CN112731832A - Hardware acquisition control system of pipeline scanning radar robot - Google Patents
Hardware acquisition control system of pipeline scanning radar robot Download PDFInfo
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- CN112731832A CN112731832A CN202011506591.1A CN202011506591A CN112731832A CN 112731832 A CN112731832 A CN 112731832A CN 202011506591 A CN202011506591 A CN 202011506591A CN 112731832 A CN112731832 A CN 112731832A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
A hardware acquisition control system of a pipeline scanning radar robot relates to the technical field of underground pipelines and aims to solve the problem of the prior art on the detection range of pipelines. The hardware acquisition control system of the pipeline scanning radar robot comprises: radar acquisition control module, gyroscope module, photoelectric conversion module, radar transmitter, radar receiver, power module, radar acquisition control module includes: the master control MCU chip, the AD analog-to-digital conversion circuit, the DA digital-to-analog conversion circuit and the receiving and transmitting trigger circuit. The gyroscope module is installed on the radar antenna and used for collecting detection angles of the radar antenna, and the photoelectric conversion module is used for transmitting radar collection control module data to the upper computer through optical fiber signals. The radar transmitter is used for transmitting radar signals, the radar receiver is used for receiving the radar signals, and the power supply module converts 48V of external power supply into +12V, +5V and-12V for supplying power to the module.
Description
Technical Field
The invention belongs to the technical field of underground pipeline detection, and particularly relates to a hardware acquisition control system of a pipeline scanning radar robot.
Background
Drainage pipelines occupy important positions in urban underground pipelines, and on one hand, the drainage pipelines occupy the maximum number of the urban underground pipelines in mileage; on the other hand, the drainage pipeline is easier to damage than other pipelines, and the damage of the drainage pipeline can cause secondary disasters such as underground cavity collapse, so that the periodic detection of the drainage pipeline has important significance for maintaining and guaranteeing the functions of the drainage pipeline and preventing the occurrence of the secondary disasters.
In the prior art, pipeline radar detection is used for detecting urban underground drainage pipelines, and the radar detection is a detection method for determining the distribution rule of substances in a medium by using high-frequency radio waves, and the substance composition in the medium is judged according to the propagation rule of electromagnetic pulses in the medium during detection. The pipeline radar adopts electromagnetic waves for detection, and the propagation of the electromagnetic waves in an underground medium is comprehensively influenced by dielectric constant, conductivity and magnetic permeability, wherein the effect of the dielectric constant is relatively large.
Because the orientation of the radar antenna can not be ensured in the advancing process of equipment such as a pipeline radar detector and the like in a pipeline, the detection angle of a radar can not be calibrated, and the processing of radar data is difficult.
Therefore, the hardware acquisition control system for the pipeline scanning radar robot is expected to be invented, and the technical problem of calibrating the detection angle of the pipeline radar in the prior art can be effectively solved.
Disclosure of Invention
The invention aims to provide a hardware acquisition control system of a pipeline scanning radar robot, which aims to solve the technical problem of calibrating a pipeline radar detection angle in the prior art.
In order to achieve the above object, the present invention provides a hardware acquisition control system for a pipeline scanning radar robot, comprising: radar acquisition control module, gyroscope module, photoelectric conversion module, radar transmitter, radar receiver, power module, radar acquisition control module includes: the master control MCU chip, the AD analog-to-digital conversion circuit, the DA digital-to-analog conversion circuit and the receiving and transmitting trigger circuit. The gyroscope module is installed on the radar antenna and used for collecting detection angles of the radar antenna, and the photoelectric conversion module is used for transmitting radar collection control module data to the upper computer through optical fiber signals. The radar transmitter is used for transmitting radar signals, the radar receiver is used for receiving the radar signals, and the power supply module converts 48V of external power supply into +12V, +5V and-12V of power supply for the internal module.
Optionally, the master control MCU chip of the radar acquisition control module is controlled by the upper computer, the DA digital-to-analog conversion circuit generates a radar transmitter trigger signal and a radar receiver trigger signal, the AD digital-to-analog conversion circuit acquires a radar signal received by the radar receiver, and the master control MCU chip transmits the radar signal to the upper computer through the photoelectric conversion module.
Optionally, the antenna detection angle acquired by the gyroscope module is transmitted to an upper computer through the radar acquisition control module, and the upper computer calibrates the radar detection angle by combining data.
Alternatively, the power module converts the external power supply 48V to +12V and-12V by the URA4812YMD-15WR3 module and converts the external power supply 48V to +5V by the URB4805YMD-15WR3 module.
The invention has the beneficial effects that:
the invention relates to a hardware acquisition control system of a pipeline scanning radar robot, which comprises: radar acquisition control module, gyroscope module, photoelectric conversion module, radar transmitter, radar receiver, power module, radar acquisition control module includes: the master control MCU chip, the AD analog-to-digital conversion circuit, the DA digital-to-analog conversion circuit and the receiving and transmitting trigger circuit. The gyroscope module is installed on the radar antenna and used for collecting detection angles of the radar antenna, and the photoelectric conversion module is used for transmitting radar collection control module data to the upper computer through optical fiber signals. The radar transmitter is used for transmitting radar signals, the radar receiver is used for receiving the radar signals, and the power supply module converts 48V of external power supply into +12V, +5V and-12V of power supply for the internal module. Compared with the prior art, the hardware acquisition control system for the pipeline scanning radar robot can acquire the detection angle of the radar antenna, and the detection angle of the radar antenna is calibrated in radar information, so that the detection result is more accurate.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
Fig. 1 shows a block diagram of a hardware acquisition control system of a pipeline scanning radar robot according to an embodiment of the present invention.
Fig. 2 shows a schematic structural diagram of a hardware acquisition control system of a pipeline scanning radar robot according to an embodiment of the invention.
Fig. 3 shows a block diagram of a gyroscope module system of a hardware acquisition control system of a pipeline scanning radar robot according to an embodiment of the present invention.
Fig. 4 shows a schematic structural diagram of a gyroscope module of a hardware acquisition control system of a pipeline scanning radar robot according to an embodiment of the invention.
Fig. 5 shows a schematic structural diagram of a photoelectric conversion module of a hardware acquisition control system of a pipeline scanning radar robot according to an embodiment of the present invention.
FIG. 6 shows a front view of a radar transmitter of a hardware acquisition control system of a pipe scanning radar robot, according to one embodiment of the present invention.
Fig. 7 illustrates a bottom view of a radar transmitter of a pipe scanning radar robot hardware acquisition control system according to one embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The invention relates to a hardware acquisition control system of a pipeline scanning radar robot, which comprises: radar acquisition control module, gyroscope module, photoelectric conversion module, radar transmitter, radar receiver, power module, radar acquisition control module includes: the master control MCU chip, the AD analog-to-digital conversion circuit, the DA digital-to-analog conversion circuit and the receiving and transmitting trigger circuit. The gyroscope module is installed on the radar antenna and used for collecting detection angles of the radar antenna, and the photoelectric conversion module is used for transmitting radar collection control module data to the upper computer through optical fiber signals. The radar transmitter is used for transmitting radar signals, the radar receiver is used for receiving the radar signals, and the power supply module converts 48V of external power supply into +12V, +5V and-12V of power supply for the internal module.
Specifically, the hardware acquisition control system of the pipeline scanning radar robot comprises: radar acquisition control module, gyroscope module, photoelectric conversion module, radar transmitter, radar receiver, power module, radar acquisition control module includes: the master control MCU chip, the AD analog-to-digital conversion circuit, the DA digital-to-analog conversion circuit and the receiving and transmitting trigger circuit. The gyroscope module is installed on the radar antenna and used for collecting detection angles of the radar antenna, and the photoelectric conversion module is used for transmitting radar collection control module data to the upper computer through optical fiber signals. The radar transmitter is used for transmitting radar signals, the radar receiver is used for receiving the radar signals, and the power supply module converts 48V of external power supply into +12V, +5V and-12V of power supply for the internal module. Compared with the prior art, the hardware acquisition control system for the pipeline scanning radar robot can acquire the detection angle of the radar antenna, and the detection angle of the radar antenna is calibrated in radar information, so that the detection result is more accurate.
In one example, a master control MCU chip of the radar acquisition control module is controlled by an upper computer, a DA digital-to-analog conversion circuit generates a radar transmitter trigger signal and a radar receiver trigger signal, an AD digital-to-analog conversion circuit acquires a radar signal received by a radar receiver, and the master control MCU chip transmits the radar signal to the upper computer through a photoelectric conversion module.
In one example, the antenna detection angle collected by the gyroscope module is transmitted to an upper computer through the radar collection control module, and the upper computer calibrates the radar detection angle according to data.
In one example, the power module converts the external supply 48V to +12V and-12V by the URA4812YMD-15WR3 module and the URB4805YMD-15WR3 module converts the external supply 48V to + 5V.
Examples
As shown in fig. 1 to 7, a hardware acquisition control system for a pipeline scanning radar robot includes: radar acquisition control module, gyroscope module, photoelectric conversion module, radar transmitter, radar receiver, power module, radar acquisition control module includes: the master control MCU chip, the AD analog-to-digital conversion circuit, the DA digital-to-analog conversion circuit and the receiving and transmitting trigger circuit. The gyroscope module is installed on the radar antenna and used for collecting detection angles of the radar antenna, and the photoelectric conversion module is used for transmitting radar collection control module data to the upper computer through optical fiber signals. The radar transmitter is used for transmitting radar signals, the radar receiver is used for receiving the radar signals, and the power supply module converts 48V of external power supply into +12V, +5V and-12V of power supply for the internal module.
The master control MCU chip of the radar acquisition control module is controlled by the upper computer, the DA digital-to-analog conversion circuit generates a radar transmitter trigger signal and a radar receiver trigger signal, the AD digital-to-analog conversion circuit acquires a radar signal received by the radar receiver, and the master control MCU chip transmits the radar signal to the upper computer through the photoelectric conversion module. The antenna detection angle collected by the gyroscope module is transmitted to the upper computer through the radar collection control module, and the upper computer is calibrated by combining data with the radar detection angle. The power supply module converts the external power supply 48V into +12V and-12V by the URA4812YMD-15WR3 module, and converts the external power supply 48V into +5V by the URB4805YMD-15WR3 module.
In summary, the hardware acquisition control system for the pipeline scanning radar robot of the present invention includes: radar acquisition control module, gyroscope module, photoelectric conversion module, radar transmitter, radar receiver, power module, radar acquisition control module includes: the master control MCU chip, the AD analog-to-digital conversion circuit, the DA digital-to-analog conversion circuit and the receiving and transmitting trigger circuit. The gyroscope module is installed on the radar antenna and used for collecting detection angles of the radar antenna, and the photoelectric conversion module is used for transmitting radar collection control module data to the upper computer through optical fiber signals. The radar transmitter is used for transmitting radar signals, the radar receiver is used for receiving the radar signals, and the power supply module converts 48V of external power supply into +12V, +5V and-12V of power supply for the internal module. Compared with the prior art, the hardware acquisition control system for the pipeline scanning radar robot can acquire the detection angle of the radar antenna, and the detection angle of the radar antenna is calibrated in radar information, so that the detection result is more accurate.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (4)
1. A hardware acquisition control system of a pipeline scanning radar robot is characterized by comprising: radar acquisition control module, gyroscope module, photoelectric conversion module, radar transmitter, radar receiver, power module, radar acquisition control module includes: the master control MCU chip, the AD analog-to-digital conversion circuit, the DA digital-to-analog conversion circuit and the receiving and transmitting trigger circuit. The gyroscope module is installed on the radar antenna and used for collecting detection angles of the radar antenna, and the photoelectric conversion module is used for transmitting radar collection control module data to the upper computer through optical fiber signals. The radar transmitter is used for transmitting radar signals, the radar receiver is used for receiving the radar signals, and the power supply module converts 48V of external power supply into +12V, +5V and-12V of power supply for the internal module.
2. The hardware acquisition control system for the pipeline scanning radar robot as claimed in claim 1, wherein a main control MCU chip of the radar acquisition control module is controlled by an upper computer, a DA digital-to-analog conversion circuit generates a radar transmitter trigger signal and a radar receiver trigger signal, an AD analog-to-digital conversion circuit acquires the radar signal received by the radar receiver, and the main control MCU chip transmits the radar signal to the upper computer through a photoelectric conversion module.
3. The hardware acquisition control system for the pipeline scanning radar robot as claimed in claim 1, wherein the detection angle of the antenna acquired by the gyroscope module is transmitted to an upper computer through the radar acquisition control module, and the upper computer calibrates the detection angle of the radar in combination with data.
4. The hardware acquisition control system of pipe scanning radar robot as claimed in claim 1, wherein the power supply module converts the external power supply 48V into +12V and-12V by URA4812YMD-15WR3 module, and the URB4805YMD-15WR3 module converts the external power supply 48V into + 5V.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011506591.1A CN112731832A (en) | 2020-12-18 | 2020-12-18 | Hardware acquisition control system of pipeline scanning radar robot |
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| CN202011506591.1A CN112731832A (en) | 2020-12-18 | 2020-12-18 | Hardware acquisition control system of pipeline scanning radar robot |
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Citations (7)
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|---|---|---|---|---|
| US3956747A (en) * | 1973-10-25 | 1976-05-11 | Siemens Aktiengesellschaft | Radar system comprising a primary radar device and a secondary radar device |
| US5933014A (en) * | 1994-11-23 | 1999-08-03 | Fraunhofer Gesellschaft Zur Foerderung | Process for detecting totally or partially hidden non-homogeneities by means of microwave radiation |
| US20100237871A1 (en) * | 2007-08-31 | 2010-09-23 | Erez Allouche | Pipe Survey Method Using UWB Signal |
| US20110196534A1 (en) * | 2009-12-30 | 2011-08-11 | Sewervue Technology Corp. | Apparatus and method for inspection of underground pipes |
| CN104569933A (en) * | 2014-12-31 | 2015-04-29 | 中国人民解放军63680部队 | Shipborne radar antenna zero position memory device based on photoelectric switch |
| US20190086527A1 (en) * | 2017-09-19 | 2019-03-21 | United States Of America As Represented By Secretary Of The Navy | System and Method for Automatic Control of Radar Wave Emission |
| CN111665570A (en) * | 2020-05-26 | 2020-09-15 | 广西电网有限责任公司南宁供电局 | Underground cable pipeline imaging detection method and device based on 3D ground penetrating radar |
-
2020
- 2020-12-18 CN CN202011506591.1A patent/CN112731832A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3956747A (en) * | 1973-10-25 | 1976-05-11 | Siemens Aktiengesellschaft | Radar system comprising a primary radar device and a secondary radar device |
| US5933014A (en) * | 1994-11-23 | 1999-08-03 | Fraunhofer Gesellschaft Zur Foerderung | Process for detecting totally or partially hidden non-homogeneities by means of microwave radiation |
| US20100237871A1 (en) * | 2007-08-31 | 2010-09-23 | Erez Allouche | Pipe Survey Method Using UWB Signal |
| US20110196534A1 (en) * | 2009-12-30 | 2011-08-11 | Sewervue Technology Corp. | Apparatus and method for inspection of underground pipes |
| CN104569933A (en) * | 2014-12-31 | 2015-04-29 | 中国人民解放军63680部队 | Shipborne radar antenna zero position memory device based on photoelectric switch |
| US20190086527A1 (en) * | 2017-09-19 | 2019-03-21 | United States Of America As Represented By Secretary Of The Navy | System and Method for Automatic Control of Radar Wave Emission |
| CN111665570A (en) * | 2020-05-26 | 2020-09-15 | 广西电网有限责任公司南宁供电局 | Underground cable pipeline imaging detection method and device based on 3D ground penetrating radar |
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Application publication date: 20210430 |