CN111776172A - Underwater operation robot water is precious - Google Patents
Underwater operation robot water is precious Download PDFInfo
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- CN111776172A CN111776172A CN202010624495.0A CN202010624495A CN111776172A CN 111776172 A CN111776172 A CN 111776172A CN 202010624495 A CN202010624495 A CN 202010624495A CN 111776172 A CN111776172 A CN 111776172A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 133
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000001681 protective effect Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 13
- 230000006872 improvement Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 239000012445 acidic reagent Substances 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 6
- 239000003153 chemical reaction reagent Substances 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 4
- 239000012295 chemical reaction liquid Substances 0.000 claims description 3
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 230000002045 lasting effect Effects 0.000 claims description 3
- 230000002572 peristaltic effect Effects 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 239000002775 capsule Substances 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000008400 supply water Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/13—Hulls built to withstand hydrostatic pressure when fully submerged, e.g. submarine hulls
-
- 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
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- 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
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F1/00—Treatment of water, waste water, or sewage
- C02F1/30—Treatment of water, waste water, or sewage by irradiation
- C02F1/32—Treatment of water, waste water, or sewage by irradiation with ultraviolet light
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F1/00—Treatment of water, waste water, or sewage
- C02F1/66—Treatment of water, waste water, or sewage by neutralisation; pH adjustment
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- 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
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F2201/00—Apparatus for treatment of water, waste water or sewage
- C02F2201/008—Mobile apparatus and plants, e.g. mounted on a vehicle
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F2303/00—Specific treatment goals
- C02F2303/04—Disinfection
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Water Supply & Treatment (AREA)
- Radar, Positioning & Navigation (AREA)
- Organic Chemistry (AREA)
- Ocean & Marine Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Automation & Control Theory (AREA)
- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an underwater operation robot water purifier which is integrally semicircular at two ends, cylindrical in the middle and similar to a capsule structure and comprises a shell, wherein the shell comprises a connecting layer positioned in the middle, circuit protecting layers positioned in the circuit protecting layers are symmetrically arranged on the left and the right of the connecting layer respectively, a waterproof shell is arranged outside the circuit protecting layers, a vacuum space is formed between the circuit protecting layers and the waterproof shell, each circuit protecting layer consists of a main pipe and a fairing positioned at the tail end, a main control board, a first pump and a second pump are arranged in the main pipe, modular interfaces are arranged on the connecting layer, protective covers are symmetrically arranged on the upper portion and the lower portion of the connecting layer respectively, and a flow guide pipe and a transmission shaft are arranged in each protective cover. The capsule shape of the invention can lead the capsule to be pressed in the water with the same pressure, and is suitable for the full-depth operation. The device can realize autonomous cruising according to a set route. The device is provided with an ultrasonic sensor system (sonar), so that the underwater obstacle avoidance can be realized, and the underwater running is more efficient and reliable.
Description
Technical Field
The invention relates to the field of underwater robots, in particular to an underwater operation robot water purifier with underwater obstacle avoidance and pH value measurement functions.
Background
Underwater Robots (ROVs) have been born for a long time and rarely appear in daily life, and functionalized underwater robots are rare and rare. The design of underwater robots or vehicles involves different propulsion and mechanical structures than ground-based driving tools, and the control of such vehicles is different, and their use is in the exploration and development stage. The underwater vehicle is applied to water quality monitoring and water quality improvement, and a new idea is developed for the industry.
Disclosure of Invention
The invention provides a water purifier of an underwater operation robot, which realizes an underwater obstacle avoidance function through an ultrasonic module and has the functions of pH value measurement and water quality improvement.
The invention is realized by the following technical scheme:
the utility model provides an underwater operation robot water conservation, wholly be a both ends and be semi-circular, the centre is cylindrical, similar capsule column structure, including the casing, this casing is including the articulamentum that is located the middle part, and this articulamentum bilateral symmetry is provided with the circuit protection layer that is located inside respectively, and the outside of this circuit protection layer is equipped with waterproof shell, form a vacuum space between circuit protection layer and the waterproof shell, the circuit protection layer comprises the person in charge and the radome fairing that is located the end, is equipped with primary control board, pump one, pump two in being responsible for, be equipped with the modularization interface on the articulamentum, the upper and lower symmetry of articulamentum is provided with the safety cover respectively, is equipped with honeycomb duct, transmission shaft in this safety cover, be provided with little drive gear on the transmission shaft, this little drive gear meshing has big.
Preferably, a needle-shaped pH sensor is arranged at the center of the semicircular tail end of the waterproof shell, and a leakage-proof rubber gasket is arranged between the semicircular tail end of the waterproof shell and the fairing.
Preferably, the first pump and the second pump are respectively connected with a liquid suction conduit and a liquid discharge conduit.
Preferably, the waterproof shell is made of 3D printing plastics and a waterproof coating, the center lines of the waterproof shell and the circuit protection layer are the same, and the center line of the protection cover is perpendicular to the center lines of the waterproof shell and the circuit protection layer.
Preferably, a main control board is arranged in the shell, an upper computer and a lower computer are arranged on the main control board, the lower computer comprises a main controller, a satellite positioning system, a depth meter device, a power propulsion system, an ultrasonic underwater obstacle avoidance module, a wireless communication module, a sensor detection system and a water quality improvement system, the shell is also internally provided with a dual-mode satellite positioning system, the dual-mode satellite positioning system is combined with the depth meter device to finish autonomous cruising of the water purifier, the depth meter device is used for measuring the depth of water by sensing the pressure in the water and feeding the water depth information back to the main controller, the orientation of a double propeller is adjusted according to the current depth and the required working depth to realize upward floating and sinking of the water purifier, the dual-mode satellite positioning system is connected with pins corresponding to the main controller, PPS pins are vacated to realize information interaction with the main controller, and the sensor detection system analyzes the surrounding water environment, feeding data back to an upper computer, improving the pH value of the water purifier by adopting a double peristaltic pump, inputting a pH target value to be realized by software by connecting a pump I with an acidic reagent and connecting a pump II with an alkaline reagent, and analyzing the pH value data obtained by detection in the external water environment of the value by a main controller; if the pH value in the water environment is larger, the first pump is opened, a certain dosage of acidic reagent is released, the pH value in the water area is repeatedly measured until the pH value is close to a target value, the relay is closed if the pH value in the water environment is measured to be smaller than the target value, the second pump is opened, the alkaline reagent is added into the reaction liquid until the target value is reached, signals are transmitted to the main controller by the satellite positioning module and the depth meter, and the main controller outputs a navigation direction signal to the power propulsion system to drive towards the target direction; the ultrasonic underwater obstacle avoidance module transmits signals to the main controller, and the main controller transmits signals of speed reduction and rotation angle to the power propulsion system; the main controller sends signals to the sensor detection system and the water quality improvement system to carry out water quality monitoring and water quality improvement work; the wireless communication module is a Bluetooth device, and sends signals to the power propulsion system through the main controller, so that the underwater robot is manually operated to move.
Preferably, the main control unit adopts an Arduino Mega2560 single chip microcomputer, the ultrasonic module of HC-SR04 comprises a power supply end VCC, a control end TRIG, a receiving end ECHO, a switching value output end OUT and a common ground GND, the power propulsion system enables the water supply device to provide power, the water supply device can move underwater, and the depth gauge device feeds back the depth of the water supply device underwater.
Preferably, the ultrasonic underwater obstacle avoidance module adopts an HC-SR04 ultrasonic ranging module, the HC-SR04 ultrasonic ranging module can accurately measure and output the distance within the range of 20-450 mm, the robustness is strong, the integration is easy, and the water purifier is ensured to safely sail underwater avoiding obstacles.
Preferably, the water quality improving system comprises an ultraviolet lamp and a pH value adjusting device, wherein the ultraviolet lamp is used for improving the environment of water, and the pH value adjusting device is used for detecting that the pH value approaches to 0 and the voltage is 5V of power supply voltage; when the pH value rises, the output voltage of the pH value adjusting device drops, the analog output voltage and the pH value are in a linear relation, the external temperature compensation circuit part can correct the pH value, the influence of temperature on the accuracy of the sensor is eliminated, and when the detected pH value approaches to 0, the voltage is 5V of the power supply voltage; when the pH value rises, the output voltage of the module drops, the analog output voltage and the pH value are in a linear relation, and the external temperature compensation circuit part can correct the pH value, so that the influence of temperature on the accuracy of the sensor is eliminated.
Preferably, the dual-mode satellite positioning system comprises a GPS and a BDS, and is used for determining the position of the water purifier and providing support for path planning, in the water purifier navigation process, the GPS continuously transmits position information to the outside and sends the position information to the main controller for data processing, so that the water purifier is ensured to navigate according to a set route, after a terminal point is set through a program, a plurality of preset points are obtained, the position of the water purifier is obtained under the action of the GPS, the relative position of the water purifier closest to the terminal point is judged, the driving action is carried out, the position of the water purifier is obtained again, the process is repeated in this way until a target point is reached, and the circulation is jumped out.
Preferably, the working flow of the HC-SR04 ultrasonic ranging module is as follows: inputting a pulse trigger control signal lasting for 10 mu s, and automatically transmitting eight 40khz square waves to the outside inside the HC-SR04 ultrasonic ranging module; outputting a reverberation signal when a return signal is detected, wherein the duration of the reverberation signal is the time from the emission to the return of the ultrasonic wave, the time from the emission to the signal reception is t, the sound velocities in different media are v, and the test distance is s, then:
the propagation speed of the ultrasonic wave in the water is about 1300-1600 m/s, and the propagation speed of the ultrasonic wave in the water has no obvious relation with the turbidity of the water; when the temperature is x, the approximate analytic expression of the temperature to the propagation speed v of the ultrasonic wave in the water is obtained as follows:
v＝1468+3.68(x-10)-0.0279(x-10)2(2)
therefore, the propagation speed of the ultrasonic wave in water is approximately considered to be 1500m/s, and the distance measurement formula of the ultrasonic sensor can be obtained as follows:
s＝750t (3)
the connecting layer is connected with each module and adopts a spiral interface, and a waterproof gasket is added, so that the control module and the detection and adjustment module are effectively connected. The circuit protection layer is internally provided with a circuit, thereby playing a role of preventing water, protecting the circuit and preventing water from entering. The fairing enables the device to be under the same pressure when working underwater, and is effectively protected. The main tube is a main transparent acrylic shell. The waterproof shell of the waterproof layer is coated on the waterproof shell, so that water is effectively prevented from entering the mechanical structure, and the use of a circuit is prevented from being influenced. The transmission shaft is a steering engine transmission shaft, controls a series of actions of advancing and retreating, floating and sinking, and can rotate 360 degrees. The small transmission gear is connected to the transmission shaft to drive the large gear to move. The large gear drives the propeller to rotate. The double propeller device for converting the rotating power of the engine into propelling force has two or more blades connected to the hub, and the backward surface of the blades is one propeller with spiral surface or similar to the spiral surface.
The key of the underwater obstacle avoidance problem is to track the obstacle in time and control the distance between the obstacle and the obstacle to ensure the smooth navigation of the aircraft. Different from a land environment, when the underwater robot works underwater, the whole body of the underwater robot is in the water environment, and due to the fact that infrared sensing transmitted by obstacles in water is insensitive, the obstacle can not be avoided by adopting a traditional infrared sensor, the ultrasonic sensor can effectively avoid a series of problems, the distance between the obstacles and the robot can be accurately measured, and an obstacle avoiding scheme is set according to a control command as required.
Has the advantages that:
(1) the shape of the capsule can lead the capsule to be pressed in the water equally, and is suitable for the operation in full water depth.
(2) The device can realize autonomous cruising according to a set route.
(3) The device is provided with an ultrasonic sensor system (sonar), so that the underwater obstacle avoidance can be realized, and the underwater running is more efficient and reliable.
(4) The water purifier is provided with an ultraviolet lamp and is used for sterilization and disinfection operation in small and medium water areas, so that the sterilization and disinfection cost is reduced and the efficiency is improved.
(5) The modular structure of the device can carry various modules of different types according to different requirements, such as various sensors, self-motion attitude modules and other functional modules.
Drawings
Fig. 1 is a schematic view of the overall structure of the water purifier of the invention.
Fig. 2 is a schematic cross-sectional structure of the water purifier of the present invention.
Fig. 3 is a schematic cross-sectional structure of the water purifier of the present invention.
Fig. 4 is a schematic structural diagram of a module of the lower computer of the water purifier.
FIG. 5 is a schematic diagram of a dual-mode satellite positioning system GPS cruise discrimination concept of the water purifier of the present invention.
Fig. 6 is a schematic view of the underwater autonomous cruising flow of the water purifier.
Fig. 7 is a working timing diagram of the ultrasonic underwater obstacle avoidance module of the water purifier.
FIG. 8 is a schematic flow chart of an application method of the HC-SR04 ultrasonic ranging module of the water purifier of the present invention.
The symbols in the figures represent: 1 a tie layer; 2 a circuit protection layer; 21 a cowling; 22 a main tube; 3 a waterproof housing; 31 a drive shaft; 32 small transmission gears; 33 large transmission gear; 34 double propellers.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, 2, the water is precious in the picture, wholly be a both ends for semi-circular, the centre is cylindrical, similar capsule column structure, which comprises a housin, this casing is including the articulamentum 1 that is located the middle part, this articulamentum 1 bilateral symmetry is provided with the circuit protection layer 2 that is located inside respectively, the outside of this circuit protection layer 2 is equipped with waterproof shell 3, form a vacuum space between circuit protection layer 2 and the waterproof shell 3, circuit protection layer 2 comprises being responsible for 22 and being located terminal radome fairing 21, be equipped with the main control board in being responsible for 22, pump one, pump two are connected with respectively and absorb liquid conduit and discharge liquid conduit. The connecting layer 1 is provided with a modularized interface, the upper part and the lower part of the connecting layer 1 are respectively and symmetrically provided with a protective cover 4, a flow guide pipe and a transmission shaft 41 are arranged in the protective cover 4, a small transmission gear 42 is arranged on the transmission shaft, the small transmission gear 42 is meshed with a large transmission gear 43, and double propellers 44 are arranged inside the large transmission gear 43. A needle-shaped PH sensor is arranged at the center of the semicircular end of the waterproof housing 3, and a leakage-proof rubber gasket is arranged between the semicircular end of the waterproof housing 3 and the fairing 21. Waterproof shell 3 is printed plastics by 3D and waterproof coating preparation forms, and waterproof shell 3 is the same with the central line of circuit protection layer 2, and the central line of safety cover 4 is mutually perpendicular with the central line of waterproof shell 3, circuit protection layer 2.
As shown in fig. 3-8, a main control board is arranged in the housing, an upper computer and a lower computer are arranged on the main control board, the lower computer comprises a main controller, a satellite positioning system, a depth meter device, a power propulsion system, an ultrasonic underwater obstacle avoidance module, a wireless communication module, a sensor detection system and a water quality improvement system, the housing is also internally provided with a dual-mode satellite positioning system, the dual-mode satellite positioning system is combined with the depth meter device to finish autonomous cruising of the water purifier, the depth meter device senses the depth of water by sensing the pressure in the water and feeds the water depth information back to the main controller, the orientation of double propellers is adjusted according to the current depth and the required working depth to realize upward floating and sinking of the water purifier, the dual-mode satellite positioning system is connected with pins corresponding to the main controller, the PPS pins are vacated to realize information interaction with the main controller, and the sensor detection system analyzes the surrounding water environment, feeding data back to an upper computer, improving the pH value of the water purifier by adopting a double peristaltic pump, inputting a pH target value to be realized by software by connecting a pump I with an acidic reagent and connecting a pump II with an alkaline reagent, and analyzing the pH value data obtained by detection in the external water environment of the value by a main controller; if the pH value in the water environment is larger, the first pump is opened, a certain dosage of acidic reagent is released, the pH value in the water area is repeatedly measured until the pH value is close to a target value, the relay is closed if the pH value in the water environment is measured to be smaller than the target value, the second pump is opened, the alkaline reagent is added into the reaction liquid until the target value is reached, signals are transmitted to the main controller by the satellite positioning module and the depth meter, and the main controller outputs a navigation direction signal to the power propulsion system to drive towards the target direction; the ultrasonic underwater obstacle avoidance module transmits signals to the main controller, and the main controller transmits signals of speed reduction and rotation angle to the power propulsion system; the main controller sends signals to the sensor detection system and the water quality improvement system to carry out water quality monitoring and water quality improvement work; the wireless communication module is a Bluetooth device, and sends signals to the power propulsion system through the main controller, so that the underwater robot is manually operated to move.
The main control unit adopts Arduino Mega2560 singlechip, and HC-SR 04's ultrasonic wave module includes power end VCC, control end TRIG, receiving end ECHO, switching value output OUT and public ground GND, and power advancing system makes to supply water treasured to provide power, makes water treasured ability motion under water, and the depth gauge device feeds back the degree of depth that water treasured was located under water.
The ultrasonic underwater obstacle avoidance module adopts an HC-SR04 ultrasonic ranging module, the HC-SR04 ultrasonic ranging module can accurately measure and output the distance within the range of 20-450 mm, the robustness is strong, the integration is easy, and the water purifier is ensured to safely sail underwater avoiding obstacles.
The water quality improving system comprises an ultraviolet lamp and a pH value adjusting device, and is used for improving the water environment, and when the detected pH value approaches to 0, the voltage of the pH value adjusting device is 5V of power supply voltage; when the pH value rises, the output voltage of the pH value adjusting device drops, the analog output voltage and the pH value are in a linear relation, the external temperature compensation circuit part can correct the pH value, the influence of temperature on the accuracy of the sensor is eliminated, and when the detected pH value approaches to 0, the voltage is 5V of the power supply voltage; when the pH value rises, the output voltage of the module drops, the analog output voltage and the pH value are in a linear relation, and the external temperature compensation circuit part can correct the pH value, so that the influence of temperature on the accuracy of the sensor is eliminated.
The dual-mode satellite positioning system comprises a GPS and a BDS, and is used for determining the position of a water treasure and providing support for path planning, in the water treasure navigation process, the GPS continuously transmits position information to the outside and carries out data processing by a main controller, so that the water treasure is ensured to navigate according to a set route, after a terminal point is set through a program, a plurality of preset points are obtained, the position of the water treasure is obtained under the action of the GPS, the relative position of the preset point nearest to the terminal point is judged, the driving action is carried out, the position of the water treasure is obtained again, the steps are repeated until a target point is reached, and the circulation is carried out.
Working process of HC-SR04 ultrasonic ranging module: inputting a pulse trigger control signal lasting for 10 mu s, and automatically transmitting eight 40khz square waves to the outside inside of the HC-SR04 ultrasonic ranging module; outputting a reverberation signal when a return signal is detected, wherein the duration of the reverberation signal is the time from the emission to the return of the ultrasonic wave, the time from the emission to the signal reception is t, the sound velocities in different media are v, and the test distance is s, then:
the propagation speed of the ultrasonic wave in the water is about 1300-1600 m/s, and the propagation speed of the ultrasonic wave in the water has no obvious relation with the turbidity of the water; when the temperature is x, the approximate analytic expression of the temperature to the propagation speed v of the ultrasonic wave in the water is obtained as follows:
v＝1468+3.68(x-10)-0.0279(x-10)2(2)
therefore, the propagation speed of the ultrasonic wave in water is approximately considered to be 1500m/s, and the distance measurement formula of the ultrasonic sensor can be obtained as follows:
s＝750t (3)
the foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A water purifier of an underwater operation robot is characterized in that the whole body is a capsule-shaped structure with semicircular two ends and cylindrical middle part, and comprises a shell, the shell comprises a connecting layer positioned in the middle, the left and the right of the connecting layer are respectively symmetrically provided with a circuit protection layer positioned inside, the exterior of the circuit protection layer is provided with a waterproof shell, a vacuum space is formed between the circuit protection layer and the waterproof shell, the circuit protection layer consists of a main pipe and a fairing positioned at the tail end, a main control board, a first pump and a second pump are arranged in the main pipe, the connecting layer is provided with a modularized interface, the upper part and the lower part of the connecting layer are respectively provided with a protective cover symmetrically, be equipped with honeycomb duct, transmission shaft in this safety cover, be provided with little drive gear on the transmission shaft, this little drive gear meshing has big drive gear, and big drive gear is inside to be equipped with double propellers.
2. The underwater operation robot water purifier as claimed in claim 1, wherein a needle-shaped PH sensor is provided at the center of the semicircular end of the waterproof case, and a leakage-proof rubber pad is provided between the semicircular end of the waterproof case and the cowling.
3. The underwater operation robot water purifier as claimed in claim 1, wherein the first pump and the second pump are respectively connected with a liquid suction conduit and a liquid discharge conduit.
4. The underwater operation robot water purifier as claimed in claim 1, wherein the waterproof case is made of 3D printed plastic and a waterproof coating, the center lines of the waterproof case and the circuit protection layer are the same, and the center line of the protective cover is perpendicular to the center lines of the waterproof case and the circuit protection layer.
5. The underwater operation robot water purifier as claimed in claim 1, wherein a main control panel is arranged in the housing, an upper computer and a lower computer are arranged on the main control panel, the lower computer comprises a main controller, a satellite positioning system, a depth gauge device, a power propulsion system, an ultrasonic underwater obstacle avoidance module, a wireless communication module, a sensor detection system and a water quality improvement system, a dual-mode satellite positioning system is further arranged in the housing, the dual-mode satellite positioning system is combined with the depth gauge device to complete autonomous cruising of the water purifier, the depth gauge device senses the depth of water through sensing the pressure in the water and feeds the water depth information back to the main controller, the orientation of double propellers is adjusted according to the current depth and the required working depth, the water purifier floats and sinks, the dual-mode satellite positioning system is connected with corresponding pins of the main controller, and the pins of the PPS are vacated, the sensor detection system analyzes the ambient water environment and feeds data back to the upper computer, the water purifier adopts double peristaltic pumps to improve the pH value, one pump is connected with an acidic reagent, the other pump is connected with an alkaline reagent, a pH target value to be realized is input by software, and the main controller analyzes the pH value data obtained by detection in the external water environment; if the pH value in the water environment is larger, the first pump is opened, a certain dosage of acidic reagent is released, the pH value in the water area is repeatedly measured until the pH value is close to a target value, the relay is closed if the pH value in the water environment is measured to be smaller than the target value, the second pump is opened, the alkaline reagent is added into the reaction liquid until the target value is reached, signals are transmitted to the main controller by the satellite positioning module and the depth meter, and the main controller outputs a navigation direction signal to the power propulsion system to drive towards the target direction; the ultrasonic underwater obstacle avoidance module transmits signals to the main controller, and the main controller transmits signals of speed reduction and rotation angle to the power propulsion system; the main controller sends signals to the sensor detection system and the water quality improvement system to carry out water quality monitoring and water quality improvement work; the wireless communication module is a Bluetooth device, and sends signals to the power propulsion system through the main controller, so that the underwater robot is manually operated to move.
6. The underwater operation robot water purifier as claimed in claim 5, wherein the main controller adopts an Arduino Mega2560 singlechip, the ultrasonic module of HC-SR04 comprises a power supply terminal VCC, a control terminal TRIG, a receiving terminal ECHO, a switching value output terminal OUT and a common ground GND, the power propulsion system powers the water purifier to move underwater, and the depth meter device feeds back the depth of the water purifier underwater.
7. The underwater operation robot water purifier as claimed in claim 5, wherein the ultrasonic underwater obstacle avoidance module adopts an HC-SR04 ultrasonic ranging module, the HC-SR04 ultrasonic ranging module can accurately measure and output the distance within the range of 20-450 mm, the robustness is high, the integration is easy, and the water purifier is ensured to safely sail underwater avoiding obstacles.
8. The underwater operation robot water purifier as claimed in claim 1, wherein the water quality improving system comprises an ultraviolet lamp, a pH adjusting device for improving the environment of water, the pH adjusting device, when the detected pH approaches 0, the voltage is 5V; when the pH value rises, the output voltage of the pH value adjusting device drops, the analog output voltage and the pH value are in a linear relation, the external temperature compensation circuit part can correct the pH value, the influence of temperature on the accuracy of the sensor is eliminated, and when the detected pH value approaches to 0, the voltage is 5V of the power supply voltage; when the pH value rises, the output voltage of the module drops, the analog output voltage and the pH value are in a linear relation, and the external temperature compensation circuit part can correct the pH value, so that the influence of temperature on the accuracy of the sensor is eliminated.
9. The underwater operation robot water purifier as claimed in claim 1, wherein the dual-mode satellite positioning system comprises a GPS and a BDS, and is used for determining the position of the water purifier and providing support for path planning, during the navigation process of the water purifier, the GPS continuously transmits position information to the outside and sends the position information to the main controller for data processing, so that the water purifier is ensured to navigate according to a set route, after a terminal point is set through a program, a plurality of preset points are obtained, the position of the water purifier is obtained under the action of the GPS, the relative position of the preset point nearest to the terminal point is judged, a driving action is performed, the position of the water purifier is obtained again, and the process is repeated until a target point is reached, and the water purifier jumps out of the loop.
10. The underwater operation robot water purifier as claimed in claim 1, wherein the HC-SR04 ultrasonic ranging module has a workflow: inputting a pulse trigger control signal lasting for 10 mu s, and automatically transmitting eight 40khz square waves to the outside inside the HC-SR04 ultrasonic ranging module; outputting a reverberation signal when a return signal is detected, wherein the duration of the reverberation signal is the time from the emission to the return of the ultrasonic wave, the time from the emission to the signal reception is t, the sound velocities in different media are v, and the test distance is s, then:
the propagation speed of the ultrasonic wave in the water is about 1300-1600 m/s, and the propagation speed of the ultrasonic wave in the water has no obvious relation with the turbidity of the water; when the temperature is x, the approximate analytic expression of the temperature to the propagation speed v of the ultrasonic wave in the water is obtained as follows:
v＝1468+3.68(x-10)-0.0279(x-10)2(2)
therefore, the propagation speed of the ultrasonic wave in water is approximately considered to be 1500m/s, and the distance measurement formula of the ultrasonic sensor can be obtained as follows:
s＝750t (3)。
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| CN113109532A (en) * | 2021-04-14 | 2021-07-13 | 齐鲁工业大学 | Water quality monitoring device based on microbial fuel cell |
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