CN202189144U - Underwater ultrasonic ranging subsystem and intelligent monitoring system in turbid water area - Google Patents
Underwater ultrasonic ranging subsystem and intelligent monitoring system in turbid water area Download PDFInfo
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- CN202189144U CN202189144U CN2011202554102U CN201120255410U CN202189144U CN 202189144 U CN202189144 U CN 202189144U CN 2011202554102 U CN2011202554102 U CN 2011202554102U CN 201120255410 U CN201120255410 U CN 201120255410U CN 202189144 U CN202189144 U CN 202189144U
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Abstract
The utility model relates to an underwater ultrasonic ranging subsystem and an intelligent monitoring system in a turbid water area. A sensor of the ultrasonic ranging subsystem is arranged below a lifting traction device, and an input terminal of the sensor is connected with a ranging and processing subsystem in an embedded control system and a direct-current (DC) power supply. After an output terminal of the sensor is communicated with the ranging and processing subsystem, one path of the output terminal is communicated with a digital storage device and a wireless signal transmission device, and the other path of the output terminal is communicated with a traction control subsystem and an underwater power control subsystem that are arranged in the embedded control system, and then connected with the lifting traction device and a power propulsion device of an electric ship. The intelligent monitoring system is internally provided with the underwater ultrasonic ranging subsystem, and also comprises an underwater video monitoring subsystem, an underwater water quality detecting subsystem, or the combination of the underwater video monitoring subsystem and the underwater water quality detecting subsystem. By utilizing underwater feedback signals provided by the ultrasonic ranging subsystem, the electric ship, the intelligent monitoring system and the like are controlled to work through ground control and the control of the embedded control system.
Description
Technical field
The utility model belongs to electronic device field, relates to a kind of muddy waters underwater ultrasound range finding subsystem and intelligent monitoring system.
Background technology
Aquaculture makes cultivation density constantly increase when pursuing maximum quantum of output, has caused the accumulation of material culture metabolin and remaining feed too much easily; Weakened the detergent power of breeding water body self, thereby initiation breeding water body water quality and substrate go from bad to worse, ammonia nitrogen and nitrite are higher; Dissolved oxygen DO descends; Material culture body tissue anoxic appears in the normal biochemical reaction function of water body environment counter productive such as be obstructed, and growth, metabolism and vital movement slow down; The resistance against diseases of material culture descends, and disease takes place frequently and popular grade and the conflicting situation of the maximum quantum of output of pursuit occur.
Influenced by rainy weather, harmful microorganism is bred in a large number, be superfluous residual raise with a large amount of organism such as fish, a large amount of excremental accumulations of shrimp, excessively fertilising, biological corpse be decomposed at short notice, deamination; Consume a large amount of dissolved oxygen DOs; Produce objectionable impuritiess such as a large amount of sulfuretted hydrogen, ammonia nitrogen,, cause the decline of material culture appetite, physique to die down the toxic action of material culture generation under water; Premunition reduces, and causes a large amount of material cultures dead thereby break out disease.
For effectively solving the problem that occurs in the aquaculture process; To specifying the waters assigned address to carry out in real time video monitoring and water quality detection under water under water; In time grasp the distribution situation of the waters water body quality and the fishes and shrimps of dying of illness under water, carry out epidemic prevention and cleaning pointedly, make this waters water body quality reach pollution-free food fresh water, sea-farming water water quality standard that country formulates; Lay a good foundation for the aquaculture good quality and high output, will seem very necessary.
The utility model content
One of purpose of the utility model is to provide a kind of being implemented in to specify the waters assigned address to carry out the muddy waters underwater ultrasound range finding subsystem of real-time underwater monitoring.
Two of the purpose of the utility model is to provide a kind of being implemented in to specify the waters assigned address to carry out the muddy waters intelligent monitoring system of real-time underwater monitoring.
One of purpose of the utility model is achieved in that it comprises up-down draw-gear, embedded control system, digitizing memory storage, wireless signal transmission and the direct supply that is installed on the electric ship, and the integrated and visualization system at Ground Control interface; Integrated and the visualization system wireless communication at wireless signal transmission and Ground Control interface; The ultrasonic ranging sensor is located at the below of up-down draw-gear; Ultrasonic ranging sensor input end is connected with range finding processing subsystem and direct supply in the embedded control system through the power supply electric wire; After output terminal passes through the distance measuring signal line and the range finding processing subsystem of embedded control system is communicated with; One the tunnel is communicated with digitizing memory storage, wireless signal transmission; The traction control subsystem and the underwater engine RACS that are provided with in another road and the embedded control system are communicated with, and the traction control subsystem is communicated with the up-down draw-gear, and the underwater engine RACS is communicated with the Powerpush Unit of electric ship.
Two of the purpose of the utility model is achieved in that in muddy waters and is provided with underwater ultrasound range finding subsystem in the supervisory system under water; Muddy waters supervisory system under water comprises video monitoring subsystem, water quality detection subsystem or both combinations under water under water; Ultrasonic ranging sensor in the underwater ultrasound range finding subsystem or be arranged on a side bottom of the device of low-light camera under water in the video monitoring subsystem under water; Or be arranged on a side bottom of the water quality detection sensor in the water quality detection subsystem under water; Or distinguish setting simultaneously, or be arranged on the bottom of up-down draw-gear; Same set of up-down draw-gear, embedded control system, digitizing memory storage, wireless signal transmission and the direct supply that is installed on the electric ship adopted in underwater ultrasound range finding subsystem and muddy the waters subsystem in the supervisory system under water, and with the integrated and visualization system at the Ground Control interface of wireless signal transmission wireless communication.
The described subsystem of video monitoring under water comprises the integrated and visualization system at low-light camera device, up-down draw-gear, embedded control system, digitizing memory storage, wireless signal transmission, direct supply and Ground Control interface under water; Integrated and the visualization system wireless communication at wireless signal transmission and Ground Control interface; The low-light camera device is located at the below of up-down draw-gear under water; Low-light camera device input end is connected with video RACS and direct supply in the embedded control system through the power supply electric wire under water; Output terminal, is communicated with digitizing memory storage, wireless signal transmission with after video RACS in the embedded control system is communicated with through video signal cable again.
The described subsystem of water quality detection under water comprises the integrated and visualization system at water quality detection sensor, up-down draw-gear, embedded control system, digitizing memory storage, wireless signal transmission, direct supply and Ground Control interface; Integrated and the visualization system wireless communication at wireless signal transmission and Ground Control interface; Water quality detection sensor is located at the below of up-down draw-gear; The water quality detection sensor input end is connected with water quality detection RACS and direct supply in the embedded control system through the power supply electric wire; Output terminal, is communicated with digitizing memory storage, wireless signal transmission with after water quality detection RACS in the embedded control system is communicated with through the water quality detection signal wire again.
Electric ship be provided with in three kinds of equipment of automatic detection device of automated navigation system and hull equipment of automatic station-keeping system, hull of hull a kind of, two kinds or three kinds, and through serial ports respectively with embedded control system in Automatic Positioning Control subsystem, self-navigation RACS, Automatic Detection and Control subsystem in a kind of, two kinds or three kinds be connected.
The under water feedback signal of the utility model through utilizing the ultrasonic ranging subsystem to provide; Integrated and visualization system and work such as embedded control system control electric ship and intelligent monitoring system through the Ground Control interface have realized that the control of system is full intellectualized.Fields such as the utility model can be widely used in ocean development, cultures that monitoring, underwater operation, reservoir dam are monitored under water under water, scientific experiment under water, sightseeing under water, underwater salvage, submerged structure, seabed resources exploration and military applications.
Description of drawings
The main TV structure synoptic diagram of Fig. 1, the utility model embodiment 1.
The side-looking structural representation of Fig. 2, the utility model embodiment 1.
The plan structure synoptic diagram of Fig. 3, the utility model embodiment 1.
Among Fig. 1-3: electric ship 1, underwater propeller 2, tractor 3, connecting interface 4, member to undertake 5, microcomputer 6; Low-light video camera 7, motorized zoom lens 8, protective cover 9, waterproof lampshade 10, the compensating illumination light source 11 under water, light color controller 12; Form 13, sealing gasket 14, cover plate for sealing pad 15, seal cover board 16, combination cable 17; Wireless image-sound transmitter antenna 18, ultrasonic ranging sensor 19, automated navigation system 20, automatic station-keeping system 21, embedded control system 22; Control system receiving antenna 23, wireless image-sound transmitter 24, the automatic detection device 25 of equipment, direct current generator 26, motor fixed rack 27; Twisted wire wheel 28, drag-line 29, direct supply 30, digitizing memory storage 31, device platform 32.
Embodiment
The utility model can do further to describe to the utility model through following embodiment, yet the scope of the utility model be not limited to following embodiment through the technological practical implementation of explaining in the utility model content.
Embodiment 1: the muddy waters in the intelligent monitoring system of muddy waters supervisory system under water is video monitoring subsystem under water:
Muddy waters underwater ultrasound range finding subsystem; It comprises up-down draw-gear, embedded control system 22, digitizing memory storage 31, wireless signal transmission and the direct supply 30 that is installed on the electric ship 1, and the integrated and visualization system at Ground Control interface; Integrated and the visualization system wireless communication at wireless signal transmission and Ground Control interface, embedded control system 22 is provided with each function RACS; Ultrasonic ranging sensor 19 is located at the below of up-down draw-gear; Ultrasonic ranging sensor 19 input ends are connected with range finding processing subsystem and direct supply 30 in the embedded control system 22 through the power supply electric wire; After output terminal passes through the distance measuring signal line and the range finding processing subsystem of embedded control system 22 is communicated with; One the tunnel is communicated with digitizing memory storage 31, wireless signal transmission; The traction control subsystem and the underwater engine RACS that are provided with in another road and the embedded control system 22 are communicated with, and the traction control subsystem is communicated with the up-down draw-gear, and the underwater engine RACS is communicated with the Powerpush Unit of electric ship 1.Described ultrasonic ranging sensor 19 is to link to each other with MPI with receiving device with a pair of ultrasonic emitting, finds range in conjunction with the timer conter function of MCU.
Muddy waters intelligent monitoring system comprises electric ship 1, direct supply 30, up-down draw-gear, ultrasonic ranging sensor 19, the integrated and visualization system at automatic detection device, combination cable 17, digitizing memory storage 31, embedded control system and the Ground Control interface of low-light camera device, wireless signal transmission, automatic station-keeping system, automated navigation system, underwater ultrasound range finding subsystem, equipment under water; Embedded control system is divided into hardware unit and said each function RACS of embedded control system 22; The low-light camera device is connected with electric ship 1 through the up-down draw-gear under water; Direct supply 30 is connected with each consumer through combination cable 17; Each signal collecting device is connected with embedded control system 22, digitizing memory storage 31, wireless signal transmission through combination cable 17, and the integrated and visualization system at Ground Control interface is through wireless signal and wireless signal transmission wireless communication.
Each consumer comprises electric ship 1, up-down draw-gear, embedded control system 22, digitizing memory storage 31; Wireless signal transmission, automatic station-keeping system, automated navigation system; The automatic detection device of equipment, ultrasonic ranging sensor 19 and low-light camera device under water.
Each signal collecting device comprises ultrasonic ranging sensor 19 and low-light camera device under water.
The up-down draw-gear, embedded control system 22, digitizing memory storage 31, wireless signal transmission, automatic station-keeping system, automated navigation system, the automatic detection device of equipment is installed in the device platform 32 on the electric ship 1; The low-light camera device is located at the below of up-down draw-gear under water, and it is outside that ultrasonic ranging sensor 19 is located at underwater camera unit protection cover, and embedded control system 22 is connected with wireless signal transmission through digitizing memory storage 31.
The automatic detection device of automatic station-keeping system, automated navigation system and equipment is connected with embedded control system 22 through serial ports.
Described up-down draw-gear comprises direct current generator 26, twisted wire wheel 28, tractor 3, drag-line 29 and connecting interface 4; Twisted wire wheel 28 is connected with the arbor of direct current generator 26, and drag-line 29 1 ends are taken turns 28 with twisted wire and are connected; Tractor 3 is made up of the more piece drag spring thimble, and adjacent drawing between the sleeve pipe is in axial sliding connection, and radial location connects, and an end of tractor 3 is fixed on the below of twisted wire wheel 28; Drag-line 29 is built in the die of more piece drag spring thimble or outside the pipe shaft, the other end of the other end of tractor 3 and drag-line 29 is connected with the upper end of connecting interface 4 respectively, connecting interface 4 following to being connected with member to undertake 5.
The described device of low-light camera under water comprises microcomputer 6, low-light video camera 7, and motorized zoom lens 8, waterproof lampshade 10, the compensating illumination light source 11 under water, light color controller 12, combination cable 17 and protective cover; Protective cover comprises seal cover board 16, cover plate for sealing pad 15, protective cover 9, form 13 and sealing gasket 14; Seal cover board 16, cover plate for sealing pad 15 are connected with the top of protective cover 9, and form 13, sealing gasket 14 are connected with the bottom of protective cover 9; Seal cover board 16 upper ends are connected with member to undertake 5;
Compensating illumination light source 11, light color controller 12 are built in the waterproof lampshade 10 under water, and waterproof lampshade 10 is connected with the bottom peripheral flange platform of protective cover;
The locating platform that is provided with in the described protective cover 9, low-light video camera 7 is installed in protective cover 9 inner tops through locating platform, and low-light video camera 7 upper ends are connected with microcomputer 6, and the lower end is connected with motorized zoom lens 8; Motorized zoom lens 8 front end eyeglass outside surface summits are the sighting distance that Underwater Camera increases to the distance between the form outside surface; Since the increase of shooting sighting distance, monitoring visual angle and the also corresponding increase of angular field of view, and the effective monitoring area also increases thereupon; Protective cover 9 outer setting have ultrasonic ranging sensor 19, are connected with embedded control system 22 through combination cable 17.
Described motorized zoom lens; Employing can focus on the 1/3 inch CCD target surface, can realize field angle scope 30o-115o, by long-range wireless remote control, the signal motorized zoom lens 8 through embedded control system and microcomputer 6 controls, and motorized zoom lens 8 can be realized the lens focus stepless transformation; In zooming range; MTF is at 70lp/mm, and scenery can amplify or dwindle as required under water, and monitoring range is also adjustable.
Described chroma compensation illumination light source under water 11 is also different according to different its light angles of divergence of water quality; Different with the water turbidity degree; The color compensating of light beam irradiates direction and light must be done corresponding adjustment, the waterproof lampshade 10 interior light color controllers 12 that are provided with the color of light beam irradiates direction regulator and light according to the shooting needs.
According to the monitoring range needs, form 13 sightingpistons in the protective cover 9 before low-light video camera 7 camera lenses are changeable, and low-light video camera 7 camera lenses are changeable to the distance of form 13 sightingpistons.Protective cover 9 deadweights are greater than the buoyancy of water to it, are convenient to protective cover 9 and move down the location.
Compensating illumination light source 11 is provided with multiple colour light source under water; Utilize light color controller 12 to change light source colour according to water quality difference; Utilize the light source of multiple color to carry out the underwater camera illumination compensation; Utilize the lighting position and the direction of illumination of light illumination direction controller adjustment lamp, make illumination as far as possible in monitoring range.
The locating platform that is provided with in the protective cover 9, effectively resistance low-light video camera 7 is slided.
Seal cover board 16 is used with cover plate for sealing pad 15, form 13 and sealing gasket 14, and anti-sealing gets in the protective cover 9.
Low-light video camera 7 adopts low-light booster and CCD photoelectronic imaging device, makes its sensed image under half-light, utilizes the auto iris video driver to change the integral time and change aperture area of CCD, makes its illumination range corresponding with the dynamic range of low-light camera.
Described wireless signal transmission comprises wireless image-sound transmitter 24 and wireless signal transmission antenna 18; The wireless signal remote control receiving trap comprises embedded control system 22 and control signal receiving antenna 23; Wireless image-sound transmitter 24 is contained in respectively in the fixed bin of sealing with embedded control system 22; Wireless image-sound transmitter antenna 18 is derived by two seal bores respectively with control signal receiving antenna 23; Wireless image-sound transmitter antenna 18 extends to electric ship 1 afterbody, and control signal receiving antenna 23 directly is connected with embedded control system 22.
Described embedded control system 22 internally is connected with the automatic detection device 25 of automated navigation system 20, automatic station-keeping system 21 and equipment respectively through the UART interface; , link to each other with direct supply 30 respectively with underwater propeller 2, ultrasonic ranging sensor 19, the low-light camera device links to each other under water through combination cable 17 through combination cable 17; Externally receive the instruction of the integrated and visualization system at Ground Control interface through control signal receiving antenna 23.
Described embedded control system 22 is to be the embedded system of core with the 32-bit microprocessor.Its processing speed is fast, amount of ram is big, the interior system resource of sheet is abundant, can carry embedded real-time operating system; Just can realize functions such as above-mentioned electronic chart, mouse control, the liquid crystal display of high definition picture and text thus.
The automatic detection device 25 of described equipment comprises automatic detection microcomputer and serial ports; Automatically detect microcomputer and be fixed in the electric ship 1, the serial ports of the automatic detection device 25 of described equipment is respectively with underwater propeller 2, Automatic Detection and Control subsystem, wireless image-sound transmitter 24, digitizing memory storage 31, direct current generator 26, direct supply 30 link to each other in low-light camera device, ultrasonic ranging sensor 19, automated navigation system 20, automatic station-keeping system 21, embedded control system 22 and the embedded control system 22 under water.
The automatic detection device 25 of described equipment is initial in start, and its inner computer carries out self check to total system equipment each item functional parameter, transfers out the result.In operational process, also can comprise monitoring, and when being lower than normal index, report to the police, make a return voyage automatically the fault self-checking analysis to power supply.
The automatic station-keeping system 21 of described hull comprises boat-carrying machine, ground fixing machine and serial ports; The boat-carrying machine is fixed in the electric ship 1, is connected with Automatic Positioning Control subsystem in the embedded control system 22 through serial ports.The automatic station-keeping system 21 of described hull is to adopt the GPS technology.In view of we can only obtain the general civil signal of gps satellite at present, the unit measuring accuracy is low, therefore will carry out multimachine relative measurement technology.Specific embodiments is, GPS receiver of boat-carrying, and ground is provided with a GPS receiver to the Duo Tai fixed position (quantity is many certainly, and relative positional accuracy is high, and two of operated by rotary motion are formed a baseline) on the bank.During work, boat-carrying machine and ground fixing machine synchronous operation (because gps system has clock signal, this point can be realized fully); The data of all each machines are all wanted recorded and stored, and subsequent treatment obtains the coordinate position of hull relative fixed point at a moment.
The automated navigation system 20 of described hull comprises autopilot and serial ports; Autopilot is fixed in the electric ship 1, is connected with self-navigation RACS in the embedded control system 22 through serial ports.The automated navigation system 20 of described hull; On the basis of locating automatically; Make the route navigation of hull, at first will design the electronic chart and the rectangular coordinate system that conform to actual waters, in use by appointment; The final data of positioning system and the route on the map contrast, and the power propulsion control system of hull is the instant course of adjustment automatically.The user just need not estimate and the remote control ship motion in real time like this, but can send to hull to pre-set route data (coordinate of every straight-line segment two-end-point), lets it automatically perform.
During use; The wireless image-sound transmitter of wireless image-sound transmitter 24 and receiver are carried out the frequency modulation butt joint, make video image the most truly, the most clear, then; With electric ship 1 and tractor 3, protective cover 9 and under water compensating illumination light source 11 place water; Utilize member to undertake 5, connecting interface 4 and tractor 3, protective cover 9 is linked to each other with electric ship 1, combination cable 17 links to each other with socket in the electric ship 1; Turn on the power switch, the computer in the automatic detection device 25 carries out self check to total system equipment each item functional parameter, transfers out the result.
The control method of muddy waters underwater intelligent supervisory system is following:
(1), the integrated and visualization system at Ground Control interface control electric ship 1 sails a certain position of the water surface into; Integrated and the visualization system at Ground Control interface utilizes the pre-designed electronic chart and the rectangular coordinate system that conform to actual waters; And the electronic chart that on the lcd screen of the integrated and visualization system at Ground Control interface, can show this waters to send instruction or data to hull with click icon or map.The final data of positioning system and the route on the map contrast, and the power propulsion control system of hull is the instant course of adjustment automatically; Under automated navigation system 20 and automatic station-keeping system 21 acted on, electric ship 1 was by the circuit operation of input;
(2), the traction control subsystem work in the integrated and visualization system at the Ground Control interface control embedded control system 22; The traction control subsystem is supplied power to the up-down draw-gear through control direct supply 30; Thereby control up-down draw-gear starts and goes up and down, the range finding processing subsystem in the embedded control system 22 simultaneously or time-delay start to 19 power supplies of ultrasonic ranging sensor through control direct supply 30;
(3), ultrasonic ranging sensor 19 gets under water under the traction of up-down draw-gear; Simultaneously, ultrasonic ranging sensor 19 feedback signal that normal place has clear to the detection range between the water-bed ground and the place ahead of will finding range feeds back to the range finding processing subsystem in the embedded control system 22; The range finding normal place is set to ultrasonic ranging sensor 19 range finding interfaces; Detection range is ultrasonic ranging sensor 19 range finding actual numbers;
(4), the range finding processing subsystem in the embedded control system 22 has the feedback signal of clear to be sent in the integrated and visualization system at Ground Control interface through digitizing memory storage 31, wireless signal transmission detection range and the place ahead on the one hand; There is the feedback signal of clear to compare processing to detection range and the place ahead on the other hand, again the comparison process signal is sent to traction control subsystem, underwater engine RACS and video monitoring RACS under water after the comparison process;
(5), the up-down draw-gear is under the control of traction control subsystem; Carry out the instruction of rising, stop or descend according to the comparison process signal; To low-light camera device power supply under water, the low-light camera device is carried out video monitoring work to the video monitoring RACS under water through control direct supply 30 under water;
Range finding processing subsystem in the embedded control system 22 feedback signal of adjusting the distance compares when handling, a kind of be with apart from the former built-in preset monitoring of the range finding processing subsystem in feedback signal and the embedded control system 22 apart from comparing; Another kind is that the real-time monitoring distance that the integrated and visualization system that receives the Ground Control interface apart from the range finding processing subsystem in feedback signal and the embedded control system 22 sends is compared.
To compare apart from the former built-in preset monitoring distance of the range finding processing subsystem in feedback signal and the embedded control system 22: if detection range is greater than preset monitoring distance; The traction control subsystem will be carried out the instruction that descends according to processing signals; If detection range is less than preset monitoring distance; The traction control subsystem will be carried out climb command according to processing signals, if detection range equals preset monitoring distance, the traction control subsystem will be carried out according to processing signals and stop instruction;
Range finding processing subsystem in the embedded control system 22 is received the real-time monitoring distance that the integrated and visualization system at Ground Control interface sends to be compared: if detection range is greater than monitoring distance in real time; The traction control subsystem will be carried out the instruction that descends according to processing signals; If detection range is less than monitoring distance in real time; The traction control subsystem will be carried out climb command according to processing signals; If detection range equals to monitor in real time distance, the traction control subsystem will be carried out according to processing signals and stop instruction.
The low-light camera device is carried out video monitoring work under water: the low-light camera device is according to the instruction of the RACS of video monitoring under water in the embedded control system 22 under water; Make low-light camera device execution work under water; The inquiry of the width adjusting of the on/off of the light modulation focusing of control optical system, shooting booster and selection shutter, the switch of lighting source, brightness regulation, light state etc.; Compensating illumination light source 11 can utilize light color controller 12 to change light source colour according to water quality difference under water; Utilize the light source of multiple color to carry out the underwater camera illumination compensation; Utilize the lighting position and the direction of illumination of light illumination direction controller adjustment lamp, make illumination as far as possible in monitoring range;
(6), Powerpush Unit is under water under the control of power control subsystem, the instruction of have or not obstacle information comparison process signal to carry out according to the place ahead to advance, acceleration, deceleration or up-down draw-gear rising;
(7), the low-light camera device reaches the RACS of video monitoring under water in the embedded control system 22 through video signal cable with vision signal under water, the video monitoring RACS is sent to vision signal in the integrated and visualization system at Ground Control interface through digitizing memory storage 31, wireless signal transmission under water.
(8), the integrated and visualization system at Ground Control interface sends control signal and receives signal, processing and preservation signal.
The rising of rear haulage device is accomplished in work, recovers initial state, and electric ship 1 is got back to initial point.
In other embodiments, muddy waters supervisory system under water is water quality detection subsystem under water, or the combination of video monitoring subsystem and following water quality detection subsystem under water;
1 of electric ship is provided with a kind of in 25 3 kinds of equipment of automatic detection device of automated navigation system 20 and hull equipment of automatic station-keeping system 21, hull of hull or two kinds, and through serial ports respectively with embedded control system 22 in Automatic Positioning Control subsystem, self-navigation RACS, Automatic Detection and Control subsystem be connected.Integrated and the visualization system at Ground Control interface also may command electric ship 1 manual positioning navigation sails a certain position of the water surface into.
Ultrasonic ranging sensor 19 in the underwater ultrasound range finding subsystem can be arranged on a side bottom of the water quality detection sensor in the water quality detection subsystem under water; Or be arranged on a side bottom of the device of low-light camera under water in the video monitoring subsystem under water and a side bottom of the water quality detection sensor in the water quality detection subsystem under water respectively simultaneously, or be arranged on the bottom of up-down draw-gear.
The range finding normal place is set to a certain position, draw-gear lower end, a certain position, video monitoring subsystem bottom, a certain position, water quality detection subsystem bottom under water under water; Detection range is the distance parameter sum that ultrasonic ranging sensor 19 range finding actual numbers and a certain desired location arrive ultrasonic ranging sensor 19 range finding interfaces; When a certain desired location is higher than ultrasonic ranging sensor 19 range finding interfaces, is higher than part and is positive number; When a certain desired location is lower than ultrasonic ranging sensor 19 range finding interfaces, is lower than part and is negative.
Claims (5)
1. muddy waters underwater ultrasound range finding subsystem; It comprises up-down draw-gear, embedded control system (22), digitizing memory storage (31), wireless signal transmission and the direct supply (30) that is installed on the electric ship (1), and the integrated and visualization system at Ground Control interface; Integrated and the visualization system wireless communication at wireless signal transmission and Ground Control interface; It is characterized in that: ultrasonic ranging sensor (19) is located at the below of up-down draw-gear; Ultrasonic ranging sensor (19) input end is connected with range finding processing subsystem and direct supply (30) in the embedded control system (22) through the power supply electric wire; After output terminal passes through the distance measuring signal line and the range finding processing subsystem of embedded control system (22) is communicated with; One the tunnel is communicated with digitizing memory storage (31), wireless signal transmission; The traction control subsystem and the underwater engine RACS that are provided with in another road and the embedded control system (22) are communicated with, and the traction control subsystem is communicated with the up-down draw-gear, and the underwater engine RACS is communicated with the Powerpush Unit of electric ship (1).
2. a muddy waters intelligent monitoring system is characterized in that: be provided with underwater ultrasound range finding subsystem in the supervisory system under water in muddy waters; Muddy waters supervisory system under water comprises video monitoring subsystem, water quality detection subsystem or both combinations under water under water; Ultrasonic ranging sensor (19) in the underwater ultrasound range finding subsystem or be arranged on a side bottom of the device of low-light camera under water in the video monitoring subsystem under water; Or be arranged on a side bottom of the water quality detection sensor in the water quality detection subsystem under water; Or distinguish setting simultaneously, or be arranged on the bottom of up-down draw-gear; Same set of up-down draw-gear, embedded control system (22), digitizing memory storage (31), wireless signal transmission and the direct supply (30) that is installed on the electric ship (1) adopted in underwater ultrasound range finding subsystem and muddy the waters subsystem in the supervisory system under water, and with the integrated and visualization system at the Ground Control interface of wireless signal transmission wireless communication.
3. a kind of muddy waters according to claim 2 underwater intelligent supervisory system is characterized in that: the described subsystem of video monitoring under water comprises the integrated and visualization system at low-light camera device, up-down draw-gear, embedded control system (22), digitizing memory storage (31), wireless signal transmission, direct supply (30) and Ground Control interface under water; Integrated and the visualization system wireless communication at wireless signal transmission and Ground Control interface; The low-light camera device is located at the below of up-down draw-gear under water; Low-light camera device input end is connected with video RACS and direct supply (30) in the embedded control system (22) through the power supply electric wire under water; Output terminal, is communicated with digitizing memory storage (31), wireless signal transmission with after video RACS in the embedded control system (22) is communicated with through video signal cable again.
4. a kind of muddy waters according to claim 2 underwater intelligent supervisory system, it is characterized in that: the described subsystem of water quality detection under water comprises the integrated and visualization system at water quality detection sensor, up-down draw-gear, embedded control system (22), digitizing memory storage (31), wireless signal transmission, direct supply (30) and Ground Control interface; Integrated and the visualization system wireless communication at wireless signal transmission and Ground Control interface; Water quality detection sensor is located at the below of up-down draw-gear; The water quality detection sensor input end is connected with water quality detection RACS and direct supply (30) in the embedded control system (22) through the power supply electric wire; Output terminal, is communicated with digitizing memory storage (31), wireless signal transmission with after water quality detection RACS in the embedded control system (22) is communicated with through the water quality detection signal wire again.
5. a kind of muddy waters according to claim 2 underwater intelligent supervisory system; It is characterized in that: electric ship (1) be provided with in (25) three kinds of equipment of automatic detection device of automated navigation system (20) and hull equipment of automatic station-keeping system (21), hull of hull a kind of, two kinds or three kinds, and through serial ports respectively with embedded control system (22) in Automatic Positioning Control subsystem, self-navigation RACS, Automatic Detection and Control subsystem in a kind of, two kinds or three kinds be connected.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102288967A (en) * | 2011-06-17 | 2011-12-21 | 江西海豹高科技有限公司 | Underwater ultrasonic ranging sub system and intelligentized monitoring system and control method for intelligentized monitoring system under turbid water area |
| CN103308013A (en) * | 2013-07-09 | 2013-09-18 | 重庆交通大学 | Method for measuring buttock bottom contour line of inland river ship |
| CN106131388A (en) * | 2016-08-24 | 2016-11-16 | 南京本来信息技术有限公司 | Submarine target image collecting device |
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| CN102288967A (en) * | 2011-06-17 | 2011-12-21 | 江西海豹高科技有限公司 | Underwater ultrasonic ranging sub system and intelligentized monitoring system and control method for intelligentized monitoring system under turbid water area |
| CN103308013A (en) * | 2013-07-09 | 2013-09-18 | 重庆交通大学 | Method for measuring buttock bottom contour line of inland river ship |
| CN103308013B (en) * | 2013-07-09 | 2015-12-23 | 重庆交通大学 | Inland navigation craft vertical profile bottom wheel profile measuring method |
| CN107291075A (en) * | 2016-04-11 | 2017-10-24 | 李长熙 | Water purification system with the movable water quality purifier for being capable of unmanned autonomous navigation |
| CN106131388A (en) * | 2016-08-24 | 2016-11-16 | 南京本来信息技术有限公司 | Submarine target image collecting device |
| CN107801276A (en) * | 2016-08-29 | 2018-03-13 | 深圳市海洋王照明工程有限公司 | A kind of illuminator and its Lighting Control Assembly and method |
| CN106379504A (en) * | 2016-11-03 | 2017-02-08 | 长沙矿冶研究院有限责任公司 | Seafloor discrete mineral particle explorer |
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| CN108104178A (en) * | 2017-11-24 | 2018-06-01 | 上海斌瑞检测技术服务有限公司 | For underwater piling bar surface appearance detecting system and its detection method in muddy waters |
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