CN115407317A - Underwater detection high-frequency ultrasonic sensor, system and robot - Google Patents
Underwater detection high-frequency ultrasonic sensor, system and robot Download PDFInfo
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- CN115407317A CN115407317A CN202210923453.6A CN202210923453A CN115407317A CN 115407317 A CN115407317 A CN 115407317A CN 202210923453 A CN202210923453 A CN 202210923453A CN 115407317 A CN115407317 A CN 115407317A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention relates to the technical field of ultrasonic sensors, in particular to an underwater detection high-frequency ultrasonic sensor, a system and a robot, wherein the sensor comprises a shell (1), a piezoelectric ceramic plate (2), bonding glue (3), a backing damping layer (4) and a PCB (printed circuit board) (7), the shell (1) is a concave cavity, and the concave cavity consists of a side surface and a lower end surface; the piezoelectric ceramic piece (2), the backing damping layer (4) and the PCB (7) are located in the concave cavity and are connected in sequence, the piezoelectric ceramic piece (2) is connected with the lower end face through the bonding glue (3), and the thickness of the lower bottom face of the shell (1) is 0.6-1.2 mm. The sensor can be used for underwater distance detection.
Description
Technical Field
The invention relates to the technical field of ultrasonic sensors, in particular to an underwater detection high-frequency ultrasonic sensor, a system and a robot.
Background
The ultrasonic sensor sends out an ultrasonic signal with a certain frequency, receives an echo signal, and obtains the distance between an object causing signal reflection and the sensor through the time difference of sending and receiving the signal, so the scheme is commonly used for foreign body detection or distance detection in the field of artificial intelligence. Generally, the higher the ultrasonic frequency sent by the sensor is, the more beneficial to detecting a near-distance object is, and the higher the sensitivity to the near-distance object is, the faster the intelligent device can perform corresponding processing, so that the frequency of the ultrasonic sensor is continuously increased in the industry to detect the near-distance object.
However, as the frequency increases, the shorter the time for the measured object to return to the echo signal is, and in the limit condition, the aftershock of the ultrasonic sensor itself is not finished, the echo signal has already arrived, and the aftershock and the echo signal are superposed, which may affect the accuracy of the distance measurement. Therefore, when considering to increase the ultrasonic frequency, all manufacturers consider to enhance the echo signal, which is beneficial to accurately acquiring the echo signal.
The prior art discloses a patent of "a high frequency sensor and a manufacturing method thereof" (publication number CN 113866772A), in which a piezoelectric ceramic plate is connected with one surface of a second matching layer, and the other surface of the second matching layer is used for transmitting ultrasonic signals outwards, and the sensor further comprises a damping glue layer, the damping glue layer is arranged at the outer side of the second matching layer, and an arc line structure is arranged on the damping glue layer. From above-mentioned patent can see, piezoceramics piece passes through the transmission medium of second matching layer with vibration signal transmission to external world, in order to reduce the aftershock, increases high frequency ultrasonic sensor's echo signal, through set up the pitch arc structure on the damping glue layer for the outside of shell is extended to as far as possible to the second matching layer.
Therefore, the design direction in the field is more to make the piezoelectric ceramic piece fully contact with the transmission medium as much as possible, and structurally, the interference on the external propagation of the vibration signal of the piezoelectric ceramic piece is reduced as much as possible.
However, when the high-frequency ultrasonic sensor is used for underwater ranging, a new problem is brought, the high-frequency ultrasonic sensor is a charged component, the tightness of the high-frequency ultrasonic sensor needs to be kept when the high-frequency ultrasonic sensor is used underwater, but the high-frequency ultrasonic sensor is separated from the idea that the second matching layer on the piezoelectric ceramic piece needs to be contacted with a transmission medium as much as possible, the high-frequency ultrasonic sensor is directly placed in a closed space, although the high-frequency ultrasonic sensor is waterproof, the transmission of a vibration signal of the piezoelectric ceramic piece is also hindered, and therefore an improvement point needs to be found from the structure, and the high-frequency ultrasonic sensor can also be used for underwater short-distance ranging.
Disclosure of Invention
The invention aims to provide an underwater detection high-frequency ultrasonic sensor, a system and a robot, wherein on the basis of the prior art, under the condition that a shell is required to form a closed space for the underwater application of the sensor, the structural design of the sensor is improved in order to maintain the performance of the sensor.
In order to achieve the purpose, the invention adopts the technical scheme that:
an underwater detection high-frequency ultrasonic sensor comprises a shell 1, a piezoelectric ceramic piece 2, bonding glue 3, a backing damping layer 4 and a PCB 7, wherein the shell 1 is a concave cavity which is composed of a side surface 101 and a lower end surface 102; the piezoelectric ceramic piece 2, the backing damping layer 4 and the PCB 7 are positioned in the concave cavity and are connected in sequence; the piezoelectric ceramic piece 2 is connected with the lower end face 102 through bonding glue 3, and the thickness of the lower end face 102 of the shell 1 is 0.6-1.2 mm.
Aiming at an underwater application scene, the shell is designed to be of a structure with a lower end face instead of only a side face, the piezoelectric ceramic piece 2, the backing damping layer 4 and the PCB 7 are placed in a concave cavity formed by the lower end face and the side face, the piezoelectric ceramic piece 2 is connected with the lower end face 102 through the solidified bonding glue 3, so that the piezoelectric ceramic piece 2 is in close contact with the lower end face 102 of the shell 1, meanwhile, the lower end face 102 of the shell 1 and the bonding glue 3 are combined to be used as a matching layer for the piezoelectric ceramic piece 2 to transmit vibration signals, aiming at a transmission medium of water, the thickness of the lower end face 102 of the shell 1 is determined to be 0.6-1.2mm, in the thickness range, the requirement that the whole sensor is easy to seal is met, the vibration signals of the piezoelectric ceramic piece 2 can be transmitted into water through the bonding glue 3 and the lower end face 102 of the shell 1, and the requirement of ultrasonic ranging is met.
As a preferable scheme, the piezoelectric ceramic plate packaging structure further comprises a pouring sealant 9, wherein the pouring sealant 9 is filled in the concave cavity, so that the piezoelectric ceramic plate 2, the backing damping layer 4 and the PCB plate 7 are sealed between the pouring sealant 9 and the lower end face 102. The pouring sealant 9 completely wraps the PCB 7, the positive electrode wire 5, the negative electrode wire 6 and the lead 8, no gap exists around the PCB, the situation that the sensor is short-circuited due to water leakage in the working process is avoided, and the normal working of the sensor under the condition of high water pressure can be guaranteed.
As a preferred scheme, the piezoelectric ceramic piece 2, the backing damping layer 4 and the PCB board 7 are sequentially connected in the following specific structure: the upper surface of the piezoelectric ceramic piece 2 is connected with the backing damping layer 4, and the upper surface of the backing damping layer 4 is connected with the PCB 7; the piezoelectric ceramic piece 2 is connected to the PCB 7 through a positive electrode wire 5 and a negative electrode wire 6, and the PCB 7 supplies power to the piezoelectric ceramic piece 2 through a lead 8.
Preferably, the side surface of the piezoelectric ceramic piece 2 is connected with the positive wire 5 and the negative wire 6.
Usually, in the process of designing a sensor, the upper surface and the lower surface of the piezoelectric ceramic piece 2 are provided with connecting ends, so as to connect the positive wire 5 and the negative wire 6, and the piezoelectric ceramic piece 2 can be powered, but the design has the disadvantage that, based on the condition that the shell 1 has the lower end face 102, the connecting end of the lower surface of the piezoelectric ceramic piece 2 can be abutted against the lower end face of the shell, so that a gap exists between the lower surface of the piezoelectric ceramic piece 2 and the lower end face 102 of the shell due to the connecting ends, and the lower surface of the piezoelectric ceramic piece 2 and the lower end face 102 of the shell cannot be tightly attached through the adhesive glue 3, thereby affecting the external transmission of vibration signals by the piezoelectric ceramic piece 2. Therefore, the connecting end of the piezoelectric ceramic piece 2 connected with the positive wire 5 and the negative wire 6 is arranged on the side surface of the piezoelectric ceramic piece 2, and the lower surface of the piezoelectric ceramic piece 2 is not affected to be attached to the lower end surface 102 of the shell through the bonding glue 3.
Preferably, a projection point formed by projecting the geometric center of the piezoelectric ceramic piece 2 to the lower end surface is located at the geometric center of the lower end surface.
The projection point formed by projecting the geometric center of the piezoelectric ceramic piece 2 to the lower end face is located at the geometric center of the lower end face, so that the piezoelectric ceramic piece 2 and the lower end face are structurally symmetrical about the axis of the geometric center, and the control of the vibration signal to the external transmission angle is facilitated.
Preferably, the material of the housing 1 is a waterproof material with acoustic impedance of 3-7 Mrayl.
Preferably, the material of the housing 1 is one or a combination of more of pc plastic, epoxy resin and pvc.
Preferably, the acoustic impedance of the backing damping layer 4 is in the range of 2 to 10 Mrayl. The piezoelectric ceramic is used for inhibiting vibration of the piezoelectric ceramic and absorbing redundant vibration.
Preferably, the thickness of the backing damping layer 4 is greater than twice the wavelength of the ultrasonic signal emitted by the piezoelectric ceramic plate 2.
Preferably, the thickness of the piezoelectric ceramic plate 2 is 0.4mm-5mm.
Based on the same conception, the obstacle avoidance sensor system is also provided, which comprises any one of the underwater detection high-frequency ultrasonic sensor and the control circuit,
the underwater detection high-frequency ultrasonic sensor transmits ultrasonic transmitting waves to the outside under the control of the control circuit and receives reflected waves fed back by an obstacle;
the control circuit controls the system to avoid the obstacle according to the reflected wave.
Preferably, the number of the underwater detection high-frequency ultrasonic sensors is four, the four sensors are distributed front and back, left and right, and the controller is electrically connected with the four sensors through sensor connecting wires. The four ultrasonic sensors just correspond to four directions, and the omnibearing obstacle avoidance distance measurement detection of the obstacle avoidance sensor system can be realized.
Based on the same conception, the underwater detection robot is further provided, and the obstacle avoidance sensor system comprises any one of the obstacle avoidance sensor systems.
In conclusion, due to the adoption of the technical scheme, the invention has the beneficial effects that:
based on the scene that high frequency ultrasonic sensor was used under water, high frequency ultrasonic sensor's structure has been improved, with the structure of shell design for having lower terminal surface, and piezoceramics piece 2 through the bonding glue 3 of solidification with lower terminal surface is connected, combine together the lower terminal surface of shell and bonding glue 3, as the matching layer of piezoceramics piece 2 transmission vibration signal, to the transmission medium of water, confirm the thickness of terminal surface under the shell between 0.6-1.2mm, in this thickness range, satisfied the whole easy inclosed demand of sensor promptly, can transmit the vibration signal of piezoceramics piece 2 to aquatic through bonding glue 3 and shell lower terminal surface again, satisfy the demand of ultrasonic ranging.
Drawings
Fig. 1 is an external view of an underwater detection high-frequency ultrasonic sensor according to embodiment 1 of the present invention;
FIG. 2 shows a design of threads on the outer side of a housing of an underwater detection high-frequency ultrasonic sensor in embodiment 1 of the present invention;
FIG. 3 is a sectional view of an underwater detection high-frequency ultrasonic sensor according to embodiment 2 of the present invention;
fig. 4 is a schematic structural diagram of an obstacle avoidance sensor system according to embodiment 3 of the present invention;
fig. 5 is a flowchart of an underwater detection method of an obstacle avoidance sensor system in embodiment 3 of the present invention;
fig. 6 is an impedance scanning curve of an underwater detection high-frequency ultrasonic sensor in an underwater detection robot according to embodiment 3 of the present invention;
fig. 7 is a line graph which is drawn according to the amplitude of the received signal and is received by one sensor, in embodiment 3 of the invention, when the underwater detection high-frequency ultrasonic sensor of the invention is used in water.
Reference numerals are as follows: 1-shell, 101-side surface, 102-lower end surface, 2-piezoelectric ceramic piece, 3-bonding glue, 4-backing damping layer, 5-positive wire, 6-negative wire, 7-PCB, 8-lead and 9-pouring sealant.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
The utility model provides a high frequency ultrasonic sensor of underwater detection, includes shell 1, piezoceramics piece 2, bonding glue 3, backing damping layer 4, anodal electric wire 5, negative pole electric wire 6, PCB board 7, wire 8, casting glue 9, the casing has top surface and bottom surface, and shell 1 includes side 101 (cylindricality cambered surface) and lower terminal surface 102, and side 101 and lower terminal surface 102 have constituted the concave cavity.
And welding the positive wire 5 and the negative wire 6 to the side connecting end of the piezoelectric ceramic piece 2, and designing the welding point of the ceramic piece connecting end into a side leading-out mode so as to ensure that the surface of the ceramic piece is smoothly attached to the lower end surface of the shell.
Further using bonding glue 3 to bond the piezoelectric ceramic piece 2 connected with the positive and negative electric wires into the lower end surface 102 of the shell, wherein the bonding position is at the center of the lower end surface 102 of the shell; the projection of the piezoelectric ceramic piece 2 is located in the center of the lower end face, so that the control of the external transmission angle of a vibration signal is facilitated, and meanwhile, the energy conversion angle of the sensor is consistent.
Further pouring sealant 9 is filled in the concave cavity, so that the piezoelectric ceramic piece 2, the backing damping layer 4 and the PCB 7 are sealed between the pouring sealant 9 and the lower end surface 102. And (3) encapsulating the sensor semi-finished product subjected to the steps by using an encapsulating adhesive 9, and encapsulating the whole sensor into a totally enclosed sensor so as to ensure that the sensor does not have water leakage and short circuit in the working process of a complex environment.
In some examples, the backing damping layer 4 has an acoustic impedance in the range of 2-10Mrayl for damping piezoelectric ceramic vibrations, absorbing unwanted vibrations, and the use of a backing damping layer 4 with a thickness greater than twice the sensor emission wavelength is optimal.
In some examples, the material of the backing damping layer 4 is one or more of silicon rubber, epoxy resin, glass beads and tungsten powder.
In some examples, the piezoceramic wafers 2 used have a thickness in the range from 0.4mm to 5mm.
In some examples, the electrode of the piezoelectric ceramic plate 2 is led out in a flanging side-edge manner.
In some examples, the housing is one or more combinations of pc plastic, epoxy, pvc.
In some examples, the thickness of the combined layer of the lower end face of the shell 1 and the cured bonding glue is integral multiple of 1/4 of the ultrasonic wavelength of the sensor.
In some examples, the potting adhesive 9 may be a polyurethane resin, an epoxy resin.
In some examples, the sensor housing sides 101 are smooth, straight, and cylindrical to facilitate removal and replacement.
In some examples, the front, middle or rear end of the side 101 outside the sensor housing 1 is externally threaded to increase the water tightness of the sensor during installation, it being possible for the housing threads to extend through the entire side 101. One sensor housing side thread design is shown in fig. 2.
Example 2
As can be seen from fig. 1 and 3, the underwater detection high-frequency ultrasonic sensor comprises a shell 1, a piezoelectric ceramic sheet 2, adhesive glue 3, a backing damping layer 4, a positive wire 5, a negative wire 6, a PCB 7, a lead 8 and a potting adhesive 9. Piezoceramics piece 2 is through anodal electric wire 5, the welding intercommunication of negative pole electric wire 6, and piezoceramics piece 2 is connected to the lower terminal surface 102 of shell 1 through the bonding glue 3 of solidification, back lining damping layer 4 embedment to piezoceramics piece 2's upper surface after the bonding glue 3 solidification, anodal electric wire 5, negative pole electric wire 6 of being drawn forth by piezoceramics piece 2 are connected to PCB board 7 one side, one side connecting wire 8, pouring sealant 9 is in embedment to sensor housing 1 after accomplishing above-mentioned step, and the upper surface of pouring sealant exceeds PCB board 7 after the embedment.
In some examples, the backing damping layer 4 has an acoustic impedance in the range of 2-10Mrayl, and is used for suppressing the vibration of the piezoceramic sheet 2 and absorbing the redundant vibration, so that the sensor outputs different impedance curves, the regularity of signals transmitted and received by the sensor is improved, and the signal strength is improved.
In some examples, the thickness of the combination layer formed by the bonding glue 3 and the lower end surface 102 of the housing is 0.6-1.2mm, because the root cause affecting the sensitivity and bandwidth of the underwater sensor is the serious mismatch of the acoustic impedances of the piezoelectric ceramic material of the transducer and water, which are respectively Zc10-35Mrayl, zw =1.5 Mrayl, and the thickness of 1/4 of the sensor wavelength is used for the matching layer between the piezoelectric ceramic plate and the transmission medium when the acoustic impedance of the housing is 1/4 of that of the transducer
When the transmission coefficient of the sound wave is maximum, 1/4 of the emission wavelength of the sensor is taken as the thickness of the lower end surface 102 of the shell 1, the thickness is optimal, and Z C 、Z W The acoustic impedance of the piezoelectric ceramic piece 2 and the acoustic impedance of water are respectively, the thickness of the shell is mainly influenced by the frequency of the sensor ceramic piece and the acoustic impedance of a propagation medium, and the optimal thickness of a combination layer formed by the bonding glue 3 of the underwater high-frequency ultrasonic sensor and the lower end surface 102 of the shell is 0.6-1.2mm through design. As can be seen from the sectional view of fig. 3, the piezoelectric ceramic plate 2 is completely wrapped by the backing damping layer 4, the adhesive 3 and the housing 1, and the lower end surface 102 of the housing 1 is tightly attached to the piezoelectric ceramic plate 2 through the adhesive 3, so that the housing 1 has the function of a matching layer and has good transmission capability in an underwater environment.
After the structure is connected, the pouring sealant 9 is filled in the cavity of the shell 1, so that the sensor can be guaranteed to normally work under the condition of large water pressure, the PCB 7, the positive electrode wire 5, the negative electrode wire 6 and the lead 8 are completely wrapped by the pouring sealant 9, and the situation that short circuit and water leakage caused by water leakage cannot occur in the working process of the sensor is guaranteed.
Example 3
A schematic structural diagram of an obstacle avoidance sensor system is shown in fig. 4, a sensor is installed at a test position, the distance between the sensor and an obstacle can be calculated by alternately transmitting and receiving ultrasonic sensors, adopting an ultrasonic detection technology, measuring the time difference between signal transmission and signal reception in one period of ultrasonic waves and measuring the temperature and density of a liquid medium.
The higher the frequency of the sensor per se, the smaller the angle detected in water, the higher the precision, the lower the frequency of the sensor per se, the larger the detection angle in water, and the lower the precision, and the angle and the precision can be controlled by changing the thickness, the diameter and the shape of the piezoelectric ceramic piece 2, so that the underwater sensor suitable for different working environments and different requirements can be manufactured in a targeted manner.
The thickness of the piezoelectric ceramic plate used in the underwater high-frequency ultrasonic sensor ranges from 0.4mm to 5mm, and in some examples, when the diameter of the piezoelectric ceramic plate 2 is 17mm and the thickness is 4mm, the detection angle of the sensor at-6 db can be measured to be 10.2 ° when pure water is used as a propagation medium at normal temperature and pressure, and the minimum detection accuracy of the sensor is 1.5mm when the sensor uses a transmit-receive integrated drive mode.
The lead 8 can be a common twisted pair, and a coaxial cable or a shielded wire can be used for replacing the common twisted pair in order to improve the anti-interference capability of the sensor in water, so that the accuracy of the sensor in an underwater complex environment is ensured.
In some examples, a thin layer of anticorrosive material may be coated on the surface of the sensor housing 1 to ensure that the sensor does not have performance mutation caused by corrosion of the housing 1 during long-term underwater operation, thereby improving reliability of the sensor.
The obstacle avoidance sensor system shown in fig. 4 comprises an underwater detection high-frequency ultrasonic sensor and a control circuit, wherein the underwater detection high-frequency ultrasonic sensor transmits ultrasonic transmitting waves to the outside under the control of the control circuit and receives reflected waves fed back by an obstacle; and the control circuit controls the system to avoid the obstacle according to the reflected wave. The underwater detection high-frequency ultrasonic sensors are four, the four sensors are arranged oppositely, and the controller is electrically connected with the four sensors through sensor connecting wires. The four ultrasonic sensors just correspond to four directions, and omnibearing obstacle avoidance ranging detection of the obstacle avoidance sensor system can be realized. A flow chart of an underwater detection method of an obstacle avoidance sensor system is shown in fig. 5.
In some examples, in the practical application process of the four-direction obstacle avoidance sensor system composed of four sensors and a control circuit, because the detection mode of the sensor is a receiving and transmitting integrated type (the same sensor sends out an ultrasonic signal and then receives a reflected signal fed back by an obstacle, the receiving and transmitting integrated type), the detection precision of the sensor is influenced by the aftershock of the sensor, the range of the aftershock T is 10um-300um, and the water sound velocity V under normal temperature and normal pressure is V w =1500m/s. The blind area range D = V influenced by aftershock can be obtained W T/2, between 7.5 and 225mm, and the magnitude of aftershock is in direct proportion to the magnitude of voltage driving the ceramic plate, wherein the larger the voltage is, the larger the aftershock is, and the lower the voltage is, the lower the aftershock is.
In some examples, the driving voltage range of the sensor can be from 1v to 1/2 of the withstand voltage of the ceramic chip, and the driving voltage range of the sensor is 1v-2000v by a one-millimeter thick ceramic chip with the withstand voltage of 4000v/mm, but the follow-up vibration is increased along with the increase of the detection distance, so that the detection blind area is enlarged. Meanwhile, the detection precision of the sensor is also related to the scanning precision of the sensor receiving circuit.
FIG. 6 is an impedance scan curve of an underwater detection high-frequency ultrasonic sensor in an underwater detection robot; it can be seen that the actual resonant frequency point of the transmitted signal of the sensor is 485kHz and the anti-resonant frequency point is 555kHz. Fig. 7 is a line graph drawn by using the underwater detection high-frequency ultrasonic sensor of the invention in water, wherein one sensor transmits signals with different frequencies, and the other sensor receives signals according to the amplitude of the received signals. When a test mode that one sensor transmits and one sensor receives is used, along with the change of the driving frequency of the transmitting sensor (abscissa), the amplitude of a signal received by the receiving sensor can also correspondingly change, the strongest position of the signal is just positioned near the anti-resonance frequency 555k of the sensor, the basic rule of the ultrasonic sensor correlation test is met, and the more the transmitting driving frequency is close to the anti-resonance frequency of the receiving sensor, the stronger the starting signal is.
Compared with an underwater sensor using a multilayer matching layer and a shell, the sensor has the advantages that the depth of underwater detection is deeper due to a fully-closed process, the reliability of the sensor is higher, the manufacturing, maintenance and replacement costs are lower, and the sensor is suitable for large-scale use.
The obstacle avoidance sensor system shown in fig. 4 is installed in the underwater robot structure and can be installed around the underwater robot to improve the autonomous recognition or obstacle avoidance function of the robot, and the detection capability of the robot can be further improved by adopting an array installation mode.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (13)
1. An underwater detection high-frequency ultrasonic sensor comprises a shell (1), a piezoelectric ceramic piece (2), bonding glue (3), a backing damping layer (4) and a PCB (7), and is characterized in that,
the shell (1) is a concave cavity which is formed by a side surface (101) and a lower end surface (102);
the piezoelectric ceramic piece (2), the backing damping layer (4) and the PCB (7) are positioned in the concave cavity and are connected in sequence; the piezoelectric ceramic piece (2) is connected with the lower end face (102) through bonding glue (3), and the thickness of the lower end face (102) of the shell (1) is 0.6-1.2 mm.
2. The underwater detection high-frequency ultrasonic sensor according to claim 1, further comprising a pouring sealant (9), wherein the pouring sealant (9) is filled in the concave cavity, so that the piezoelectric ceramic plate (2), the backing damping layer (4) and the PCB (7) are sealed between the pouring sealant (9) and the lower end face.
3. The underwater detection high-frequency ultrasonic sensor according to claim 1, wherein the piezoelectric ceramic plate (2), the backing damping layer (4) and the PCB (7) are sequentially connected in a specific structure that:
the upper surface of the piezoelectric ceramic piece (2) is connected with the backing damping layer (4), and the upper surface of the backing damping layer (4) is connected with the PCB (7); the piezoelectric ceramic piece (2) is connected to the PCB (7) through the anode wire (5) and the cathode wire (6), and the PCB (7) supplies power to the piezoelectric ceramic piece (2) through the lead (8).
4. An underwater detection high-frequency ultrasonic sensor according to claim 3, wherein the piezoelectric ceramic plate (2) is connected at its side surface with the positive electric wire (5) and the negative electric wire (6).
5. The underwater detection high-frequency ultrasonic sensor according to claim 1, wherein a projection point formed by projecting the geometric center of the piezoelectric ceramic plate (2) to the lower end face is located at the geometric center of the lower end face.
6. The underwater detection high-frequency ultrasonic sensor according to claim 1, wherein the housing (1) is made of a waterproof material having an acoustic impedance of 3-7 Mrayl.
7. The high-frequency ultrasonic sensor for underwater detection as claimed in claim 6, wherein the material of the housing (1) is one or more of pc plastic, epoxy resin and pvc.
8. An underwater detection high-frequency ultrasonic sensor according to claim 1, wherein the acoustic impedance of the backing damping layer (4) is in the range of 2 to 10 Mrayl.
9. An underwater detection high-frequency ultrasonic sensor according to claim 8, wherein the thickness of the backing damping layer (4) is greater than twice the wavelength of the ultrasonic signal emitted from the piezoceramic sheet (2).
10. The high-frequency ultrasonic sensor for underwater detection according to any of the claims 1 to 9, characterized in that the thickness of said piezoceramic wafer (2) ranges from 0.4mm to 5mm.
11. An obstacle avoidance sensor system comprising an underwater detection high frequency ultrasonic sensor as claimed in any one of claims 1 to 10 and a control circuit,
the underwater detection high-frequency ultrasonic sensor transmits ultrasonic transmitting waves to the outside under the control of the control circuit and receives reflected waves fed back by the barrier;
the control circuit controls the system to avoid the obstacle according to the reflected wave.
12. An obstacle avoidance sensor system according to claim 11, wherein there are four said underwater detection high frequency ultrasonic sensors, said four sensors being arranged in a front-back, left-right, and left-right arrangement, said controller being electrically connected to said four sensors by sensor connection lines.
13. An underwater detection robot comprising an obstacle avoidance sensor system as claimed in any one of claims 11 or 12.
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