CN202350833U - Signal acquisition and displaying device of underwater robot sensor - Google Patents
Signal acquisition and displaying device of underwater robot sensor Download PDFInfo
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- CN202350833U CN202350833U CN2011205230035U CN201120523003U CN202350833U CN 202350833 U CN202350833 U CN 202350833U CN 2011205230035 U CN2011205230035 U CN 2011205230035U CN 201120523003 U CN201120523003 U CN 201120523003U CN 202350833 U CN202350833 U CN 202350833U
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Abstract
The utility model discloses a signal acquisition and displaying device of an underwater robot sensor. The device comprises a sensor system, a single chip microcomputer system, an optical transceiver and a water surface monitor, which are connected. Sensors in the sensor system are connected with signal input ends of the single chip microcomputer system through signal transmission lines, the single chip microcomputer system is connected with signal input ends of the optical transceiver through optical fibers, and output ends of the optical transceiver is connected with the water surface monitor. The device fills in the gap relating to underwater robot data acquisition and display, and can detect and display states of underwater robots effectively.
Description
Technical field
The utility model relates to underwater robot condition monitoring technical field, specially refers to underwater robot sensor signals collecting and display device.
Background technology
The ocean is relaying land, four major strategies space (land, sea, air, sky) the 2nd large space afterwards of human development; It is the strategic exploitation base of living resources, the energy, water resource and metals resources; Be the space that development potentiality is arranged most, China's economy and society development is being produced direct, huge supporting role.As the assistant that the mankind explored and developed the ocean, the particularly unmanned underwater robot UUV of underwater robot (Unmanned UnderwaterVehicle) will play a significant role in this field.
Publication number is the patent of CN1709766, has introduced a kind of buoyancy and propellor dual-driving-mode long-distance autonomous underwater robot, is used for field of engineering technology under the ocean water.This invention comprises: robot body, a pair of main wing, a pair of thruster and vertical tail; Robot body's outside is the permeable shell that rectification is used; Main wing and vertical tail have low fluid resistance aerofoil profile, and main wing is arranged at permeable shell rear portion, are symmetrically distributed in the permeable shell left and right sides; Vertical tail is arranged at permeable shell afterbody, in the vertical symmetry plane of permeable shell.Thruster is arranged on the outside of main wing.This invention has impeller driven and two kinds of type of drive of buoyancy-driven; Under the buoyancy-driven pattern, rely on the adjusting of buoyancy and center of gravity to produce thrust and controlled motion direction; Has high flying power; Under the impeller driven pattern, rely on thruster to produce thrust, rely on angle of rake thrust difference in the left and right sides and center of gravity to regulate the controlled motion direction, have high maneuverability.
U.S. Patent number is that the patent of US5995992 discloses a kind of 6 feet long of being used for Marine Sciences measurement and search, and diameter is 13 inches a autonomous underwater robot.Introduced its computer system, the I/O mouth, buoyancy reclaims framework, battery power, high speed serial ports, the design of real-time data acquisition and control system thereof under water.
Above patent of invention all is relevant unmanned underwater robot Design of device, but since the complicacy of benthos working environment, unpredictability; In a single day underwater robot breaks down; Not only robot can't accomplish the underwater operation task, and robot itself also is difficult to reclaim, and loses huge.Therefore its reliability engineering research is very crucial with design.And the research of directly serving underwater robot reliability control technology is almost still blank, particularly takes into account no cable autonomous underwater robot AUV (Autonomous Underwater Vehicle) and does not see that with collecting sensor signal and the display device of the novel unmanned underwater robot ARV of the unmanned underwater robot ROV of cable control (Remotely-operated Vehicle) characteristics any patent is open.
In sum, to the defective of prior art, need a kind of underwater robot sensor signals collecting and display device especially, with the problem of mentioning more than solving.
The utility model content
The purpose of the utility model is to provide a kind of underwater robot sensor signals collecting and display device, has taken into account the characteristics of no cable autonomous underwater robot and the unmanned underwater robot of cable control, thereby realizes the object of the invention.
The technical matters that the utility model solved can adopt following technical scheme to realize:
Underwater robot sensor signals collecting and display device comprise sensing system, SCM system, fiber optic and water surface monitor, it is characterized in that,
Said sensing system is arranged on the underwater robot, comprising:
Be used for measuring the degree of depth of underwater robot, and change the depth data that records the depth transducer of degree of depth voltage signal at water; Be used to measure the headway of underwater robot, and be the speed pickup of velocity voltage signal the headway transformation of data that records; Be used to measure the attitude under water of underwater robot, and change the directional data that records the attitude sensor of attitude voltage signal into; Be used to measure underwater robot forward sight environment, and change the view data that records the sonar sensor of voltage signal into; Be used to measure the underwater robot surrounding environment, and change the view data that records the optical imaging sensor of voltage signal into; Be used to measure underwater robot electric battery state, and change the electric battery status data into voltage signal battery cell monitoring sensor; Be used to measure the underwater robot propeller rotating speed, and change the thruster rotary speed data thruster monitoring sensor of voltage signal into;
Said SCM system is arranged on the underwater robot; The signal input part of SCM system is connected with the output terminal of said the sensor signal, to receive degree of depth voltage signal, velocity voltage signal, attitude voltage signal, sonar voltage signal, optical voltage signal, battery status voltage signal and the thruster of-state voltage signal that the sensor sends over; Said SCM system is provided with the communication module in order to driving sensor signal transformation task;
Said fiber optic has a pair of (two), lays respectively on surface mother ship and the underwater robot, connects through optical fiber between two fiber optics, realizes data transmission through the RS-485 serial communication; The input end of the fiber optic on the underwater robot is connected with the output terminal of SCM system, and the output terminal of the fiber optic on the surface mother ship is connected with water surface monitor, guarantees that the underwater sensor information transmission is to water surface monitor;
Said water surface monitor is arranged on the surface mother ship, water surface monitor inside be provided with the sensor signal transformation task communication module, utilize the sensor historical data to carry out the data processing module that chart generates, the alarm module that sensor signal transfinites.
In an embodiment of the utility model, said SCM system comprises signal amplification filtering module, A/D converter, multi-way switch module, serial communication port, microprocessor and LCD LCD MODULE; The input end of said multi-way switch module is connected with depth transducer, speed pickup, attitude sensor, sonar sensor, optical imaging sensor, battery cell monitoring sensor, propelling monitoring sensor; The output terminal of multi-way switch module is connected with the input end of signal amplification filtering modular circuit; The signal input part of A/D converter is connected with the output terminal of signal amplification filtering modular circuit; Said microprocessor is connected with the output terminal of A/D converter signal, and is connected with serial communication port.
In an embodiment of the utility model, said SCM system hardware circuit interface module comprises SCM system power circuit, clock and reset circuit, communication interface circuit.
In an embodiment of the utility model, said water surface monitor comprises data communication module, data-storing module, data processing and display module.
The beneficial effect of the utility model is: remedied the blank of relevant underwater robot data acquisition and demonstration, effective underwater robot state-detection of a kind of ability and display device are provided.
Description of drawings
Fig. 1 is the structured flowchart of said underwater robot sensor signals collecting of the utility model and display device.
Fig. 2 is the schematic diagram of the reference voltage circuit of the said SCM system of the utility model.
Fig. 3 is the schematic diagram of the said communication interface circuit of the utility model.
Fig. 4 is the said LCD interface circuit theory diagrams of the utility model.
Fig. 5 is the workflow diagram of said collecting sensor signal of the utility model and display device.
Embodiment
For technological means, creation characteristic that the utility model is realized, reach purpose and be easy to understand understanding with effect, below in conjunction with embodiment, further set forth the utility model.
As shown in Figure 1, the utility model is described to be formed by connecting underwater robot sensor system 1, SCM system 2, fiber optic 3, water surface monitor 4.Underwater robot sensor system 1 includes depth transducer 11, speed pickup 12, attitude sensor 13, sonar sensor 14, optical imaging sensor 15, battery cell monitoring sensor 16, advances monitoring sensor 17 and signal transmssion line; Depth transducer 11, speed pickup 12, attitude sensor 13, sonar sensor 14, optical imaging sensor 15, battery cell monitoring sensor 16, propelling monitoring sensor 17 are connected through signal transmssion line with the signal input part of embedded controller 2.The signal output part of SCM system 2 is connected with fiber optic 31 (underwater portion), and fiber optic 31 output terminals are connected with fiber optic 32 (water surface part), is connected through 485 serial optical fibre communication lines between fiber optic 31 and the fiber optic 32; The output terminal of fiber optic 32 is connected with the signal input part of water surface monitor 4.
Fiber optic 3 comprises the fiber optic 32 on the fiber optic that is sealed in the ARV underwater robot carrier 31 and the surface mother ship, and both connect through optical fiber, adopt RS-485 serial communication mode to transmit the sensor signal of underwater robot;
In the SCM system 2, also comprise SCM system power circuit, clock and reset circuit, LCD interface circuit, voltage reference circuit etc.; Microprocessor chip adopts the C8051F120 family chip of U.S. Cygnal company; The numerical value display module adopts the dot matrix lcd module OCM4 * 8C of ST7920 controller drives, and this module can show letter, numeric character, Chinese font and figure, has to draw and text screen mixed display function.The SCM system voltage reference circuit is as shown in Figure 2, and the RS-485 telecommunication circuit is as shown in Figure 3 respectively, and the LCD interface circuit is as shown in Figure 4.Foregoing circuit is known to those skilled in the art, does not do detailed description at this.
Be arranged at depth transducer on the underwater robot in order to the degree of depth in the water of measuring underwater robot, and change the depth data that records into degree of depth voltage signal;
Be arranged at speed pickup on the underwater robot in order to measuring the headway of underwater robot, and be the velocity voltage signal the headway transformation of data that records;
Be arranged at that attitude sensor on the underwater robot is first in order to the commentaries on classics of measuring underwater robot, trim and rolling direction, and change the directional data that records into the relevant voltage signal;
Be arranged at sonar sensor on the underwater robot in order to measuring the place ahead image of underwater robot, and change the view data that records into the relevant voltage signal;
Be arranged on the underwater robot optical imaging sensor in order to measure underwater robot around image, and change the view data that records into the relevant voltage signal;
Be arranged at battery cell monitoring sensor on the underwater robot in order to measuring underwater robot electric battery duty, and change the status data that records into the relevant voltage signal;
Be arranged at propelling monitoring sensor on the underwater robot in order to measuring the duty of underwater robot propeller, and change the status data that records into the relevant voltage signal;
The SCM system signal input part that is arranged on the underwater robot is connected with said depth transducer, speed pickup, attitude sensor, sonar sensor, optical imaging sensor, battery cell monitoring sensor, thruster monitoring sensor signal, with degree of depth voltage signal, velocity voltage signal, attitude voltage signal, sonar voltage signal, optical voltage signal, battery status voltage signal, the thruster of-state voltage signal that receives said depth transducer, speed pickup, attitude sensor, sonar sensor, optical imaging sensor, battery cell monitoring sensor, advances monitoring sensor to send over.
The fiber optic 32 that is arranged on fiber optic 31 and the surface mother ship on the underwater robot is connected through optical fiber, adopts sensor signal that RS-485 serial communication mode transmits underwater robot to water surface monitor;
The water surface monitor that is arranged on the surface mother ship is connected with fiber optic 32 output terminals on the underwater robot, receiving the various signals that embedded controller sends over, and carries out the underwater robot state and shows and report to the police.
As shown in Figure 5 when whole utility model is worked: depth transducer 11, speed pickup 12, attitude sensor 13, sonar sensor 14, optical imaging sensor 15, battery cell monitoring sensor 16, propelling monitoring sensor 17 and signal transmssion line; Depth transducer 11, speed pickup 12, attitude sensor 13, sonar sensor 14, optical imaging sensor 15, battery cell monitoring sensor 16, propelling monitoring sensor 17 are exported the voltage signal corresponding with each signal respectively, and insert SCM system 2; In the SCM system 2, to voltage signal amplify, filter preprocessing and A/D conversion, send into underwater robot water surface monitor 4 through 485 serial line interfaces of fiber optic 3; In water surface monitor 4; The serial sensor voltage signal of different time of coming SCM system 2 is carried out data to be preserved and handles; Recover each working sensor data; Be the degree of depth, speed, attitude, sonar, optics, battery cell monitoring, propelling monitoring numerical value, show state data on LCDs LCD at last.
The course of work of the utility model: novel underwater robot ARV; It is the experiment carrier of the utility model; Seven kinds of sensors (degree of depth, speed, attitude, sonar, optics, battery cell monitoring, propelling monitoring) are installed in ARV under water on the carrier; Connect each equipment according to Fig. 1 structure, carry out the processing of underwater robot status surveillance by data acquisition and the flow for displaying of Fig. 5 again.Press " signal sampling " button of water surface monitor 4 film face-plates; Then water surface monitor 4 starts signal procedure driving underwater robot SCM system 2, sends into water surface monitor 4 and preservation through the voltage signal that the serial line interface of fiber optic 3 is monitored the sensor degree of depth, speed, attitude, sonar, optics, battery cell monitoring, propelling just often; Press " data processing " button of water surface monitor 4 film face-plates; Water surface monitor 4 log-on data handling procedures then; Historical signal with the degree of depth of gathering, speed, attitude, sonar, optics, battery cell monitoring, propelling monitoring is carried out form and graphics process, and on LCD, shows sensor status information.
More than show and described ultimate principle of the utility model and the advantage of principal character and the utility model.The technician of the industry should understand; The utility model is not restricted to the described embodiments; The principle of describing in the foregoing description and the instructions that the utility model just is described; Under the prerequisite that does not break away from the utility model spirit and scope, the utility model also has various changes and modifications, and these variations and improvement all fall in the utility model scope that requires protection.The utility model requires protection domain to be defined by appending claims and equivalent thereof.
Claims (4)
1. underwater robot sensor signals collecting and display device comprise sensing system, SCM system, fiber optic and water surface monitor, it is characterized in that:
Said sensing system is arranged on the underwater robot, comprising:
Be used for measuring the degree of depth of underwater robot, and change the depth data that records the depth transducer of degree of depth voltage signal at water; Be used to measure the headway of underwater robot, and be the speed pickup of velocity voltage signal the headway transformation of data that records; Be used to measure the attitude under water of underwater robot, and change the directional data that records the attitude sensor of attitude voltage signal into; Be used to measure underwater robot forward sight environment, and change the view data that records the sonar sensor of voltage signal into; Be used to measure the underwater robot surrounding environment, and change the view data that records the optical imaging sensor of voltage signal into; Be used to measure underwater robot electric battery state, and change the electric battery status data into voltage signal battery cell monitoring sensor; Be used to measure the underwater robot propeller rotating speed, and change the thruster rotary speed data thruster monitoring sensor of voltage signal into;
Said SCM system is arranged on the underwater robot; The signal input part of SCM system is connected with the output terminal of said the sensor signal, to receive degree of depth voltage signal, velocity voltage signal, attitude voltage signal, sonar voltage signal, optical voltage signal, battery status voltage signal and the thruster of-state voltage signal that the sensor sends over; Above-mentioned SCM system is provided with the communication module in order to driving sensor signal transformation task;
Said fiber optic has a pair of (two), lays respectively on surface mother ship and the underwater robot, connects through optical fiber between two fiber optics, realizes data transmission through the RS-485 serial communication; The input end of the fiber optic on the underwater robot is connected with the output terminal of SCM system, and the output terminal of the fiber optic on the surface mother ship is connected with water surface monitor, guarantees that the underwater sensor information transmission is to water surface monitor;
Said water surface monitor is arranged on the surface mother ship, water surface monitor inside be provided with the sensor signal transformation task communication module, utilize the sensor historical data to carry out the data processing module that chart generates, the alarm module that sensor signal transfinites.
2. underwater robot sensor signals collecting and the display device above-mentioned according to claim 1; It is characterized in that said SCM system comprises signal amplification filtering module, A/D converter, multi-way switch module, serial communication port, microprocessor and LCD LCD MODULE; The input end of said multi-way switch module is connected with depth transducer, speed pickup, attitude sensor, sonar sensor, optical imaging sensor, battery cell monitoring sensor, propelling monitoring sensor; The output terminal of multi-way switch module is connected with the input end of signal amplification filtering modular circuit; The signal input part of A/D converter is connected with the output terminal of signal amplification filtering modular circuit; Said microprocessor is connected with the output terminal of A/D converter signal, and and is connected with serial communication port.
3. underwater robot sensor signals collecting and the display device above-mentioned according to claim 1 is characterized in that, said SCM system hardware circuit interface module comprises SCM system power circuit, clock and reset circuit, communication interface circuit.
4. underwater robot sensor signals collecting and the display device above-mentioned according to claim 1 is characterized in that said water surface monitor comprises data communication module, data-storing module, data processing and display module.
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| CN2011205230035U CN202350833U (en) | 2011-12-14 | 2011-12-14 | Signal acquisition and displaying device of underwater robot sensor |
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| CN2011205230035U CN202350833U (en) | 2011-12-14 | 2011-12-14 | Signal acquisition and displaying device of underwater robot sensor |
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| CN103112568A (en) * | 2012-12-21 | 2013-05-22 | 浙江建林电子电气有限公司 | Flexible aggressive mechanical octopus |
| CN103454697A (en) * | 2013-09-26 | 2013-12-18 | 上海海事大学 | Complete-coverage underwater search and rescue device and search and rescue method thereof |
| CN103488175A (en) * | 2013-09-26 | 2014-01-01 | 上海海事大学 | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot |
| CN104502061A (en) * | 2014-12-08 | 2015-04-08 | 上海大学 | On-line detecting system for inrush current |
| CN104948916A (en) * | 2015-05-15 | 2015-09-30 | 厦门大学 | Circularly-surrounding underwater fish-shaped robot underwater pipeline detecting device and method |
| CN105197207A (en) * | 2015-10-29 | 2015-12-30 | 上海海事大学 | Searching and rescuing underwater robot apparatus with binocular vision |
| CN105460186A (en) * | 2016-01-08 | 2016-04-06 | 何惠威 | Portable underwater robot |
| CN105652720A (en) * | 2016-03-16 | 2016-06-08 | 哈尔滨工程大学 | Automatic system for switching running state and quiescent state of UUV |
| CN106774049A (en) * | 2015-11-23 | 2017-05-31 | 中国科学院沈阳自动化研究所 | For the orientation and communication and supervision emergency flight control system and method for underwater robot |
| CN106872194A (en) * | 2016-12-29 | 2017-06-20 | 中国船舶重工集团公司第七0研究所 | A kind of comprehensive detection device for submarine navigation device |
| CN107102109A (en) * | 2016-04-20 | 2017-08-29 | 葛云龙 | Can GPS location the water conservancy data collection machine people with memory cell |
| CN107203217A (en) * | 2017-07-26 | 2017-09-26 | 江苏科技大学 | A kind of underwater robot attitude regulation control system based on sliding formwork control |
| CN107450572A (en) * | 2017-07-26 | 2017-12-08 | 江苏科技大学 | Underwater robot attitude regulation control system and processing method based on sliding formwork control |
| CN108363401A (en) * | 2018-03-13 | 2018-08-03 | 广东容祺智能科技有限公司 | A kind of coordinated control system of unmanned warship and underwater robot |
| CN109343547A (en) * | 2018-11-26 | 2019-02-15 | 哈工大机器人（岳阳）军民融合研究院 | 3D Model display interface and display methods for ROV control |
| CN109682428A (en) * | 2019-01-31 | 2019-04-26 | 武汉连海装备技术有限公司 | A kind of underwater multifunction measuring set and its application method |
| CN111301644A (en) * | 2020-03-06 | 2020-06-19 | 中海油信息科技有限公司 | Submarine pipeline detection system based on ROV and working method thereof |
| CN114390040A (en) * | 2021-12-06 | 2022-04-22 | 海洋石油工程股份有限公司 | Method for reading stored data of underwater data collector |
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| CN103112568B (en) * | 2012-12-21 | 2015-05-20 | 浙江建林电子电气有限公司 | Flexible aggressive mechanical octopus |
| CN103112568A (en) * | 2012-12-21 | 2013-05-22 | 浙江建林电子电气有限公司 | Flexible aggressive mechanical octopus |
| CN103454697B (en) * | 2013-09-26 | 2016-05-04 | 上海海事大学 | A kind of all standing search and rescue device and rescue method thereof under water |
| CN103454697A (en) * | 2013-09-26 | 2013-12-18 | 上海海事大学 | Complete-coverage underwater search and rescue device and search and rescue method thereof |
| CN103488175A (en) * | 2013-09-26 | 2014-01-01 | 上海海事大学 | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot |
| CN104502061A (en) * | 2014-12-08 | 2015-04-08 | 上海大学 | On-line detecting system for inrush current |
| CN104502061B (en) * | 2014-12-08 | 2017-03-15 | 上海大学 | One kind is shoved on-line detecting system |
| CN104948916A (en) * | 2015-05-15 | 2015-09-30 | 厦门大学 | Circularly-surrounding underwater fish-shaped robot underwater pipeline detecting device and method |
| CN105197207A (en) * | 2015-10-29 | 2015-12-30 | 上海海事大学 | Searching and rescuing underwater robot apparatus with binocular vision |
| CN106774049A (en) * | 2015-11-23 | 2017-05-31 | 中国科学院沈阳自动化研究所 | For the orientation and communication and supervision emergency flight control system and method for underwater robot |
| CN105460186A (en) * | 2016-01-08 | 2016-04-06 | 何惠威 | Portable underwater robot |
| CN105652720A (en) * | 2016-03-16 | 2016-06-08 | 哈尔滨工程大学 | Automatic system for switching running state and quiescent state of UUV |
| WO2017181983A1 (en) * | 2016-04-20 | 2017-10-26 | 欧志洪 | Robot capable of collecting water-related data and comprising storage unit |
| CN107102109A (en) * | 2016-04-20 | 2017-08-29 | 葛云龙 | Can GPS location the water conservancy data collection machine people with memory cell |
| CN107102109B (en) * | 2016-04-20 | 2019-08-09 | 仲恺农业工程学院 | Water conservancy data collection robot with storage unit and capable of being positioned by GPS (Global positioning System) |
| CN106872194A (en) * | 2016-12-29 | 2017-06-20 | 中国船舶重工集团公司第七0研究所 | A kind of comprehensive detection device for submarine navigation device |
| CN107450572A (en) * | 2017-07-26 | 2017-12-08 | 江苏科技大学 | Underwater robot attitude regulation control system and processing method based on sliding formwork control |
| CN107203217A (en) * | 2017-07-26 | 2017-09-26 | 江苏科技大学 | A kind of underwater robot attitude regulation control system based on sliding formwork control |
| CN108363401A (en) * | 2018-03-13 | 2018-08-03 | 广东容祺智能科技有限公司 | A kind of coordinated control system of unmanned warship and underwater robot |
| CN109343547A (en) * | 2018-11-26 | 2019-02-15 | 哈工大机器人（岳阳）军民融合研究院 | 3D Model display interface and display methods for ROV control |
| CN109682428A (en) * | 2019-01-31 | 2019-04-26 | 武汉连海装备技术有限公司 | A kind of underwater multifunction measuring set and its application method |
| US20220250725A1 (en) * | 2019-05-28 | 2022-08-11 | Planblue Gmbh | Underwater device for acquiring images of the bed of a body of water |
| US12030601B2 (en) * | 2019-05-28 | 2024-07-09 | Planblue Gmbh | Underwater device for acquiring images of the bed of a body of water |
| CN111301644A (en) * | 2020-03-06 | 2020-06-19 | 中海油信息科技有限公司 | Submarine pipeline detection system based on ROV and working method thereof |
| CN111301644B (en) * | 2020-03-06 | 2021-09-17 | 中海油信息科技有限公司 | Submarine pipeline detection system based on ROV and working method thereof |
| CN114390040A (en) * | 2021-12-06 | 2022-04-22 | 海洋石油工程股份有限公司 | Method for reading stored data of underwater data collector |
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