CN201673255U - Proximity sense transducer for underwater ranging and tracking - Google Patents

Abstract

The utility model discloses a proximity sense transducer for underwater ranging and tracking, which comprises a proximity sense array, a transmitting circuit, a receiving circuit, an auxiliary circuit and a main control circuit. The proximity sense array comprises three ultrasound probes, and included angles among axes of the ultrasound probes range from 10 degrees to 15 degrees; the transmitting circuit generates sinusoidal signals and transmits the sinusoidal signals through the proximity sense array; the proximity sense array receives sinusoidal signals reflected by a target article and provides the sinusoidal signals to the receiving circuit; the receiving circuit performs impedance matching, signal amplification and amplitude and time filtering prior to generating interrupt signals and provides the interrupt signals to the main control circuit; and the main control circuit processes the interrupt signals and obtains distance information and position information of the target article. The three ultrasound probes of the proximity sense transducer alternately transmit ultrasound wave pulses and receive echoes, and the transducer measures target distance values according to echo time, simultaneously judges the direction of the target relatively to the probes according to existence and non-existence of three channel values within a cycle, and accordingly tracks and positions the operation target in real time.

Description

Undersea ranging is followed the tracks of and is used near sense sensor

Technical field

The utility model belongs to sensing technology, relate to a kind of at the underwater operation target under water near sense sensor.

Background technology

Underwater robot, underwater construction machinery and other underwater kit are being brought into play more and more great function in growing field.For example aspect seafari, need utilize underwater robot to carry out sampling operation; In lifesaving and field of security guarantee, thing or operations such as shearing electric wire, twister or the like need remove barriers.At above-mentioned these submarine target grasped, in the operation process such as shearing, need target be followed the tracks of and be located, this is an important step link of target being carried out various underwater operations.At present the normal method that adopts of submarine target track and localization has: light vision, common monocular vision, the binocular vision of comprising; Laser ranging and vision sensor information fusion method; Utilize methods such as Forward-looking Sonar or side-scan sonar and employing sonar phased array.

The problem that the sensor and method for tracking and positioning exist in the operating environment under water is: though vision sensor has higher resolution, but owing to need join illumination light source in addition, be a bigger limitation for the underwater operation equipment of lift-launch ability and limited energy; The subject matter of Forward-looking Sonar or side-scan sonar is that resolution is low, and high-resolution 3D imaging sonar costs an arm and a leg and volume, weight are not suitable for middle-size and small-size underwater operation equipment more and adopt.Another problem of said method is that the location of target mainly is based on photoimaging or acoustic imaging analysis, thereby its real-time performance is subjected to the restriction of image processing speed.

Summary of the invention

The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art part, provide a kind of undersea ranging to follow the tracks of and use near sense sensor, this sensor cost is low, and volume is little, in light weight, follow the tracks of good submarine target location to be applicable to various underwater units, bearing accuracy height and real-time.

A kind of undersea ranging that the utility model provides is followed the tracks of and used near sense sensor, it is characterized in that: this comprises near feeling array, radiating circuit, receiving circuit, auxiliary circuit and governor circuit near sense sensor;

Auxiliary circuit links to each other with radiating circuit, receiving circuit and governor circuit respectively, for they provide operating voltage, and for providing communication interface near sense sensor;

Near feeling that array is made of three ultrasonic probes, the angle between the axis of each ultrasonic probe is 10 °～15 °;

Radiating circuit feels that with approaching the signal input part of array links to each other, and near feeling that the signal output part of array links to each other with the input end of receiving circuit, the output terminal of receiving circuit links to each other with governor circuit;

Governor circuit links to each other with radiating circuit, receiving circuit and auxiliary circuit respectively, and they are controlled;

Radiating circuit produces sinusoidal signal through launching near the feel array; Near feeling that the sinusoidal echoed signal through the target object reflection of array received offers receiving circuit, the generation look-at-me offered governor circuit after receiving circuit offset of sinusoidal echoed signal was carried out impedance matching, signal amplification and amplitude and time filtering, governor circuit obtains the range information and the azimuth information of target object to look-at-me is handled.

The utility model integrates radiating circuit, receiving circuit, auxiliary circuit and governor circuit, and is feasible little, in light weight near the sense sensor overall dimensions, is applicable to various underwater robot and power tool; Approaching feel array by three ultrasonic probes constitute by transmitting-receiving in turn, can obtain the azimuth information of its fan-shaped covering workspace internal object object; The time interval by look-at-me converts, and obtains the range information of target; By communication interface above-mentioned target object range information and the azimuth information that obtains passed to underwater operation tool, thus the location tracking target.

Description of drawings

Fig. 1 is that the circuit block diagram of using near sense sensor is followed the tracks of in undersea ranging;

Fig. 2 is the layout synoptic diagram near the feel array;

Fig. 3 is the synoptic diagram of a kind of embodiment of the utility model;

Fig. 4 is the judgement synoptic diagram of target azimuth;

Fig. 5 is under water near feeling the device workflow diagram.

Embodiment

Below by by embodiment the utility model being described in further detail, but following examples only are illustrative, and protection domain of the present utility model is not subjected to the restriction of these embodiment.

As shown in Figure 1, the undersea ranging that provides of the utility model is followed the tracks of to use near sense sensor and is comprised: near feeling array 1, radiating circuit 2, receiving circuit 3, auxiliary circuit 4 and governor circuit 5.

As shown in Figure 2, form near feeling that array 1 is popped one's head in by three transmitting-receivings, its overlay area overlaps, and whole wave beam coverage rate is fan-shaped; And be connected with first, second channel selection circuit 24,31, its function is to receive with the ultrasonic beam emission with echo.

Radiating circuit 2 comprises signal generating circuit 21, countdown circuit 22, probe resonant circuit 23 and channel selection circuit 24.Signal generating circuit 21 selects circuit 24 to link to each other by countdown circuit 22, probe resonant circuit 23 and first passage successively.

Signal generating circuit 21 produces that square-wave signals obtain suitable frequency and amplitude after amplifying frequency division and through resonant circuit conversion waveform and boost, and selects circuit to be sent near feeling array 1 by first passage again, by near feeling array 1 emission.

Receiving circuit 3 comprises second channel selection circuit 31, impedance inverter circuit 32, intermediate frequency amplifier circuit 33, signal resonant circuit 34 and the filtering circuit 35 that links to each other successively.

Second channel selects circuit 31 to offer impedance inverter circuit 32 near the echoed signal that feel array 1 receives, carry out amplifying through signal again after the impedance matching, produce after amplitude and the time filtering and can supply the look-at-me of processor identification, and offer microprocessor 51.

Auxiliary circuit 4 comprises power supply 41, LCD42 and communication interface circuit 43; Power supply 41 is connected with governor circuit 5, radiating circuit 2, receiving circuit 3 each chip respective pins respectively, and its function provides voltage that each several part requires.

Governor circuit 5 comprises microcontroller 51 and external high frequency crystal oscillator 52.External high frequency crystal oscillator 52 provides the high frequency clock source for microcontroller 51, microcontroller 51 selects circuit 24, second channel to select circuit 31 to be connected with filtering circuit 35 with countdown circuit 22, first passage respectively, and links to each other with power supply 41, communication interface circuit 43 and the LCD42 of auxiliary circuit.The function of microcontroller 51 is to send instruction, and each several part is carried out by certain sequential, and receives external interrupt, calculates the echo time and be converted to the distance value of target.

Principle of work of the present utility model is:

(1) signal generating circuit 21 produces square-wave signals, obtains suitable frequency and amplitude after countdown circuit 22 amplifies frequency divisions, through probe resonant circuit 23 conversion waveforms and boost, selects transmission channel 24 by first, at last by near feeling array 1 emission.

(2) three probes of approaching feel array 1 are received and dispatched in turn and once are called a work period, and the target distance measurement value of an one work period not only provides target range information, and have comprised target with respect to three azimuth informations of popping one's head in.

When (3) working under water, near feeling that the signal that array 1 receives is very faint, noise signal is more intense again, therefore, the echoed signal that approaching feel array 1 receives adopts impedance inverter circuit 32 (as field effect transistor) to carry out impedance conversion after second channel selects circuit 31 to return, and is amplified by intermediate frequency amplifier circuit 33 again, still the noise that is mingled with other frequencies in the signal after the amplification carries out the noise reduction amplification so amplify 34 pairs of signals of output termination signal resonant circuit at intermediate frequency; And then once after filtering circuit 35 carries out amplitude and time filtering, producing the look-at-me that can supply microprocessor 51 to discern, this look-at-me comprises target range information and azimuth information.

(4) cycle of the emission of microprocessor 51 control countdown circuits 22, the channel selecting of first, second channel selection circuit, and close gate signal in the amplitude of filtering circuit 35 and the time filter circuit.51 pairs of look-at-mes of microprocessor are handled, and target range information is judged by the channel selecting zone bit that the time interval of look-at-me calculates, azimuth information is produced by look-at-me and obtained.

(5) target information is passed to underwater tool by communication interface circuit 43, makes it the real-time follow-up operative goals.

Lift typical an employing under water below and carry out the example that target localization is followed the tracks of near sense sensor:

As shown in Figure 3, be installed in wrist near sense sensor 200 for Controller of Underwater Manipulator 100, sensor institute ultrasonic waves transmitted becomes fan-shaped covering workspace.Three of sensors probe transmitting-receiving in turn once is called a work period, and when the work areal coverage of target object 300 at certain probe, the target range value that it detects was calculated by the travel-time of ultrasound wave in water; When not having echo to return, show that target is not at this work areal coverage.Therefore, not only record the target range value, and according to the direction that also can judge the relative sensor probe of target that has or not of three probe values in one-period, as shown in Figure 4, wherein: the no echoed signal of 0 expression, 1 represents to have echo according to the echo time near sense sensor.

Workflow of the present invention is as shown in Figure 5:

1. the start-up routine initialization finishes.

2. for saving power consumption, to bide one's time waiting, controller should operate in low-power consumption mode.

3. receiving the order that host computer transmits by serial ports, starting or stoping probe work through affirmation, and put corresponding zone bit;

4. quit work in this way, then enter low-power consumption mode, wait for; If start working, then select transmission channel, corresponding to feeling emission;

5. open corresponding receiving cable, receive echo; If any echo, computed range is also put corresponding zone bit 1, otherwise distance is empty, and corresponding zone bit is 0;

6. emission control process of measurement.After one-shot measurement finished, program should judge whether to receive the order of new host computer transmission; Do not have, continue to carry out detection mission; Have, and be the task of stopping to survey, then enter low-power consumption mode and suspend detection mission, wait for when newer command occurs next time, carry out new order.

Claims (5)

1. a undersea ranging is followed the tracks of and used near sense sensor, it is characterized in that: this comprises near feeling array (1), radiating circuit (2), receiving circuit (3), auxiliary circuit (4) and governor circuit (5) near sense sensor;

Auxiliary circuit (4) links to each other with radiating circuit (2), receiving circuit (3) and governor circuit (5) respectively, for they provide operating voltage, and for providing communication interface near sense sensor;

Near feeling that array (1) is made of three ultrasonic probes, the angle between the axis of each ultrasonic probe is 10 °～15 °;

Radiating circuit (2) feels that with approaching the signal input part of array (1) links to each other, and near feeling that the signal output part of array (1) links to each other with the input end of receiving circuit (3), the output terminal of receiving circuit (3) links to each other with governor circuit (5);

Governor circuit (5) links to each other with radiating circuit (2), receiving circuit (3) and auxiliary circuit (4) respectively, and they are controlled;

Radiating circuit (2) produces sinusoidal signal through launching near feel array (1); Near feeling that the sinusoidal echoed signal through the target object reflection that array (1) receives offers receiving circuit (3), the generation look-at-me offered governor circuit after receiving circuit (3) offset of sinusoidal echoed signal was carried out impedance matching, signal amplification and amplitude and time filtering, governor circuit obtains the range information and the azimuth information of target object to look-at-me is handled.

2. undersea ranging according to claim 1 is followed the tracks of and is used near sense sensor, it is characterized in that: radiating circuit (2) comprises signal generating circuit (21), countdown circuit (22), probe resonant circuit (23) and channel selection circuit (24), and signal generating circuit (21) selects circuit (24) to link to each other by countdown circuit (22), probe resonant circuit (23) and first passage successively;

Signal generating circuit (21) produces that square-wave signal obtains suitable frequency and amplitude after amplifying frequency division and through resonant circuit conversion waveform and boost, and selects circuit to be sent near feeling array (1) by first passage again, by near feeling array (1) emission.

3. undersea ranging according to claim 1 and 2 is followed the tracks of and used near sense sensor, it is characterized in that: receiving circuit (3) comprises second channel selection circuit (31), impedance inverter circuit (32), intermediate frequency amplifier circuit (33), signal resonant circuit (34) and the filtering circuit (35) that links to each other successively;

Second channel selects circuit (31) to carry out impedance matching after signal amplifies near feeling that the echoed signal that array (1) receives offers impedance inverter circuit (32), produces look-at-me again after amplitude and time filtering, and offers microprocessor (51).

4. undersea ranging according to claim 3 is followed the tracks of and is used near sense sensor, it is characterized in that: governor circuit (5) comprises microcontroller (51) and external high frequency crystal oscillator (52), external high frequency crystal oscillator (52) provides the high frequency clock source to microcontroller (51) for microcontroller (51), and microcontroller (51) selects circuit (24), second channel to select circuit (31) to be connected with filtering circuit (35) with countdown circuit (22), first passage respectively.

5. undersea ranging according to claim 4 is followed the tracks of and is used near sense sensor, and it is characterized in that: auxiliary circuit (4) comprises power supply (41), LCD (42) and communication interface circuit (43); Power supply (41) is connected with governor circuit (5), radiating circuit (2) and each chip respective pins of receiving circuit (3) respectively, and LCD (42) all links to each other with microprocessor (51) with communication interface circuit (43);

Signal generating circuit (21) produces that square-wave signal obtains suitable frequency and amplitude after amplifying frequency division and through resonant circuit conversion waveform and boost, and selects circuit to be sent near feeling array (1) by first passage again, by near feeling array (1) emission.

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