CN117492006A - Underwater ultrasonic altimeter, underwater robot and swimming pool cleaning robot - Google Patents
Underwater ultrasonic altimeter, underwater robot and swimming pool cleaning robot Download PDFInfo
- Publication number
- CN117492006A CN117492006A CN202311297052.5A CN202311297052A CN117492006A CN 117492006 A CN117492006 A CN 117492006A CN 202311297052 A CN202311297052 A CN 202311297052A CN 117492006 A CN117492006 A CN 117492006A
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- altimeter
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- 238000004140 cleaning Methods 0.000 title claims description 16
- 230000009182 swimming Effects 0.000 title description 7
- 239000000084 colloidal system Substances 0.000 claims description 34
- 239000000463 material Substances 0.000 claims description 13
- 238000013016 damping Methods 0.000 claims description 11
- 239000000843 powder Substances 0.000 claims description 9
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 7
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 7
- ZOKXTWBITQBERF-UHFFFAOYSA-N Molybdenum Chemical compound [Mo] ZOKXTWBITQBERF-UHFFFAOYSA-N 0.000 claims description 7
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims description 7
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims description 7
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 claims description 7
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 7
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 claims description 7
- 239000006260 foam Substances 0.000 claims description 7
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims description 7
- GUVRBAGPIYLISA-UHFFFAOYSA-N tantalum atom Chemical compound [Ta] GUVRBAGPIYLISA-UHFFFAOYSA-N 0.000 claims description 7
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 claims description 7
- 239000000919 ceramic Substances 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 229920006335 epoxy glue Polymers 0.000 claims description 2
- 239000002982 water resistant material Substances 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 6
- 238000004078 waterproofing Methods 0.000 abstract description 4
- 238000005429 filling process Methods 0.000 abstract description 3
- 239000003292 glue Substances 0.000 abstract description 3
- 238000004806 packaging method and process Methods 0.000 abstract description 3
- 229910052755 nonmetal Inorganic materials 0.000 abstract description 2
- 239000000499 gel Substances 0.000 description 12
- 239000011257 shell material Substances 0.000 description 12
- 238000005259 measurement Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000007789 sealing Methods 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 239000004800 polyvinyl chloride Substances 0.000 description 2
- 229920000915 polyvinyl chloride Polymers 0.000 description 2
- JOYRKODLDBILNP-UHFFFAOYSA-N Ethyl urethane Chemical compound CCOC(N)=O JOYRKODLDBILNP-UHFFFAOYSA-N 0.000 description 1
- 239000004698 Polyethylene Substances 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 239000012736 aqueous medium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 229920001821 foam rubber Polymers 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000002609 medium Substances 0.000 description 1
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Classifications
-
- 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
-
- 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
-
- 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
Abstract
According to the underwater ultrasonic altimeter, the circuit board and the transducer are placed in the shell, and secondary waterproof design for the circuit board is not needed; the nonmetal shell is used for packaging and glue filling processes for waterproofing, so that the volume is small; meanwhile, the laminated structure of the scheme can be compatible to detect long-distance and short-distance blind areas. According to the scheme that this application put forward, can realize a small in size and can realize centimeter level to ten meters level range finding's ultrasonic altimeter under water.
Description
Technical Field
The application relates to the field of underwater robots, in particular to an underwater ultrasonic altimeter, an underwater robot and a swimming pool cleaning robot.
Background
Altimeters are high-precision measuring instruments with various ranges designed for numerous industrial application fields. Among them, an underwater altimeter acts on an underwater environment, and is commonly used to measure the height of the water bottom or the distance from an obstacle. Since water has strong conductivity as a propagation medium, electromagnetic waves cannot propagate therein, but sound waves propagate through vibration of objects, and can propagate well in an underwater environment. Meanwhile, because the ultrasonic wave has the advantages of strong directivity, large energy, long propagation distance and the like, the ultrasonic wave is widely applied to distance measurement. The working principle of the underwater altimeter can be summarized in that a single-beam sound wave is transmitted at a fixed frequency through an underwater sound transducer, and ranging is performed according to the time difference between the transmitted sound wave and the received echo.
The current ultrasonic height score of underwater is classified into industrial and non-industrial. The altimeter has the characteristics of high price and large volume, and is commonly used for industrial underwater products, such as ocean seabed detection in a deep sea environment.
Non-industrial grade underwater ultrasonic altimeters include the following: (1) The transducer is adopted as a waterproof design, and the circuit board is independent and waterproof; (2) Two transducers are adopted to be respectively sealed, wherein one transducer transmits ultrasonic waves, and the other transducer receives the ultrasonic waves; (3) waterproof design is carried out on the circuit board and the transducer. However, the inventors of the present application found that the following problems exist in the above prior art: (1) The transducer is adopted to make waterproof design, and the circuit board is independent but is of a non-waterproof structure, so that the circuit board cannot be directly used under water and needs to be subjected to secondary waterproof packaging; (2) Two transducers are adopted for sealing respectively, and usually one transducer transmits ultrasonic waves and the other transducer receives ultrasonic waves, so that the altimeter is large in size and high in cost; (3) The waterproof design is carried out on the circuit board and the transducer, so that centimeter-level distance measurement can be realized, but the distance measurement range is limited (for example, within 5 m), or ten-meter-level distance measurement can be realized, but a short distance (for example, centimeter-level) cannot be measured, and the measurement range is limited.
Disclosure of Invention
The present application aims to provide a solution that is compact and that enables ranging from the order of centimeters to the order of tens of meters.
According to a first aspect of the present application, an underwater ultrasonic altimeter is presented, which may include a housing, a cable, an ultrasonic circuit module, an acoustic matching module, and a vibration reduction module, wherein: the ultrasonic circuit module, the acoustic matching module and the vibration reduction module are arranged in the shell; the cable is inserted into the shell, is electrically connected with the ultrasonic circuit module and protrudes out of the top of the shell; the ultrasonic circuit includes collection board, emitter plate and transducer, wherein: one end of the acquisition board is electrically connected with the cable, and the other end of the acquisition board is electrically connected with the transmitting board; the transmitting plate is also electrically connected with the transducer; the acoustic matching module comprises a back layer colloid and a matching layer colloid, wherein the back layer colloid is arranged between the vibration reduction module and the transducer, the matching layer colloid is arranged between the transducer and the bottom inner surface of the shell, and any one or more of carbon powder, iron powder, tungsten powder, molybdenum powder, copper powder, cobalt powder, nickel powder, titanium powder, tantalum powder, aluminum powder, tin powder, lead powder and corresponding oxidized powder are added in the matching layer colloid; the acquisition plate, the emission plate and the transducer are arranged below the inner surface of the top of the shell at intervals; the vibration reduction module, the back layer colloid, the transducer and the matching layer colloid are sequentially laminated, and the matching layer colloid is attached to the inner surface of the bottom of the shell; the gaps among the ultrasonic circuit module, the acoustic matching module, the vibration reduction module and the shell are filled with waterproof materials.
According to the underwater ultrasonic altimeter, the circuit board and the transducer are placed in the shell, and secondary waterproof design for the circuit board is not needed; the nonmetal shell is used for packaging and glue filling processes for waterproofing, so that the volume is small; meanwhile, the laminated structure of the scheme can be compatible to detect long-distance and short-distance blind areas. According to the scheme that this application put forward, can realize a small in size and can realize centimeter level to ten meters level range finding's ultrasonic altimeter under water.
According to some embodiments, a housing material in an underwater ultrasonic altimeter may be plastic.
According to the embodiment, the underwater ultrasonic altimeter is easy to package, low in cost and good in waterproof effect in non-industrial scenes.
According to some embodiments, a transducer in an underwater ultrasonic altimeter may be a single piezoelectric ceramic tile.
According to the embodiment, the underwater ultrasonic altimeter provided by the application is low in cost, the piezoelectric ceramic plate is used as an ultrasonic transducer, and the lamination process is combined, so that the measurement effect is good, the performance is stable, and consumer-level application can be realized.
According to a second aspect of the present application, an underwater robot is presented, which may comprise an underwater ultrasonic altimeter as described in the first aspect of the present application.
According to a third aspect of the present application, a pool cleaning robot is presented, which may comprise an underwater ultrasonic altimeter as described in the first aspect of the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art from these drawings without departing from the scope of protection of the present application.
FIG. 1 is a schematic view of the structure of an underwater ultrasonic altimeter of the present application;
fig. 2 is a schematic diagram of the working process of the swimming pool cleaning robot of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Fig. 1 is a schematic structural view of an underwater ultrasonic altimeter of the present application.
Referring to fig. 1, an underwater ultrasonic altimeter includes a housing 10, a cable 20, an ultrasonic circuit module 30, an acoustic matching module 40, and a vibration damping module 50.
In some embodiments, the ultrasound circuit module 30, the acoustic matching module 40, and the vibration damping module 50 are disposed within the housing 10. In some embodiments, the cable 20 is electrically connected to the ultrasound circuit module 30 through the top of the housing 10. In some embodiments, the ultrasound circuit module 30 includes an acquisition board 31, a transmitting board 32, and a transducer 33. In some embodiments, one end of the acquisition board 31 is electrically connected to the cable 20 via a connection line 70, and the other end is electrically connected to the emitter board 32 via a connection line 70. The emitter plate 32 is also electrically connected to a transducer 33.
The working process of the underwater ultrasonic altimeter distance measurement is as follows. The cable 20 receives an emitted wave electric signal from an external signal source and transmits the emitted wave electric signal to the emission panel 32. The transmitting plate 32 transmits the transmitted wave electrical signal to the transducer 33 through the connection line 70. The transducer 33 converts the emitted wave electrical signal into a mechanical wave (i.e., ultrasonic wave) and emits it. The ultrasonic waves emitted from the transducer 33 encounter the target object and return to the transducer 33. The transducer 33 in turn converts the returned ultrasonic waves into return wave electrical signals. The acquisition board 31 acquires the return wave electrical signals received by the transducer 33 through the connection lines 70. The acquisition board 31 transmits the return wave electrical signal to an external signal source through the cable 20. Thus, the external signal source can calculate the distance between the altimeter carrier and the target object according to the time difference between the emitted wave electric signal and the return wave electric signal.
The acoustic matching module 40 includes a backing layer gel 41 and a matching layer gel 42. The backing layer gel 41 is disposed between the vibration damping module 50 and the transducer 33, and the matching layer gel 42 is disposed between the transducer 33 and the bottom inner surface of the housing 10.
The acquisition plate 31, emitter plate 32 and transducer 33 are spaced below the top interior surface of the housing 10. The vibration damping module 50, the back layer colloid 41, the transducer 33 and the matching layer colloid 42 are sequentially laminated, and the matching layer colloid 42 is attached to the bottom inner surface of the housing 10.
The gaps between the ultrasonic circuit module 30, the acoustic matching module 40, the vibration damping module 50 and the case 10 are filled with a waterproof material 60.
The backing gel 41 serves to reduce the oscillation time of the transducer 33. The matching layer gel 42 serves to reduce or eliminate acoustic mismatch between the transducer 33 and the aqueous medium. The matching layer colloid 42 and the back layer colloid 41 act together to overcome the blind area during the close range measurement in the ultrasonic ranging process. The backing layer gel 41 and the mating gel 42 also serve to protect the transducer 33 from vibrations that could damage the transducer 33. The cable 20 is used to power the underwater ultrasonic altimeter described above and to perform data transmission.
According to the underwater ultrasonic altimeter of the embodiment, the circuit board and the transducer are placed in the same airtight shell, and meanwhile, waterproof materials are filled in the circuit board, so that secondary waterproof design for the circuit board is not needed; the shell and glue filling process are used for waterproofing, and metal-free sealing is adopted for waterproofing, so that the volume is small; meanwhile, the laminated structure comprising the vibration damping module, the back layer colloid and the matching layer colloid in the embodiment can be compatible with the blind area with a long distance and a short distance. According to the scheme that this application put forward, can realize a small in size and can realize centimeter level to ten meters level range finding's ultrasonic altimeter under water.
Optionally, any one or more of carbon powder, iron powder, tungsten powder, molybdenum powder, copper powder, cobalt powder, nickel powder, titanium powder, tantalum powder, aluminum powder, tin powder, lead powder and corresponding oxide powder may be added to the back layer colloid 41. Optionally, any one or more of carbon powder, iron powder, tungsten powder, molybdenum powder, copper powder, cobalt powder, nickel powder, titanium powder, tantalum powder, aluminum powder, tin powder, lead powder and corresponding oxidized powder are added in the back layer colloid 41, and the proportion of the corresponding oxidized powder to the volume of the back layer colloid 41 is between 20% and 80%. Alternatively, the thickness of the backing layer gel 41 is in the range of 1mm-4 mm. According to the underwater ultrasonic altimeter of the above embodiment, the back layer colloid 41 has a good sound absorption and vibration reduction effect, thereby further making the effect of the transducer 33 good.
Optionally, any one or more of carbon powder, iron powder, tungsten powder, molybdenum powder, copper powder, cobalt powder, nickel powder, titanium powder, tantalum powder, aluminum powder, tin powder, lead powder and corresponding oxidized powder can be added to the matching layer colloid 42. Optionally, the thickness of the gel 42 is matched to be in the range of 0.5mm-1.5 mm. Optionally, any one or more of carbon powder, iron powder, tungsten powder, molybdenum powder, copper powder, cobalt powder, nickel powder, titanium powder, tantalum powder, aluminum powder, tin powder, lead powder and corresponding oxidized powder are added in the matching layer colloid 42, and the proportion of the corresponding oxidized powder to the volume of the matching layer colloid 42 is 20-80%.
According to the underwater ultrasonic altimeter of the above embodiment, the colloid 42 is matched to have a good impedance matching effect, so that the sensitivity and accuracy of the transducer 33 are high.
Optionally, the material of the housing 10 is plastic, such as polyvinyl chloride. Alternatively, the transducer 33 is a piezoceramic wafer. According to the underwater ultrasonic altimeter of the embodiment, the shell material and the transducer are easy to obtain and low in price, and the cost can be reduced while good waterproof effect is achieved.
Optionally, the vibration reduction module 50 is a foam gel for reducing the oscillation time of the transducer 33 while preventing ultrasonic echo. Alternatively, the material of the vibration damping material 50 may be any one of urethane foam, latex foam, polyester foam, polyethylene foam, polyvinyl chloride foam, and EVA foam. Alternatively, the thickness of the vibration damping material 50 is between 2mm-4 mm. Optionally, the damping material 50 has a hardness between 40-70A. Alternatively, the damping material 50 has an apparent density of 100-200kg/m 3 Between them. According to the underwater ultrasonic altimeter of the above embodiment, the sound absorption and vibration reduction effect of the vibration reduction material 50 is good.
Optionally, the waterproof material 60 is any one of epoxy glue, polyurethane and organic silica gel. According to the underwater ultrasonic altimeter of the embodiment, the effects of good sealing and waterproof performance and effective prevention of damage to the altimeter by salt mist and vibration can be achieved.
Optionally, the thickness of the matching layer gel 42 is an odd multiple of a quarter wavelength.
Table 1 shows actual measurement of the underwater ultrasonic altimeter proposed in the present application. In table 1, the applicant set up obstacles at a plurality of different distance positions within 15cm-2000cm from the underwater ultrasonic altimeter proposed in the present application, and tested the distance of the obstacle a plurality of times using the underwater ultrasonic altimeter proposed in the present application.
Test results show that the error between the measured distances of the underwater ultrasonic altimeter at different distance positions within the range of 15cm-2000cm compared with the actual set distance of the obstacle is small, the measured results are accurate, the performance is stable in multiple measurements, and the underwater ultrasonic altimeter has high practicability.
TABLE 1
Fig. 2 is a schematic diagram of the working process of the swimming pool cleaning robot of the present application. In the embodiment shown in fig. 2, a pool cleaning robot includes the underwater ultrasonic altimeter shown in fig. 1. The operation of the pool cleaning robot is described below with reference to fig. 1.
In the embodiment shown in fig. 2, a pool cleaning robot 202 is used to clean the interior walls of the pool 200. The pool cleaning robot 202 includes a signal source 211 and an underwater ultrasonic altimeter 212.
During the cleaning process, the pool cleaning robot 202 needs to detect its own horizontal distance to the left inner wall 201 of the pool, and the signal source 211 sends an emitted wave electrical signal to the underwater ultrasonic altimeter 212.
The cable 20 in the underwater ultrasonic altimeter 212 receives the transmitting plate electric signal transmitted from the signal source 211, and transmits the transmitting wave electric signal to the transmitting plate 32. The transmitting plate 32 transmits the transmitted wave electrical signal to the transducer 33 through the connection line 70. The transducer 33 converts the emitted wave electric signal into emitted ultrasonic waves and transmits the emitted ultrasonic waves in the horizontal direction. After the transmitted ultrasonic waves reach the left inner wall 201 of the swimming pool, they return to return ultrasonic waves. The transducer 33 in turn converts the return ultrasonic waves into return wave electrical signals. The acquisition board 31 acquires the return wave electrical signals received by the transducer 33 through the connection lines 70. The acquisition board 31 transmits the return wave electrical signal to the signal source 211 through the cable 20. The signal source 211 calculates the distance between the pool cleaning robot 202 and the left inner wall 201 of the pool based on the time difference between the emitted wave electrical signal and the returned wave electrical signal.
According to the swimming pool cleaning robot in the embodiment, the distance between the robot and the target object is measured by using the underwater ultrasonic altimeter, so that the beneficial effects of effectively avoiding obstacles, improving cleaning efficiency and covering degree are achieved.
The foregoing has outlined rather broadly the more detailed description of embodiments of the present application, wherein specific examples have been provided herein to illustrate the principles and embodiments of the present application, and wherein the above examples are provided to assist in the understanding of the methods and concepts of the present application. Meanwhile, based on the ideas of the present application, those skilled in the art can make changes or modifications on the specific embodiments and application scope of the present application, which belong to the scope of the protection of the present application. In view of the foregoing, this description should not be construed as limiting the application.
Claims (9)
1. An underwater ultrasonic altimeter, includes casing, cable, ultrasonic circuit module, acoustic matching module and damping module, wherein:
the ultrasonic circuit module, the acoustic matching module and the vibration reduction module are arranged in the shell; the cable passes through the top of the shell and is electrically connected with the ultrasonic circuit module;
the ultrasonic circuit comprises a collection plate, a transmitting plate and a transducer, wherein: one end of the acquisition board is electrically connected with the cable, and the other end of the acquisition board is electrically connected with the emission board; the transmitting plate is also electrically connected with the transducer;
the acoustic matching module comprises a back layer colloid and a matching layer colloid, wherein the back layer colloid is arranged between the vibration reduction module and the transducer, the matching layer colloid is arranged between the transducer and the bottom inner surface of the shell, and any one or more of carbon powder, iron powder, tungsten powder, molybdenum powder, copper powder, cobalt powder, nickel powder, titanium powder, tantalum powder, aluminum powder, tin powder, lead powder and corresponding oxidized powder are added into the matching layer colloid;
the acquisition plate, the emission plate and the transducer are arranged below the inner surface of the top of the shell at intervals; the vibration reduction module, the back layer colloid, the transducer and the matching layer colloid are sequentially laminated, and the matching layer colloid is attached to the inner surface of the bottom of the shell;
and waterproof materials are filled in gaps among the ultrasonic circuit module, the acoustic matching module, the vibration reduction module and the shell.
2. The underwater ultrasonic altimeter of claim 1, wherein the proportion of any one or more of carbon powder, iron powder, tungsten powder, molybdenum powder, copper powder, cobalt powder, nickel powder, titanium powder, tantalum powder, aluminum powder, tin powder, lead powder and corresponding oxidized powder added in the matching layer colloid is between 20% and 80% of the volume of the matching layer colloid.
3. The underwater ultrasonic altimeter of claim 1 wherein the housing is of plastics.
4. The underwater ultrasonic altimeter of claim 1 wherein the transducer is a piezoelectric ceramic tile.
5. The underwater ultrasonic altimeter of claim 1 wherein the vibration reduction module is a foam gel.
6. The underwater ultrasonic altimeter of claim 1 wherein the water-resistant material is an epoxy glue.
7. The underwater ultrasonic altimeter of claim 1 wherein the thickness of the matching layer colloid is an odd multiple of a quarter wavelength.
8. An underwater robot comprising an underwater ultrasonic altimeter as claimed in any one of claims 1 to 7.
9. A pool cleaning robot comprising an underwater ultrasonic altimeter as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311297052.5A CN117492006A (en) | 2023-10-09 | 2023-10-09 | Underwater ultrasonic altimeter, underwater robot and swimming pool cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311297052.5A CN117492006A (en) | 2023-10-09 | 2023-10-09 | Underwater ultrasonic altimeter, underwater robot and swimming pool cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117492006A true CN117492006A (en) | 2024-02-02 |
Family
ID=89678970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311297052.5A Pending CN117492006A (en) | 2023-10-09 | 2023-10-09 | Underwater ultrasonic altimeter, underwater robot and swimming pool cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117492006A (en) |
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2023
- 2023-10-09 CN CN202311297052.5A patent/CN117492006A/en active Pending
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