots and its detection method for water quality detection, including torpedo shell, core nacelle, external power supply power supply, the first wireless communication module, the second wireless communication module, water quality sensor, the first voltage reduction module, the second voltage reduction module, BNC interconnecting module, the first master control borad, the second master control borad, internal electric source, direct current generator, direct current generator drive module, the first DC stepper motor, the second DC stepper motor, twoport DC stepper motor drive module, tail slurry and tail undercarriage；Water quality sensor is connected by BNC interconnecting module with the first master control borad, the measuring signal of water quality sensor is transferred to the first master control borad；First wireless communication module is also connected with the communication of external industrial personal computer；Direct current generator, to drive tail undercarriage；First DC stepper motor and the second DC stepper motor respectively connect a tail slurry, to drive tail slurry.The present invention is capable of increasing waters detection orientation, reduces manpower and material resources.
Description
Technical field
It is especially a kind of for the underwater torpedo humanoid robot of water quality detection and its inspection the present invention relates to field of water quality detection
Survey method.
Background technique
With people to rivers,lakes and seas develop increasingly frequently and urgent and people are to the deep pass in terms of water quality safety
Note, underwater robot have obtained a large amount of application as a kind of important tool.Since underwater robot application environment is complicated more
Become, extremely important is just become to underwater robot monitoring.Especially AUV (Autonomous Underwater Vehicle) by
In not having cable to connect with lash ship, the robot to work under water is monitored by communication equipment.
Summary of the invention
In view of this, the purpose of the present invention is to propose to a kind of for the underwater torpedo humanoid robot of water quality detection and its detection
Method is capable of increasing waters detection orientation, reduces manpower and material resources.
The present invention is realized using following scheme: a kind of underwater torpedo humanoid robot for water quality detection, including torpedo
Shell, core nacelle, external power supply power supply, the first wireless communication module, the second wireless communication module, water quality sensor, the first drop
Die block, the second voltage reduction module, BNC interconnecting module, the first master control borad, the second master control borad, internal electric source, direct current generator, direct current
Motor drive module, the first DC stepper motor, the second DC stepper motor, twoport DC stepper motor drive module, tail slurry
And tail undercarriage；
The torpedo shell includes drive end bearing bracket, rear end cap and middle casing, and the drive end bearing bracket and the rear end cap pass through spiral shell
Bolt is connect with the middle casing；The core nacelle is arranged in the torpedo interior of shell；Second voltage reduction module, second
Master control borad, internal electric source, direct current generator, direct current generator drive module, the second wireless communication module, the first DC stepper motor,
Second DC stepper motor and twoport DC stepper motor drive module are arranged inside the core nacelle；The external power supply
Power supply, BNC interconnecting module, the first master control borad, the first voltage reduction module, the first wireless communication module and water quality sensor are arranged at
The torpedo shell exterior；
The water quality sensor is connected by the BNC interconnecting module with first master control borad, to sense the water quality
The measuring signal of device is transferred to first master control borad；First wireless communication module and the first master control borad electrical property phase
Even, first wireless communication module is also connected with the communication of external industrial personal computer, to by described in first master control borad control
The measuring signal is transferred on the external industrial personal computer by wireless communication module；The external power supply power supply and first drop
Die block is electrical connected；First voltage reduction module is electrical connected with first master control borad, to first master control borad
Electric energy is provided；
The internal electric source respectively with the direct current generator drive module, second voltage reduction module and the twoport direct current stepping
Motor drive module is electrical connected, to straight to the direct current generator drive module, second voltage reduction module and the twoport
It flows stepper motor drive module and electric energy is provided；The direct current generator drive module is also electrical connected with the direct current generator to drive
Move the direct current generator；Second voltage reduction module is also electrical connected with second master control borad, to second master control
Plate provides electric energy；Second master control borad also drives with the direct current generator drive module, the twoport DC stepper motor respectively
Dynamic model block and second wireless communication module are electrical connected；Second wireless communication module also communicates phase with external industrial personal computer
Even, to send signal to second master control borad by second wireless communication module, to make second master control borad
It controls the direct current generator drive module and the twoport DC stepper motor drive module driving motor works；It is described double
Mouthful DC stepper motor drive module respectively with first DC stepper motor and the second DC stepper motor electrical property phase
Even, to drive first DC stepper motor and second DC stepper motor；The direct current generator and the tail portion
Propeller connection, to drive the tail undercarriage；First DC stepper motor and second DC stepper motor
A tail slurry is respectively connected, to drive the tail slurry.
Further, first master control borad and second master control borad are all made of model DFRduino UNO R3's
Controller.
Further: the direct current generator is using permanent magnet DC motor, the permanent magnet DC motor operating voltage
12V, rated current 2.42A, unloaded revolution 3500r/min.
Further, the water quality sensor uses dissolved oxygen sensor.
Further, first wireless communication module and second wireless communication module are all made of OBLOQ-IoT
Wifi module.
Further, the model A4988 that the twoport DC stepper motor drive module uses；The first decompression mould
Block and second voltage reduction module are all made of CS5173 decompression chip.
Further, the model L298N that the direct current generator drive module uses.
Further, the DC stepper motor that first DC stepper motor and second DC stepper motor use
Model is identical, is 300 motor of MDN3BT3SCA.
Further, the internal electric source and the power supply are all made of 12V, the battery of 5A.
Preferably, the present invention provides a kind of detection method of underwater torpedo humanoid robot for water quality detection, feature
It is: the following steps are included:
Step S1: the internal electric source and the external power supply power supply are opened, and the robot is put into waters to be measured；
Step S2: the internal electric source is second master control borad, the twoport DC stepper motor drive module, the direct current
Motor drive module and second voltage reduction module provide electric energy, the twoport DC stepper motor drive module driving described the
One DC stepper motor and second DC stepper motor, so that tail slurry be driven to swing；The direct current generator drive module is driven
The direct current generator is moved, so that the tail undercarriage be driven to rotate；The robot is in the tail slurry and the tail portion spiral
Advance under the propulsion of paddle；
Step S3: external industrial personal computer is connected with second wireless communication module communication, and external industrial personal computer passes through second nothing
Line communication module sends signal to second master control borad, so that second master control borad be made to control the direct current generator driving mould
Block and the twoport DC stepper motor drive module driving motor work, and reach target position to be detected；
Step S4: the Water quality detector detects the water quality of target position, and measuring signal is fed back to described first
Master control borad, first master control borad control first wireless communication module and send the external industrial personal computer for measuring signal,
The external industrial personal computer receives the measuring signal, completes detection.
Compared with prior art, the invention has the following beneficial effects:
The present invention has installed wireless communication module additional, greatly strengthens the investigative range in waters, makes water quality detection equipment more just
It takes, ease for use is stronger.
Detailed description of the invention
Fig. 1 is the overall structure block diagram of the embodiment of the present invention.
Fig. 2 is the water quality detection robot external structure of the embodiment of the present invention.
Fig. 3 is the water quality detection robot interior structure chart of the embodiment of the present invention.
Fig. 4 is the water quality detection robot water quality detection module map of the embodiment of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments.
With the development of mobile communication network technology, 2G/3G mobile network has covered China major part coastal waters and interior
Land area.And 2G/3G mobile network communication has equipment and communication cost cheap, the reliable feature of technology maturation.2G/3G is moved
Dynamic network communication and water quality monitoring monitoring device combine, and develop a kind of long-range monitoring water quality system for underwater robot,
The cost of underwater robot monitoring and the labor intensity of monitoring personnel can greatly be reduced.
Specifically, wrapping as shown in Figure 1, present embodiments provide a kind of underwater torpedo humanoid robot for water quality detection
Include torpedo shell, core nacelle, external power supply power supply, the first wireless communication module, the second wireless communication module, water quality sensing
Device, the first voltage reduction module, the second voltage reduction module, BNC interconnecting module, the first master control borad, the second master control borad, internal electric source, direct current
Motor, direct current generator drive module, the first DC stepper motor, the second DC stepper motor, the driving of twoport DC stepper motor
Module, tail slurry and tail undercarriage；
The torpedo shell includes drive end bearing bracket, rear end cap and middle casing, and the drive end bearing bracket and the rear end cap pass through spiral shell
Bolt is connect with the middle casing；The core nacelle is arranged in the torpedo interior of shell；Second voltage reduction module, BNC
Interconnecting module, the first master control borad, the second master control borad, internal electric source, direct current generator, direct current generator drive module, the second channel radio
Letter module, the first DC stepper motor, the second DC stepper motor and twoport DC stepper motor drive module are arranged at institute
It states inside core nacelle；The external power supply power supply, the first voltage reduction module, the first wireless communication module and water quality sensor are respectively provided with
In the torpedo shell exterior；
The water quality sensor is connected by the BNC interconnecting module with first master control borad, to sense the water quality
The measuring signal of device is transferred to first master control borad；First wireless communication module and the first master control borad electrical property phase
Even, first wireless communication module is also connected with the communication of external industrial personal computer, to by described in first master control borad control
The measuring signal is transferred on the external industrial personal computer by wireless communication module；The external power supply power supply and second drop
Die block is electrical connected；Second voltage reduction module is electrical connected with first master control borad, to first master control borad
Electric energy is provided；
The internal electric source respectively with the direct current generator drive module, second voltage reduction module and the twoport direct current stepping
Motor drive module is electrical connected, to straight to the direct current generator drive module, second voltage reduction module and the twoport
It flows stepper motor drive module and electric energy is provided；The direct current generator drive module is also electrical connected with the direct current generator to drive
Move the direct current generator；Second voltage reduction module is also electrical connected with second master control borad, to second master control
Plate provides electric energy；Second master control borad also drives with the direct current generator drive module, the twoport DC stepper motor respectively
Dynamic model block and second wireless communication module are electrical connected；Second wireless communication module also communicates phase with external industrial personal computer
Even, to send signal to second master control borad by second wireless communication module, to make second master control borad
It controls the direct current generator drive module and the twoport DC stepper motor drive module driving motor works；It is described double
Mouthful DC stepper motor drive module respectively with first DC stepper motor and the second DC stepper motor electrical property phase
Even, to drive first DC stepper motor and second DC stepper motor；The direct current generator and the tail portion
Propeller connection, to drive the tail undercarriage；First DC stepper motor and second DC stepper motor
A tail slurry is respectively connected, to drive the tail slurry.
In the present embodiment, first master control borad and second master control borad are all made of model DFRduino UNO
The controller of R3.
Its important technological parameters are as follows: operating voltage 5V；Input voltage: when connecting USB without external power supply or outside 7V ~
12V DC input；Output voltage: 5V DC output and 3.3V DC output and external power supply input；Microprocessor: ATmega328；
Clock frequency: 16 MHz；Support USB interface agreement and power supply (being not required to external power supply) number port I/O: 14(6 PWM is defeated
Outlet)；Simulation input port: 6；The port DC current I/O: 40mA；The port DC current 3.3V: 50mA；Size:
75x55x15mm。
In the present embodiment, the direct current generator is using permanent magnet DC motor, the permanent magnet DC motor work electricity
Press 12V, rated current 2.42A, unloaded revolution 3500r/min.
In the present embodiment, the water quality sensor uses dissolved oxygen sensor.
Its important technological parameters are as follows: electrode type: primary battery；Detection range: 0 ~ 20mg/L；Temperature range: 0 ~ 40 DEG C
；Response time: reach within 90 seconds 98% total regression (25 DEG C)；Pressure limit: 0 ~ 50PSI；Flox condition: 0.3 mL/s；Electrode
The core service life: 1 year (under normal use)；Line interface: BNC.
In the present embodiment, first wireless communication module and second wireless communication module are all made of OBLOQ-
IoT wifi module.
Technical parameter are as follows: supply voltage: 3.3 ~ 5.0V；Operating current: < 240mA；Interface type: UART 4PIN；
Interface rate: 9600；Wireless mode: IEEE802.11b/g/n；Encryption type: WPA WPA2/WPA2-PSK；Wireless frequency
Rate: 2.4GHz；Product size: 35mm * 32mm/1.38inch * 1.26inch；Built-in agreement: TCP/IP agreement
Stack.
In the present embodiment, the model A4988 that the twoport DC stepper motor driving plate uses；Suitable for two-phase four
Line stepper motor；2 stepper motors can be easily driven by four number I/O, and it is few to occupy port；Compatible Arduino UNO
The controllers such as R3, Leonardo, Mega have complete ports-Extending function.Support XBee, XBee Wi-Fi, bluetooth and radio frequency
Module；Each stepper motor has a toggle switch setting step resolution.Technical parameter are as follows: supply voltage: 3.3 ~ 5.5V；
Output voltage: 0 ~ 3.0V；Electrode interface: BNC；Signaling interface: Gravity interface (PH2.0-3P)；Plank size: 42mm
* 32mm .First voltage reduction module and second voltage reduction module are all made of CS5173 decompression chip.
In the present embodiment, the model L298N that the direct current generator drive module uses.Technical specification: logical gate
Input voltage VD:5V；Drive part input voltage VS:4.8~35V；Logical gate operating current Iss :≤36mA；Driving
Part operating current Io :≤2A；Maximum diffipation power: 25W(T=75 DEG C)；Two kinds of drive modes of PWM, PLL；Control signal
Incoming level: high level: 2.3V≤Vin≤5V, low level: -0.3V≤Vin≤1.5V；Operating temperature: -25 DEG C~+
130℃ ；Drive form: two-way high-power H bridge driving；Module weight: about 29g.
In the present embodiment, the direct current stepping that first DC stepper motor and second DC stepper motor use
Motor model is identical, is 300 motor of MDN3BT3SCA.The micro-machine of operating voltage 5V.
In the present embodiment, the internal electric source and the external power supply power supply are all made of 12V, the battery of 5A.
12V2800mAh lithium battery power supply other technologies parameter are as follows: weight: 158g；Sustainable electric current: 5A；Overcurrent protection
Value: 10A；It is applicable in appliance power: within 12V60W.
Preferably, the present embodiment also provides a kind of inspection based on the underwater torpedo humanoid robot for water quality detection
Survey method, comprising the following steps:
Step S1: the internal electric source and the external power supply power supply are opened, and the robot is put into waters to be measured；
Step S2: the internal electric source is second master control borad, the twoport DC stepper motor drive module, the direct current
Motor drive module and second voltage reduction module provide electric energy, the twoport DC stepper motor drive module driving described the
One DC stepper motor and second DC stepper motor, so that tail slurry be driven to swing；The direct current generator drive module is driven
The direct current generator is moved, so that the tail undercarriage be driven to rotate；The robot is in the tail slurry and the tail portion spiral
Advance under the propulsion of paddle；
Step S3: external industrial personal computer is connected with second wireless communication module communication, and external industrial personal computer passes through second nothing
Line communication module sends signal to second master control borad, so that second master control borad be made to control the direct current generator driving mould
Block and the twoport DC stepper motor drive module driving motor work, and reach target position to be detected；
Step S4: the Water quality detector detects the water quality of target position, and measuring signal is fed back to described first
Master control borad, first master control borad control first wireless communication module and send the external industrial personal computer for measuring signal,
The external industrial personal computer receives the measuring signal, completes detection.
Preferably, in the present embodiment, that the design of the water quality detection underwater robot is taken is torpedo shape, Ke Yigeng
Add quickly arrive at target position, due to taking wireless telecom equipment to be controlled, it is possible to no cable connection under into
Row shoaling layer water quality detection.Three ports are provided in casing part, are for tail-rotor controls connecting rod respectively, Water quality detector is consolidated
Fixed and extension function reserved space.One link mechanism being connected with tail-rotor oscillating motor of subordinate inside port is extended, it can
Increase the steering degree of flexibility of underwater robot or the camera or laser of independently installed wireless control to increase preceding slurry
Radar detect.Drive end bearing bracket and rear end cap are designed according to torpedo shape, take sealing bolt that rubber ring is added to be fixed, tool
There is certain waterproof ability.
Particularly, in the hardware aspect of the present embodiment, internal motivation module is divided into two parts composition, and a part is whole water
The power of lower robot, have battery feed (12V, 5A) inside sealed compartment with provide tail-rotor swing and propeller promote
Power.Another part is the external independent current source provided exclusively for Water quality detector and its matched wireless communication module
(12v, 5A).Internal electric source is by direct-current motor driving plate driving motor, and even tail undercarriage.Pass through twoport in addition to this
Stepper motor is drivingly connected two small-sized DC stepper motors, and is internal wireless communication module by voltage reduction module (12v-5v)
It is powered with master control borad.External individual small power supply connects Water quality detector special module, function that there are two the modules, and first
A is to provide power supply for Water quality detector, the other is providing power supply for its wireless communication module.The wireless communication module will be received
To measuring signal passed to above industrial personal computer on the bank by the TCP/IP protocol stack of 2.4GHz.
Operating procedure: 1. open internal electric source and external independent current source；2. by industrial personal computer open mobile network communication with
Underwater robot dynamical system；3. underwater robot is put into waters to be measured, using industrial personal computer by the second WIFI module to the
Two master control borads issue control command, which issues pwm signal driving tail-rotor and the driving of enabled direct current generator drive module
Motor, it is final to drive water quality detection robot to target position；4. read the data that detect of Water quality detector, and with dedicated
It is to be studied accordingly that APP analyzes encumbrance；5. recycling underwater robot.
Internal circuit principle is that pass through two different motor driving plates first be that direct current generator and two are small-sized to 12v power supply
Stepping electric appliance is powered, and is powered secondly by voltage reduction module for master control borad.Master control borad is responsible for being supplied to wifi module
Electricity, is also responsible for the effect of control direct current generator and two stepper motors in addition to this, these operational orders pass through WiFi module
It is received and dispatched with industrial personal computer on the bank.
It is that entire internal circuit is powered and (can also pass through that external circuit principle principle, which is by 12V lithium battery power supply,
One 5V power module is realized), master control borad is first responsible for the connection of WiFi module to be communicated with industrial personal computer on the bank,
The secondary I/O port by extension connects BNC pinboard, which connects water quality sensor to collect data.
Fig. 2 is the part of facing of the present embodiment, and Water quality detector module is mounted on the casing part of underwater robot, can be with
Seeing side has extension mouth to carry out slurry or camera before additionally adding.Entirety takes submarine mine shape, is conducive to increase the machine
The underwater movement speed of device people.Drive end bearing bracket and rear end cap use sealing bolt and add rubber ring to improve waterproof ability, completely cut off
Contact of the core nacelle internal element with water flow.
Fig. 3 is the internal structure under the present embodiment shell, is positioned by two fixed rings with circular channel entire
Barrel shaped structure has the link mechanism between extension mouth and tail portion motor in circular channel.Head with tail there are two types of different sealing rings,
Completely cut off core nacelle and external contact, and provides an interface for motor drive.
Fig. 4 is external independent Water quality detector element, and two sealed box are respectively by a channel connection
Power module and wireless communication module.Sensor section is by cable connection communication module, and the module is also via independent electrical
Source module is powered for it.
Water quality monitoring and underwater robot technology correlation are got up in the present embodiment proposition, are the application of underwater robot technology
Range is widened in field；A new idea is provided in water quality monitoring field, i.e., underwater detection module and underwater robot join
It is surveyed altogether；Due to having installed wireless communication module additional, the investigative range in waters is greatly strengthened, either from portable
There is great reinforcement in property or ease for use.
The foregoing is merely presently preferred embodiments of the present invention, all equivalent changes done according to scope of the present invention patent with
Modification, is all covered by the present invention.
Claims (10)
1. a kind of underwater torpedo humanoid robot for water quality detection, it is characterised in that: including torpedo shell, core nacelle, outer
Portion's power supply, the first wireless communication module, the second wireless communication module, water quality sensor, the first voltage reduction module, the second decompression
Module, BNC interconnecting module, the first master control borad, the second master control borad, internal electric source, direct current generator, direct current generator drive module,
One DC stepper motor, the second DC stepper motor, twoport DC stepper motor drive module, tail slurry and tail undercarriage；
The torpedo shell includes drive end bearing bracket, rear end cap and middle casing, and the drive end bearing bracket and the rear end cap pass through spiral shell
Bolt is connect with the middle casing；The core nacelle is arranged in the torpedo interior of shell；Second voltage reduction module, second
Master control borad, internal electric source, direct current generator, direct current generator drive module, the second wireless communication module, the first DC stepper motor,
Second DC stepper motor and twoport DC stepper motor drive module are arranged inside the core nacelle；The external power supply
Power supply, BNC interconnecting module, the first master control borad, the first voltage reduction module, the first wireless communication module and water quality sensor are arranged at
The torpedo shell exterior；
The water quality sensor is connected by the BNC interconnecting module with first master control borad, to sense the water quality
The measuring signal of device is transferred to first master control borad；First wireless communication module and the first master control borad electrical property phase
Even, first wireless communication module is also connected with the communication of external industrial personal computer, to by described in first master control borad control
The measuring signal is transferred on the external industrial personal computer by wireless communication module；The external power supply power supply and first drop
Die block is electrical connected；First voltage reduction module is electrical connected with first master control borad, to first master control borad
Electric energy is provided；
The internal electric source respectively with the direct current generator drive module, second voltage reduction module and the twoport direct current stepping
Motor drive module is electrical connected, to straight to the direct current generator drive module, second voltage reduction module and the twoport
It flows stepper motor drive module and electric energy is provided；The direct current generator drive module is also electrical connected with the direct current generator to drive
Move the direct current generator；Second voltage reduction module is also electrical connected with second master control borad, to second master control
Plate provides electric energy；Second master control borad also drives with the direct current generator drive module, the twoport DC stepper motor respectively
Dynamic model block and second wireless communication module are electrical connected；Second wireless communication module also communicates phase with external industrial personal computer
Even, to send signal to second master control borad by second wireless communication module, to make second master control borad
It controls the direct current generator drive module and the twoport DC stepper motor drive module driving motor works；It is described double
Mouthful DC stepper motor drive module respectively with first DC stepper motor and the second DC stepper motor electrical property phase
Even, to drive first DC stepper motor and second DC stepper motor；The direct current generator and the tail portion
Propeller connection, to drive the tail undercarriage；First DC stepper motor and second DC stepper motor
A tail slurry is respectively connected, to drive the tail slurry.
2. a kind of underwater torpedo humanoid robot for water quality detection according to claim 1, it is characterised in that: described
One master control borad and second master control borad are all made of the controller of model DFRduino UNO R3.
3. a kind of underwater torpedo humanoid robot for water quality detection according to claim 1, it is characterised in that: described straight
Galvanic electricity machine is using permanent magnet DC motor, the permanent magnet DC motor operating voltage 12V, rated current 2.42A, unloaded revolution
3500r/min。
4. a kind of underwater torpedo humanoid robot for water quality detection according to claim 1, it is characterised in that: the water
Matter sensor uses dissolved oxygen sensor.
5. a kind of underwater torpedo humanoid robot for water quality detection according to claim 1, it is characterised in that: described
One wireless communication module and second wireless communication module are all made of OBLOQ-IoT wifi module.
6. a kind of underwater torpedo humanoid robot for water quality detection according to claim 1, it is characterised in that: described double
The model A4988 that mouth DC stepper motor drive module uses；First voltage reduction module and second voltage reduction module are equal
Chip is depressured using CS5173.
7. a kind of underwater torpedo humanoid robot for water quality detection according to claim 1, it is characterised in that: described straight
Flow the model L298N that motor drive module uses.
8. a kind of underwater torpedo humanoid robot for water quality detection according to claim 1, it is characterised in that: described
One DC stepper motor is identical as the DC stepper motor model that second DC stepper motor uses, and is
300 motor of MDN3BT3SCA.
9. a kind of underwater torpedo humanoid robot for water quality detection according to claim 1, it is characterised in that: in described
Portion's power supply and the external power supply power supply are all made of 12V, the battery of 5A.
10. a kind of detection method based on the underwater torpedo humanoid robot for being used for water quality detection described in claim 1-9, special
Sign is: the following steps are included:
Step S1: the internal electric source and the external power supply power supply are opened, and the robot is put into waters to be measured；
Step S2: the internal electric source is second master control borad, the twoport DC stepper motor drive module, the direct current
Motor drive module and second voltage reduction module provide electric energy, the twoport DC stepper motor drive module driving described the
One DC stepper motor and second DC stepper motor, so that tail slurry be driven to swing；The direct current generator drive module is driven
The direct current generator is moved, so that the tail undercarriage be driven to rotate；The robot is in the tail slurry and the tail portion spiral
Advance under the propulsion of paddle；
Step S3: external industrial personal computer is connected with second wireless communication module communication, and external industrial personal computer passes through second nothing
Line communication module sends signal to second master control borad, so that second master control borad be made to control the direct current generator driving mould
Block and the twoport DC stepper motor drive module driving motor work, and reach target position to be detected；
Step S4: the Water quality detector detects the water quality of target position, and measuring signal is fed back to described first
Master control borad, first master control borad control first wireless communication module and send the external industrial personal computer for measuring signal,
The external industrial personal computer receives the measuring signal, completes detection.
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Application publication date: 20190322 |