CN205540126U - Robot of environmental monitoring under water - Google Patents
Robot of environmental monitoring under water Download PDFInfo
- Publication number
- CN205540126U CN205540126U CN201620249112.5U CN201620249112U CN205540126U CN 205540126 U CN205540126 U CN 205540126U CN 201620249112 U CN201620249112 U CN 201620249112U CN 205540126 U CN205540126 U CN 205540126U
- Authority
- CN
- China
- Prior art keywords
- module
- robot
- sensor
- underwater
- environment monitoring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model provides a robot of environmental monitoring under water, include: master controller module, propeller drive module, sensor module, power module, the detection module that leaks, data acquisition module, wherein control module comprises interconnect's control lever, control circuit, gives drive module 0 on the bank video signal with each sensor data through the navel cable, and drive module 0 carries out real -time demonstration. The robot comprises propeller, quality of water probe, simulation camera, light, protection frame, buoyancy compartment, buoyancy compartment support under water. The utility model discloses can show video and the monitoring of each sensor data completion water to lower environment in real time. The cable diameter that adopts is less, can the effectual influence that reduces cable buoyancy and low resistance characteristic. And have the detection module of leaking, has improved entire system's security and stability.
Description
Technical field
This utility model relates to underwater robot and develops field, is specifically related to a kind of underwater environment monitoring robot.
Background technology
Along with the development of science and technology, the exploration in river, ocean is deepened continuously by people.Explore as the mankind and exploitation river, lake, assistant's underwater robot of ocean have great demand and huge market value, such as: water pipe, reservoir inspection in municipal drinking water system；For urban sewage/water drainage pipeline, sewer inspection；For scientific research, the water environment of teaching purpose, the observation of aquatic organism, research and teaching；Observe for ocean expedition, subglacial；Further, along with the deterioration of the security situation of Present Global, underwater robot can be widely applied to security department, such as: checking whether install explosive on dam, bridge pier, whether shipboard, hull bottom have bomb etc..The realization of these functions is all based on the underwater robot monitoring for surrounding, so using a kind of system efficient, real-time, simple is the most necessary to complete the function of environmental monitoring.Existing underwater robot holds position under water, the buoyancy of cable and the aspect Shortcomings such as low-resistance characteristic issues, general-purpose interface problem, limits the universal of underwater robot and application.This utility model has low cost, simple in construction, easy to use, practical feature, effectively can monitor underwater environment in real time, gives full play to the use function of robot, has good practicality effect.
Utility model content
The purpose of this utility model is to provide a kind of underwater environment monitoring robot, to solve the above-mentioned multinomial defect caused in prior art.
A kind of underwater environment monitoring robot, including:
A kind of underwater environment monitoring robot, including: main controller module, impeller driven module, sensor assembly, power module, leak water detdction module, data acquisition module, main controller module, process for sensor signal, judge, sending and monitoring to whole system of various control signals, impeller driven module is connected with described main controller module and makes robot push ahead by underwater propeller, its outfan of sensor assembly is connected for measuring temperature with described main controller module, humidity and underwater robot attitude also can rely on water quality probe measurement periphery water quality parameter, power module, for ensureing the stable power-supplying of whole system；Leak water detdction module, whether it is connected with described main controller module, leak in being used for detecting electronic seal cabin, and data acquisition module gives microcomputer on the bank by umbilicus cable video signal and each sensing data, and microcomputer carries out real-time display.
Preferably, described main controller module: use the ARM7 microcontroller LPC2292 that PHILIPS company produces.For process, the judgement of sensor signal, sending and monitoring to whole system of various control signals.
Preferably, described impeller driven module: 4 propellers use 200W brush direct current motor, in order to control direction and the speed of motor, drive and use H-bridge drive circuit, H-bridge drive circuit uses the MOSFET of IR company to drive IR2136.
Preferably, described sensor assembly includes:
Temperature Humidity Sensor, uses DHT11 single bus sensor, for the measurement of ambient temperature humidity；
Attitude transducer, use SCA100T-D01 for correcting or eliminate the contained instrument of underwater robot and swinging owing to hanging down, measurement error that roll and pitch causes, be greatly improved certainty of measurement；
Depth sensor, uses GB-2100A throw-in type pressure transducer, for measuring the submerged depth of underwater robot；
Water quality is popped one's head in, and carries the sensors such as pH value, salinity, dissolved oxygen, turbidity, for the monitoring to water quality environment.
Preferably, described power module: use smee cell to power, circuit employs LTC1865AD transducer, multi-channel analog selects switch and reference voltage circuit.
Preferably, leak water detdction module: use LM339 comparator, compare output low and high level.Whether leak in detecting electronic seal cabin.
Preferably, data acquisition module: include video frequency collection card, simulation photographic head, umbilicus cable.Giving microcomputer on the bank for video signal and each sensing data, microcomputer carries out real-time display.
The utility model has the advantage of: 1, can effectively underwater environment be monitored in real time；2, the simulation calculation of hydrodynamics has been carried out, it is ensured that the attitude that robot is the most stable；3, the cable diameter used is less, can effectively reduce cable buoyancy and the impact of low-resistance characteristic；4, being equipped with general-purpose interface, general-purpose interface can allow a robot carry the sensors such as pH value, salinity, dissolved oxygen, turbidity, it is also possible to carries a minicomputer mechanical arm, gives full play to the use function of robot.5, this utility model has leak water detdction module, improves the safety and stability of whole system.
Accompanying drawing explanation
Fig. 1 is this utility model one underwater environment monitoring robot system architecture diagram；
Fig. 2 is this utility model one underwater environment monitoring robot impeller driven module Brushless DC Motor Drive Circuit block diagram；
Fig. 3 is this utility model one underwater environment monitoring robot power module circuitry schematic diagram；
Fig. 4 is this utility model one underwater environment monitoring robot leak water detdction modular circuit schematic diagram.
Detailed description of the invention
For the technological means making this utility model realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with detailed description of the invention, this utility model is expanded on further.
According to one embodiment of this utility model, as shown in Figure 1, a kind of underwater environment monitoring robot is provided, including: main controller module, impeller driven module, sensor assembly, power module, leak water detdction module, data acquisition module, described main controller module: with PHILIPS company produce ARM7 microcontroller LPC2292 as core.LPC2292 is based on a real-time simulation and the microcontroller of tracking, for process, the judgement of sensor signal, and sending and monitoring to whole system of various control signals.
4 propellers of described impeller driven module use 200W brush direct current motor, in order to control direction and the speed of motor, drive and use H-bridge drive circuit, and H-bridge drive circuit uses the MOSFET of IR company to drive IR2136.Voltage, electric current, power signal is produced by Hall current sensor.
Described sensor assembly includes: Temperature Humidity Sensor, use DHT11 single bus sensor, DHT11 digital temperature sensor is a containing the humiture compound sensor calibrating digital signal output, the digital module acquisition technique of its application specific and temperature and humidity sensing technology, have high reliability and stability.Including a wet element of resistance-type sense and a NTC temperature element, for the measurement of ambient temperature humidity；Attitude transducer, using SCA100T-D01, SCA100T-D01 is high-precision dual-axis obliquity sensor chip based on 3D-MEMS.There is weak temperature dependency, high-resolution, low noise and the design of sound sensing element and add damping at sensor internal, for correcting or eliminate the measurement error that the contained instrument of underwater robot swings, roll and pitch causes owing to hanging down, it is greatly improved certainty of measurement；Depth sensor, uses GB-2100A throw-in type pressure transducer, for measuring the submerged depth of underwater robot；Water quality is popped one's head in, and carries the sensors such as p H-number, salinity, dissolved oxygen, turbidity, for the monitoring to water quality environment.
Described power module uses smee cell to power, and circuit employs LTC1865AD transducer, multi-channel analog selects switch and reference voltage circuit.
Described leak water detdction module uses LM339 comparator, compares output low and high level.Whether leak in detecting electronic seal cabin.
Described data acquisition module includes video frequency collection card, simulation photographic head, umbilicus cable.Giving microcomputer on the bank for video signal and each sensing data, microcomputer carries out real-time display.
It is made up of microcomputer on the bank, in real time display video image and each sensing data；It is made up of PC104, LPC2292, video frequency collection card, simulation photographic head, Temperature Humidity Sensor, attitude transducer, depth sensor under water.PC104 is by the signal of video frequency collection card collection simulation photographic head, LPC2292 gathers the data of each sensor, giving microcomputer on the bank by umbilicus cable video signal and each sensing data to PC104, PC104 by Serial Port Transmission, microcomputer shows in real time.
It addition, as in figure 2 it is shown, main control chip uses LPC2292, increase peripheral hardware CAN transceiver MCP2551 and be connected with main control chip, be used for receiving control information；Voltage, electric current, power signal is produced by Hall current sensor; main control chip enables A/D conversion and samples electric moter voltage, electric current, power; propeller being provided stream, overvoltage, under-voltage protection, obtaining propeller direction by motor voltage signal being carried out judgement.Current waveform when motor runs is obtained by Hall current sensor, it is then fed into signal conditioning circuit, be filtered ripple signal by signal conditioning circuit, amplify, commutation information is taken out in shaping, this information is delivered to frequency measurement circuit, measure commutation ripple frequency, through can be calculated motor speed.
As it is shown on figure 3, a kind of underwater environment monitoring robot power module, circuit employs LTC1865AD transducer, multi-channel analog selects switch and reference voltage circuit, makes circuit become more brief and practical.
As shown in Figure 4, a kind of underwater environment monitoring robot leak water detdction module, whether water-leakage detecting system leaks mainly for detection of in electronic seal cabin, uses LM339 comparator, compare output low and high level in circuit design.During without leaking, comparator output high level；When there being water to enter, causing input circuit short circuit, the input of comparator port to increase, cause comparator output reversion, master control borad control chip can produce warning message after level reversion being detected.
As known by the technical knowledge, this utility model can be realized by the embodiment of other essence without departing from its spirit or essential feature.Therefore, embodiment disclosed above, for each side, all it is merely illustrative, is not only.All all it is included in the utility model in the range of this utility model or being equal to the change in the range of this utility model.
Claims (7)
- null1. a underwater environment monitoring robot，It is characterized in that，Including: main controller module、Impeller driven module、Sensor assembly、Power module、Leak water detdction module、Data acquisition module，Main controller module，Process for sensor signal、Judge，Sending and monitoring to whole system of various control signals，Impeller driven module is connected with described main controller module and makes robot push ahead by underwater propeller，Its outfan of sensor assembly is connected for measuring temperature with described main controller module、Humidity and underwater robot attitude also can rely on water quality probe measurement periphery water quality parameter，Power module，For ensureing the stable power-supplying of whole system，Leak water detdction module is connected with described main controller module，Whether leak in detecting electronic seal cabin，Data acquisition module，Microcomputer on the bank is given video signal and each sensing data by umbilicus cable，Microcomputer carries out real-time display.
- A kind of underwater environment monitoring robot the most according to claim 1, it is characterised in that described main controller module: the ARM7 microcontroller LPC2292 produced with PHILIPS company is as core.
- A kind of underwater environment monitoring robot the most according to claim 1, it is characterized in that, described impeller driven module, 4 propellers use 200W brush direct current motor, in order to control direction and the speed of motor, driving and use H-bridge drive circuit, H-bridge drive circuit uses the MOSFET of IR company to drive IR2136.
- A kind of underwater environment monitoring robot the most according to claim 1, it is characterised in that described sensor assembly includes:Temperature Humidity Sensor, uses DHT11 single bus sensor, for the measurement of ambient temperature humidity；Attitude transducer, use SCA100T-D01 for correcting or eliminate the contained instrument of underwater robot and swinging owing to hanging down, measurement error that roll and pitch causes, be greatly improved certainty of measurement；Depth sensor, uses GB-2100A throw-in type pressure transducer, for measuring the submerged depth of underwater robot；Water quality is popped one's head in, and carries the sensor of pH value, salinity, dissolved oxygen, turbidity, for the monitoring to water quality environment.
- A kind of underwater environment monitoring robot the most according to claim 1, it is characterised in that described power module: use smee cell to power, circuit employs LTC1865AD transducer, multi-channel analog selects switch and reference voltage circuit.
- A kind of underwater environment monitoring robot the most according to claim 1, it is characterised in that described leak water detdction module: use LM339 comparator.
- A kind of underwater environment monitoring robot the most according to claim 1, it is characterised in that described data acquisition module: include video frequency collection card, simulation photographic head, umbilicus cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620249112.5U CN205540126U (en) | 2016-03-29 | 2016-03-29 | Robot of environmental monitoring under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620249112.5U CN205540126U (en) | 2016-03-29 | 2016-03-29 | Robot of environmental monitoring under water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205540126U true CN205540126U (en) | 2016-08-31 |
Family
ID=56785429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620249112.5U Expired - Fee Related CN205540126U (en) | 2016-03-29 | 2016-03-29 | Robot of environmental monitoring under water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205540126U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107911119A (en) * | 2017-12-12 | 2018-04-13 | 成都互聚科技有限公司 | A kind of gathered data processing system applied to security monitoring device |
| CN107991960A (en) * | 2017-12-12 | 2018-05-04 | 温州市易天信息科技有限公司 | A kind of electromechanical equipment intelligentized control method platform |
| CN109240286A (en) * | 2018-08-31 | 2019-01-18 | 杭州电子科技大学 | Underwater robot intelligent self-rescue method, electronic equipment and system |
| CN110658749A (en) * | 2019-09-12 | 2020-01-07 | 中国科学院声学研究所北海研究站 | Low-power-consumption data acquisition and storage system and method for base type acoustic submerged buoy |
| CN111481862A (en) * | 2019-01-29 | 2020-08-04 | 西门子股份公司 | Fire-fighting robot and control method thereof |
| CN111966115A (en) * | 2020-08-14 | 2020-11-20 | 南京工程学院 | STM 32-based control circuit and control method of cabled underwater robot |
| CN113335481A (en) * | 2021-06-29 | 2021-09-03 | 深圳市德创水下智能装备有限公司 | Underwater operation attitude control method for robot |
| CN113624560A (en) * | 2021-09-27 | 2021-11-09 | 枣庄高新建设集团有限公司 | Underwater environment surveying device for hydraulic engineering |
-
2016
- 2016-03-29 CN CN201620249112.5U patent/CN205540126U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107911119A (en) * | 2017-12-12 | 2018-04-13 | 成都互聚科技有限公司 | A kind of gathered data processing system applied to security monitoring device |
| CN107991960A (en) * | 2017-12-12 | 2018-05-04 | 温州市易天信息科技有限公司 | A kind of electromechanical equipment intelligentized control method platform |
| CN109240286A (en) * | 2018-08-31 | 2019-01-18 | 杭州电子科技大学 | Underwater robot intelligent self-rescue method, electronic equipment and system |
| CN111481862A (en) * | 2019-01-29 | 2020-08-04 | 西门子股份公司 | Fire-fighting robot and control method thereof |
| CN110658749A (en) * | 2019-09-12 | 2020-01-07 | 中国科学院声学研究所北海研究站 | Low-power-consumption data acquisition and storage system and method for base type acoustic submerged buoy |
| CN110658749B (en) * | 2019-09-12 | 2022-09-16 | 中国科学院声学研究所北海研究站 | Low-power-consumption data acquisition and storage system and method for base type acoustic submerged buoy |
| CN111966115A (en) * | 2020-08-14 | 2020-11-20 | 南京工程学院 | STM 32-based control circuit and control method of cabled underwater robot |
| CN113335481A (en) * | 2021-06-29 | 2021-09-03 | 深圳市德创水下智能装备有限公司 | Underwater operation attitude control method for robot |
| CN113624560A (en) * | 2021-09-27 | 2021-11-09 | 枣庄高新建设集团有限公司 | Underwater environment surveying device for hydraulic engineering |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205540126U (en) | Robot of environmental monitoring under water | |
| CN203601547U (en) | Underwater robot | |
| CN201885992U (en) | Direct-reading 6,000-meter CTD profiling system | |
| CN110146673A (en) | Remote controlled water quality detection ship and the water quality detection method using it | |
| CN102890142A (en) | Online lake water quality monitoring system based on internet of things | |
| CN102005103B (en) | Anti-drowning warning equipment and warning method thereof | |
| CN104990492A (en) | Equipment for submarine landslide monitoring | |
| CN108116621A (en) | A kind of marine acoustics real-time monitored buoyage | |
| CN203959706U (en) | A kind of hydrographic winch is the dark device of meter in real time | |
| CN204037864U (en) | The anti-unrestrained aquatic monitoring ship of a kind of deepwater field | |
| CN108896728A (en) | A kind of Intelligent water quality monitoring system based on new energy unmanned boat platform | |
| CN102539182A (en) | Autonomous remotely-operated vehicle (ARV) fault diagnosis principal component analysis device | |
| CN107021196A (en) | The autonomous underwater vehicle of the water quality for the monitoring river that river length is used | |
| CN114018317B (en) | Data acquisition device and method for marine environment | |
| CN206663266U (en) | A kind of water pollution detection robot based on Internet of Things | |
| CN203759045U (en) | Underwater propeller rotating speed testing apparatus | |
| CN106919048A (en) | A kind of AUV propellers state-detection and thrust curve modification method | |
| CN208921500U (en) | A kind of water quality monitoring sampler acquiring a variety of basins | |
| CN203753065U (en) | Wading emergency device of automobile | |
| CN205898246U (en) | Unmanned on duty website tidal level measurement system based on radar is measured | |
| CN207106833U (en) | A kind of bionical underwater propeller | |
| CN206248166U (en) | A kind of water-level measuring post of portable type measuring level of ground water | |
| CN204788240U (en) | A equipment for submarine landslide monitoring | |
| CN209215370U (en) | A kind of water body section water quality synchronous detecting instrument | |
| CN204791490U (en) | Multi -functional intelligent current surveying fairway buoy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160831 Termination date: 20170329 |