CN206270490U - A kind of underwater obstruction article inspection device - Google Patents
A kind of underwater obstruction article inspection device Download PDFInfo
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- CN206270490U CN206270490U CN201621188934.3U CN201621188934U CN206270490U CN 206270490 U CN206270490 U CN 206270490U CN 201621188934 U CN201621188934 U CN 201621188934U CN 206270490 U CN206270490 U CN 206270490U
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Abstract
The utility model is related to a kind of underwater obstruction article inspection device, including sound wave emission system, acoustic receiver system, alarm module, display module and control module, wherein sound wave emission system includes launch driving circuit, power amplifier and transmitting transducer, and acoustic receiver system includes receiving hydrophone, signal conditioning circuit and receiving processing circuit.Using active pulse telemetry detecting obstacles thing distance, by control module control, sound wave emission system is to directional transmissions pulse signal in water, after echo-signal after barrier reflection is received and processed by acoustic receiver system oriented, input control module enters row distance resolving, display, alarm scheduling algorithm treatment, last display resolves distance in real time on display module, while realizing early warning by alarm module.Barrier can be got around according to institute's detection range using ship, realize barrier avoiding function, with small size, low cost, high accuracy, false-alarm probability is low, not by advantages such as the adverse weather conditions such as haze.
Description
Technical field
The utility model belongs to barrier detecting apparatus technical field, and in particular to a kind of underwater obstruction article inspection device.
Background technology
Vital effect is played in water transportation transport in China's economic growth and social progress, ship be history most
One of water transportation means of transport remote.In recent years, becoming increasingly prosperous with China's economy and trade waterborne, the sea-freight in the whole world
Total amount rises rapidly, and frequently, ship volume tends to maximization, headway and tends to high speed water-borne transport, and ships quantity increases,
Waters high traffic degree increase.In addition influenceed by the bad weathers such as haze, heavy rain and sea situation, ship often occurs and puts
It is shallow, the overwater accident such as hit a submerged reef, collide, such as collision of collision, ship and reef and submerged reef between ship and ship etc..These
The marine incident severe contamination marine eco-environment, the safety of life and property to the mankind causes huge loss.Tonnage difference compared with
Once there is accident in big merchant ship and fishing boat, it will cause extremely serious consequence, especially to being loaded with such as chemicals, natural gas
The ship of dangerous cargo, and oil carrier, oil tanker etc., this kind of ship crashes will cause great casualties, while
Cause the destruction of ocean and river pollution, marine resource and ecological environment, it is also possible to trigger ecocatastrophe.Various ships are reduced to touch
The accident of hitting is to reduce Maritime Traffic Accident, and the transport efficiency for improving ship is the problem of current urgent need to resolve.
Conventional radar and automatic radar plotting aid (Automatic Radar Plotting Aid, ARPA) and ship are certainly
Dynamic identifying system (Automatic Identification System, AIS) is the powerful measure for currently preventing ship collision,
But because these equipment prices are expensive, only it is equipped with large-scale ship, and is obtained not in middle-size and small-size and light-duty tonnage ship
To popularization.And these equipment mainly detect target waterborne by power information, it is difficult to the effectively underwater obstacle mesh such as detection submerged reef
Mark, its performance is larger by effect of natural conditions such as meteorology, sea situation, landform.Especially in the narrow waters that concentration of vessel is larger, meet with
The bad weathers such as haze, heavy rain are met, radar, ARPA and AIS usually can not well play its effect.Develop efficiently, it is economical, can
The obstacle avoidance system for being widely used in medium-sized/small-sized vessel is imperative.
The content of the invention
The utility model is to overcome the shortcomings of existing undersea detection device, there is provided a kind of underwater obstruction article inspection device, solution
Determine under the bad weathers such as haze, collision accident is sent out repeatly in water transportation can not meet economical wanting with existing early warning collision avoidance system
The problem asked, improves Navigation Safety.
In order to solve the above technical problems, the technical solution adopted in the utility model is：
A kind of underwater obstruction article inspection device, including sound wave emission system, acoustic receiver system, alarm module, display mould
Block and control module, the sound wave emission system are sequentially connected group by launch driving circuit, power amplifier and transmitting transducer
Into acoustic receiver system is sequentially connected by receiving hydrophone, signal conditioning circuit and receiving processing circuit and constituted, control module point
Launch driving circuit, the receiving processing circuit of acoustic receiver system, alarm module and display module not with sound wave emission system
Connection；The control module control launch driving circuit transmitting pulse signal, the pulse signal of transmitting amplifies through power amplifier
After drive transmitting transducer, transmitting transducer to realize the conversion of electro-acoustic signal, and to directional transmissions acoustic signals, sound wave in water
Reflected after meeting barrier, produce echo-signal, receiving hydrophone is received through meeting the echo-signal after barrier reflects, realized
Sound-electric signal conversion, after the ultra-weak electronic signal for receiving is through signal conditioning circuit filter and amplification, then is converted by receiving processing circuit
It is the low and high level signal input control module that control module can recognize that, control module carries out corresponding signal differentiation, distance solution
Calculate, display and alarm algorithm are processed, most target range is shown in real time on display module at last, and by alarm module reality
Early warning in existing safe distance.
The transmitting transducer uses D10 column type transmitting transducers, and the transmitting transducer is that -3dB angle of releases are 125.7 °, can
Directional transmissions are realized, it is smaller than the interference that theaomni-directional transmission transducer is produced.
The receiving hydrophone uses MEMS vector hydrophone, and with good " 8 " cosine directivity, achievable orientation connects
Receive, reduce false-alarm probability.
The utility model includes above water (dry end) and underwater portion (green end), as shown in figure 1, above water includes master
Control center and power amplifier, wherein Master Control Center are including control device, receiving processing circuit, display module etc.；Underwater portion
Including transmitting transducer and receiving hydrophone.Using active pulse telemetry detecting obstacles thing distance, i.e., using the warp for receiving
The method that the time difference between echo-signal and transmitting pulse signal after target reflection is found range.The half of acoustic propagation distance
As detection range, acoustic propagation distance can be calculated by the product of receiving and transmitting signal time difference t and velocity of sound c：
By control module control, barrier is run into active pulse signal, sound wave is launched in water by sound wave emission system
Launch afterwards, the echo-signal after reflection, echo are received by acoustic receiver system core part-MEMS vectors receiving hydrophone
Signal is converted into the recognizable low and high level signal input of control module and controls by signal conditioning circuit and receiving processing circuit
Module, makes control module produce interrupt signal, and then perform interruption subroutine：Acoustic transit time is extracted, distance, distance is resolved
Display and alarm.Control module control carries out corresponding signal differentiation, distance and resolves, shows and alarm scheduling algorithm treatment.Finally
Target range is shown in real time on display module, and the early warning in safe distance is realized by alarm module, be using ship
Barrier can be got around according to institute's detection range, and then realize barrier avoiding function.The utility model is realized using MEMS vector hydrophone
The detection of underwater obstacle, with small size, low cost, high accuracy, false-alarm probability is low, and unexcellent by adverse weather conditions etc.
Gesture, solves under the bad weathers such as haze, and collision accident is sent out repeatly in water transportation can not meet warp with existing early warning collision avoidance system
The problem of Ji type requirement, improves Navigation Safety.
System schema is as shown in figure 3, mainly include detection device system dry end hardware design and Software for Design.
Hardware design is mainly including launch driving circuit, receiving processing circuit and signal conditioning circuit etc..System is by hair
Transmit-receive radio road output pulse signal, receiving processing circuit will be converted into control module by the echo-signal after signal condition can be known
Other level signal.Exported by control module programme-control, triode realizes the transmitting of pulse signal as controlling switch；By
Filtering and the signal conditioning circuit for amplifying are processed the weak echo signal for receiving；By as shown in Figure 6 comprising 3
Echo-signal after the receiving processing circuit of triode will amplify after filtering is converted to the recognizable low and high level of single-chip microcomputer.
Transmitting, reception, distance calculating and the display of signal are realized by software program, is mainly realized in software section following
Several functions：1) transmitting of pulse signal；2) amendment to the velocity of sound is realized；3) shielding of direct wave；4) range measurement principle solution is utilized
Calculate distance and complete display in real time simultaneously, and according to actual hydrologic regime and selection of ship speed alarm distance and then realize early warning.Fig. 7 and
Fig. 8 is respectively main program flow chart and external interrupt service subprogram flow chart.
Brief description of the drawings
Fig. 1 is that the utility model underwater obstruction article inspection device constitutes block diagram；
Fig. 2 is structured flowchart of the present utility model；
Fig. 3 is the utility model system schema figure；
Fig. 4 is the utility model launch driving circuit schematic diagram；
Fig. 5 is the utility model signal conditioning circuit diagram；
Fig. 6 is the utility model receiving processing circuit schematic diagram；
Fig. 7 is the utility model main program flow chart；
Fig. 8 is the utility model external interrupt subroutine flow chart；
Fig. 9 is the utility model transmitting transducer directivity pattern；
Figure 10 is the utility model MEMS vector hydrophone directivity pattern；
Figure 11 is the utility model detection device application mount scheme.
Specific embodiment
As shown in Fig. 2 a kind of underwater obstruction article inspection device in the present embodiment, including sound wave emission system, sound wave connect
Receipts system, alarm module, display module and control module, the sound wave emission system is by launch driving circuit, power amplifier
Composition is sequentially connected with transmitting transducer, acoustic receiver system is by receiving hydrophone, signal conditioning circuit and receiving processing circuit
It is sequentially connected composition, control module launch driving circuit, the reception processing of acoustic receiver system respectively with sound wave emission system
The connection of circuit, alarm module and display module；The control module control launch driving circuit transmitting pulse signal, the arteries and veins of transmitting
Rushing after signal amplifies through power amplifier drives transmitting transducer, transmitting transducer to realize the conversion of electro-acoustic signal, and in water
Directional transmissions acoustic signals, sound wave is reflected after meeting barrier, produces echo-signal, and receiving hydrophone is received through meeting barrier
Echo-signal after reflection, realizes sound-electric signal conversion, and the ultra-weak electronic signal for receiving is through signal conditioning circuit filter and amplification
Afterwards, then by receiving processing circuit the recognizable low and high level signal input control module of control module is converted into, control module is entered
The corresponding signal differentiation of row, distance resolve, show and alarm algorithm treatment that most target range carries out reality on display module at last
When show, and the early warning in safe distance is realized by alarm module.
As shown in figure 4, the launch driving circuit is opened by triode by SCM program controlled output as control
Close, realize the transmitting of signal.The triode for being operated in cut-off state/saturation state can serve as controlling switch, single-chip microcomputer signal
Output port (P3.1) is connected with left side input TX, YE587 sequence powers amplifier and the right transmission signal output end TX phases
Even.
The receiving processing circuit includes amplifying and filtration module, realizes putting using instrument amplifier AD620 outer meeting resistances
Big function.As shown in figure 5, the filter amplification circuit uses active design, attenuation characteristic and low output impedance characteristic are good.Choosing
OP37 operational amplifiers are selected, it has good load driving force, a width of f of bandpass filter band as output stageBW=1kHz,
Low-frequency cut-off frequency fL=9.5kHz, high-frequency cut-off frequency fH=10.521kHz, centre frequency f0=10kHz.
As shown in fig. 6, in the receiving processing circuit schematic diagram left end RX with after signal conditioning circuit filter and amplification
Echo-signal is connected, and single-chip microcomputer input mouthful (P3.2) is connected with the right output end RX.Using tri- triodes of Q2, Q3 and Q4,
Q2 and Q3 composition two-stages are amplified, and Q4 is used as controlling switch.Q2 and Q3 amplifies hydrophone input signal, amplifies signal by detection
Circuit gives Q4 base stage applied voltages.
Software for Design uses modularized design, mainly by main program, velocity of sound patch routine, T0 interruption subroutines, outside
Interruption subroutine, time delay subroutine, apart from counting subroutine, LCD display subroutines and alarm subprogram etc. module composition.Distance
Resolve, display and alarm are performed in outside interruption subroutine.As shown in fig. 7, using Single-chip Controlling emission port
(P3.1) first launch 5 trains of pulse of 10kHz, single-chip microcomputer timer T0 is opened after the completion of transmitting, by machine cycle pulsimeter
Number mode records the receiving and transmitting signal time difference.What hydrophone after receiving processing circuit is received by amplified filtering process was picked up
After echo-signal, if its magnitude of voltage reaches threshold value 380mv, RX ends in Fig. 6 are low level for 0V, i.e., in control module outside
Interruptive port(P3.2) low level is produced, the port Low level effective will trigger external interrupt, and control module will ring
Should external interrupt, perform external interrupt subprogram as shown in Figure 8, into after interruption, first have to carry out necessary scene
Protection, closes external interrupt, is then shut off timer, and read access time is poor, and detection is calculated according to pulse ranging method solution formula
Distance value, and display on LCD is transported to by single-chip microcomputer P2 oral instructions, while Distance Judgment is completed according to set safe distance, if
Detection range is then alarmed less than early warning distance, main program is returned to after having performed, then start new target range detection；If nothing
Signal or the signal for receiving are less than threshold value 380mv, then restart transmission signal.
As shown in figure 9, the transmitting transducer uses D10 column type transmitting transducers, the transmitting transducer is -3dB angle of releases
It is 125.7 °, is capable of achieving directional transmissions, it is smaller than the interference that theaomni-directional transmission transducer is produced.
As shown in Figure 10, the receiving hydrophone uses MEMS vector hydrophone, with good " 8 " cosine directivity,
Directional reception is capable of achieving, false-alarm probability is reduced.
The control module uses stc80c51 single-chip microcomputers, the display module to use 1602LCD liquid crystal displays.
Preliminary test is carried out to undersea detection device described in the utility model, detection device green end has been installed during experiment
In stem bottom, dry end device is placed in cabin, shows that result obtains obstacle distance by observing display module, such as Figure 11 institutes
Show.
Claims (3)
1. a kind of underwater obstruction article inspection device, it is characterised in that：Including sound wave emission system, acoustic receiver system, alarm mould
Block, display module and control module, the sound wave emission system by launch driving circuit, power amplifier and transmitting transducer according to
Secondary connection composition, acoustic receiver system is sequentially connected by receiving hydrophone, signal conditioning circuit and receiving processing circuit and constituted, controlled
Molding block launch driving circuit respectively with sound wave emission system, the receiving processing circuit of acoustic receiver system, alarm module and
Display module is connected；The control module control launch driving circuit transmitting pulse signal, the pulse signal of transmitting is put through power
Big device drives transmitting transducer after amplifying, and transmitting transducer realizes the conversion of electro-acoustic signal, and believes to directional transmissions sound wave in water
Number, sound wave is reflected after meeting barrier, produces echo-signal, and receiving hydrophone is received to be believed through meeting the echo after barrier reflects
Number, sound-electric signal conversion is realized, after the ultra-weak electronic signal for receiving is through signal conditioning circuit filter and amplification, then by reception processing
Circuit is converted into the recognizable low and high level signal input control module of control module, and control module carries out corresponding signal and sentences
Not, distance is resolved, display and alarm algorithm are processed, and most target range is shown in real time on display module at last, and is passed through
Alarm module realizes the early warning in safe distance.
2. a kind of underwater obstruction article inspection device according to claim 1, it is characterised in that：The transmitting transducer is used
D10 column type transmitting transducers.
3. a kind of underwater obstruction article inspection device according to claim 1 and 2, it is characterised in that：The receiving hydrophone
Using MEMS vector hydrophone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621188934.3U CN206270490U (en) | 2016-11-04 | 2016-11-04 | A kind of underwater obstruction article inspection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621188934.3U CN206270490U (en) | 2016-11-04 | 2016-11-04 | A kind of underwater obstruction article inspection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206270490U true CN206270490U (en) | 2017-06-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621188934.3U Expired - Fee Related CN206270490U (en) | 2016-11-04 | 2016-11-04 | A kind of underwater obstruction article inspection device |
Country Status (1)
| Country | Link |
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| CN (1) | CN206270490U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106353759A (en) * | 2016-11-04 | 2017-01-25 | 山西大学 | Underwater obstacle detection device |
| CN108802739A (en) * | 2018-05-31 | 2018-11-13 | 深圳臻迪信息技术有限公司 | A kind of underwater obstacle detection method and detection device |
| CN111707984A (en) * | 2020-06-30 | 2020-09-25 | 武汉深海蓝科技有限公司 | Underwater target ranging and directional searching system |
-
2016
- 2016-11-04 CN CN201621188934.3U patent/CN206270490U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106353759A (en) * | 2016-11-04 | 2017-01-25 | 山西大学 | Underwater obstacle detection device |
| CN108802739A (en) * | 2018-05-31 | 2018-11-13 | 深圳臻迪信息技术有限公司 | A kind of underwater obstacle detection method and detection device |
| CN111707984A (en) * | 2020-06-30 | 2020-09-25 | 武汉深海蓝科技有限公司 | Underwater target ranging and directional searching system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170620 Termination date: 20191104 |
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| CF01 | Termination of patent right due to non-payment of annual fee |