CN207976584U - Undersea ranging device - Google Patents
Undersea ranging device Download PDFInfo
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- CN207976584U CN207976584U CN201820306549.7U CN201820306549U CN207976584U CN 207976584 U CN207976584 U CN 207976584U CN 201820306549 U CN201820306549 U CN 201820306549U CN 207976584 U CN207976584 U CN 207976584U
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- infrared
- ranging device
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- distance sensor
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Abstract
This application discloses a kind of undersea ranging device, including waterproof shell, there is seal chamber in waterproof shell, infrared distance sensor is installed in seal chamber.Undersea ranging device provided by the present application, by being equipped with waterproof shell on infrared distance sensor so that infrared distance sensor can carry out operation under water.When using infrared distance sensor to carry out ranging under water, since the volume, weight and total power consumption of infrared distance sensor are all smaller, it are applicable to small underwater robot and underwater automation equipment uses.It improves smaller simultaneously, equipment gravity itself and fluid behaviour will not be affected greatly in structure.
Description
Technical field
The present disclosure relates generally to technical field of underwater operation, and in particular to undersea ranging technology more particularly to undersea ranging
Device.
Background technology
Currently, common Underwater Range measuring apparatus is mostly ultrasonic ranging equipment or turquoise Laser Distance Measuring Equipment.
Wherein, the range measurement principle of turquoise laser ranging is triangle telemetry, and triangle telemetry is different from the principle of ultrasonic ranging method.
When in use, ultrasonic range finder needs to send out ultrasonic wave by driving circuit driving energy converter when generating ultrasonic wave, and due to
Underwater sound wave energy loss is larger, to generate the remote sound wave of certain distance and driving circuit is just needed to improve large energy, while is green
Blue laser ranging system is due to laser to be generated, so being also required to expend huge energy.Further, since in ultrasonic range finder
Including front end energy converter, turquoise laser range finder includes front end optical system, front end energy converter and the usual volume of optical system
It is larger with weight, and then ultrasonic ranging equipment or turquoise Laser Distance Measuring Equipment are limited in small underwater robot equipment
It uses.
With the development of technology, infrared distance sensor is because its is small, the low advantage of energy consumption is widely used, still
It is waterborne and land that it, which designs the environment that uses, and then limits the use of infrared distance sensor ranging under water.
Utility model content
In view of drawbacks described above in the prior art or deficiency, it is intended to provide a kind of undersea ranging device.
The application provides a kind of undersea ranging device, including waterproof shell, has seal chamber in waterproof shell, in seal chamber
Infrared distance sensor is installed.
Undersea ranging device provided by the present application, by being equipped with waterproof shell on infrared distance sensor so that red
Outer distance measuring sensor can carry out operation under water.When using infrared distance sensor to carry out ranging under water, due to infrared survey
Volume, weight and total power consumption away from sensor are all smaller, and being applicable to small underwater robot and underwater automation equipment makes
With.It improves smaller simultaneously, equipment gravity itself and fluid behaviour will not be affected greatly in structure.
Description of the drawings
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is the stereogram for the waterproof shell that the utility model embodiment provides；
Fig. 2 is the stereogram at another visual angle of waterproof shell that the utility model embodiment provides.
Specific implementation mode
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining relevant utility model, rather than the restriction to the utility model.It further needs exist for illustrating
, illustrate only for ease of description, in attached drawing and the relevant part of utility model.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
- 2 are please referred to Fig.1, the present embodiment provides a kind of undersea ranging device, including waterproof shell 1, is had in waterproof shell 1
There is seal chamber 2, infrared distance sensor is installed in seal chamber 2.
Undersea ranging device provided by the present application, by being equipped with waterproof shell 1 on infrared distance sensor so that red
Outer distance measuring sensor can carry out operation under water.When using infrared distance sensor to carry out ranging under water, due to infrared survey
Volume, weight and total power consumption away from sensor are all smaller, and being applicable to small underwater robot and underwater automation equipment makes
With.It improves smaller simultaneously, equipment gravity itself and fluid behaviour will not be affected greatly in structure.
Preferably, the shape of seal chamber 2 is matched with infrared distance sensor shape, with improve infrared distance sensor with
The goodness of fit of seal chamber 2, and then installation accuracy of the infrared distance sensor in seal chamber 2 is improved, also avoid the occurrence of infrared survey
The appearance of situation is shaken in seal chamber 2 away from sensor.It is further preferred that the shape of waterproof shell 1 is sensed with infrared distance measurement
The shape of device matches, and then reduces the volume and weight of waterproof shell 1.
Preferably, waterproof shell 1 includes main body 11 and seal cover board 13, is had for being put into infrared distance measurement in main body 11
The opening portion 14 of sensor, seal cover board 13 are connect with opening portion 14 to form seal chamber 2.
In the present embodiment, in the installation to main body 11 of infrared distance sensor opening 14.Opening portion 14 and sealing
Cover board 13 is connected, and the sealing to opening portion 14 is realized, to constitute above-mentioned seal chamber 2.The size of opening portion 14, shape and
Position can be adaptively adjusted according to the type or model of infrared distance sensor.
Preferably, seal cover board 13 is removably secured with opening portion 14 and connect, in order to taking for infrared distance sensor
It takes or replaces.It is removably secured connection and is such as, but not limited to screw connection, sealing ring can be also equipped in junction, to increase
Leakproofness between the two.
Preferably, in main body 11 include infrared glass portion 12, the infrared signal for being sent out through infrared distance sensor.
In the present embodiment, the probe of infrared distance sensor is arranged towards infrared glass portion 12, and outer distance measuring sensor is penetrated
The infrared signal gone out may pass through infrared glass portion 12.Infrared glass is avoided due to having fabulous optical transmission to infrared ray
Occur being absorbed or being hindered the appearance of situation to the infrared ray that infrared distance sensor is sent out, and then improves range accuracy.When
So, infrared glass must be not necessarily used in other embodiments, as long as the material of infrared ray, such as waterproof cover can be penetrated
Body 1 is transparent configuration.
Preferably, it is rigid plastics different from the material of the part in infrared glass portion 12 on waterproof shell 1.
In the present embodiment, the pressure-resistant performance of waterproof shell 1 can be improved when waterproof shell 1 uses rigid plastics, and then right
Infrared distance sensor plays a protective role.
Preferably, when rigid plastics is made every effort to overcome for Asia, sensor can be ensured not by pressure shadow within the scope of 10m operating depths
It rings, improves the job area of undersea ranging device.
Preferably, infrared glass portion 12 is located at both ends opposite on shell with cover board, is convenient for infrared distance sensor
It is packed into waterproof shell 1.Simultaneously, it is also ensured that both sides wall construction of the waterproof shell 1 between infrared glass portion 12 and cover board is strong
Degree is close or identical, improves the overall structure stability of waterproof shell 1.
Preferably, it is additionally provided with interconnecting piece in main body 11, interconnecting piece is fixedly connected with infrared distance sensor.
Preferably, undersea ranging includes processing module, and the range information measured processing is mould by infrared distance sensor
Quasi- voltage value output, processing module receive the analog voltage of infrared distance sensor output and are calculated according to preset functional relation
Go out distance value, wherein functional relation is：
Y=ax3+bx2+ cx+d, wherein Y are distance value, unit cm；X is analog voltage, unit V；A, b, c, d be all
For constant.
In the present embodiment, above-mentioned functional relation is to build shape under conditions of operation under water based on infrared distance sensor
At.Specifically：According to principle of triangulation, the infrared light velocity is sent out at a certain angle by infrared transmitter, when light beam encounters obstacle
It is reflected according still further to light principle of reflection after object.When infrared light beam is reflected into the Optical displacement sensor of infrared distance sensor
Afterwards, a deviant will be obtained, using triangle relation, after launch angle, offset distance, central moment is determined, object away from
It can be calculated by geometrical relationship with a distance from sensor.In the present embodiment, according to one or more groups of realities in water environment
Border test data makees curve matching design, obtains above-mentioned functional relation.Based on above-mentioned functional relation so that infrared distance sensor exists
Undersea ranging precision can reach range accuracy waterborne.Wherein, processing module can be microcontroller or ARM chips etc., constant a, b,
C, the value of d is varied from according to the difference of the factors such as the type and/or water area water-quality for passing infrared distance measurement sensor.
In addition, in the present embodiment when replacing different types of infrared distance sensor, casing structure only need to be improved,
The correction of range deviation can optimize adjustment by the functional relation in processing module, improve versatility and practicality
Property.
Infrared distance sensor carries out technical scheme by taking Sharp's GP2Y distance measurement sensors as an example below
It illustrates, please refers to Fig.1-2, shape and the Sharp GP2Y distance measurement sensor shapes of the waterproof shell 1 in the present embodiment match
It closes.Certainly, the inside of waterproof shell 1 equally has and the matched seal chamber of Sharp GP2Y distance measurement sensor shapes 2.
Waterproof shell 1 includes main body 11 and seal cover board 13, and one end of main body 11 is equipped with infrared glass portion 12, the other end
Equipped with opening portion 14,14 top cover labyrinth of opening portion is connected with seal cover board 13, and seal chamber 2 is formed with sealed opening portion 14.Wherein,
Connection is removably secured between seal cover board 13 and opening portion 14, taking or replacing in order to infrared distance sensor.
On waterproof shell 1 different from the material of the part in infrared glass portion 12 be rigid plastics, further preferably Asia is made every effort to overcome.
Main body 11 includes the first main part 111, and the first main part 111 is rectangular-shape, and the is equipped in the first main part 111
One seal chamber 2；Main body 11 further includes the second main part 112 being set on the first main part 111, and the second main part 112 is
Rectangular-shape, is equipped in the second main part 112 and 2 the second seal chambers 2 being connected to of first annular seal space；First annular seal space 2
2 are collectively formed seal chamber 2 with the second seal chamber.
In the present embodiment, main body 11 includes the first main part 111 and the second main part 112, the setting of the second main part 112
It is connect on the first main part 111 and with the first main part 111.First main part 111 is rectangular-shape, and inside is formed with first
Seal chamber 2 is mainly used for placing optical receiver, infrared detector in infrared distance sensor in first annular seal space 2
Equal components.The second seal chamber 2 is equipped in second main part 112, the second seal chamber 2 is connected to for 2 with first annular seal space, jointly
Constitute seal chamber 2.Wherein, the connecting part etc. of infrared sensor can be placed in the second seal chamber 2.
Both preferably, the first main part 111 and the second main part 112 are integrally formed, processing easy to produce, while improving
Between connection sealing and structural stability.
Preferably, infrared glass portion 12 is located on the one side of the first main part 111, on the first main part 111 with it is infrared
The opposite side of glass portion 12 is equipped with the first opening portion 113；Second main part 112 is equipped with and is connected to the first opening portion 113
The second opening portion 114, opening portion 14 is collectively formed in the first opening portion 113 and the second opening portion 114.
It is installed to shell for the ease of infrared distance sensor, the first main part 111 is equipped with the first opening portion
113, the second main part 112 is equipped with the second opening portion 114, and the second opening portion 114 and 113 homonymy of the first opening portion and being connected to is set
It sets, collectively forms opening portion 14.
Preferably, it is all connected by cambered surface between each face of the first main part 111, each face of the second main part 112
Between also all connected by cambered surface, the first main part 111 is connect with the junction of the second main part 112 also by cambered surface, with drop
The resistance of low shell in water.
Undersea ranging device includes processing module, and the processing of collected range information is mould by GP2Y distance measurement sensors
Quasi- voltage value is simultaneously sent to processing module, and processing module receives the analog voltage that GP2Y distance measurement sensors are sent out and according to pre-
If functional relation calculate distance value, wherein functional relation is：
Y=-7.50424541x3+32.87472661x2+-51.81011843x+69.36627567
Wherein, Y is the distance value measured, unit cm；X is analog voltage, unit V.It is obtained according to the functional relation
The precision of the distance value gone out can reach GP2Y distance measurement sensors on the water ranging operation when precision.
It is to be appreciated that in the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or two
More than a.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that utility model range involved in the application, however it is not limited to made of the specific combination of above-mentioned technical characteristic
Technical solution, while should also cover in the case where not departing from utility model design, by above-mentioned technical characteristic or its be equal
Feature carries out other technical solutions of arbitrary combination and formation.Such as features described above has with (but not limited to) disclosed herein
The technical solution for thering is the technical characteristic of similar functions to be replaced mutually and being formed.
Claims (10)
1. a kind of undersea ranging device, which is characterized in that including waterproof shell, there is seal chamber in the waterproof shell, it is described
Infrared distance sensor is installed in seal chamber.
2. undersea ranging device according to claim 1, which is characterized in that the shape of the seal chamber and the infrared survey
It is matched away from sensor shape.
3. undersea ranging device according to claim 1, which is characterized in that the waterproof shell includes main body and sealing
Cover board has the opening portion for being put into the infrared distance sensor, the seal cover board and the opening in the main body
Portion is connected to form the seal chamber.
4. undersea ranging device according to claim 3, which is characterized in that the seal cover board and the opening portion are removable
It is fixedly connected with unloading.
5. undersea ranging device according to claim 3, which is characterized in that include infrared glass portion in the main body, use
In the infrared signal sent out through the infrared distance sensor.
6. undersea ranging device according to claim 5, which is characterized in that different from the infrared glass on the waterproof shell
The material of the part in glass portion is rigid plastics.
7. undersea ranging device according to claim 5, which is characterized in that the main body includes the first main part, described
First main part is rectangular-shape, and first annular seal space portion is equipped in first main part；
The main body further includes the second main part being set on first main part, and second main part is cuboid
Shape, second main part is interior to be equipped with the second sealing cavity portion being connected to the first annular seal space portion；
The first annular seal space portion seals cavity portion with described second and the seal chamber is collectively formed.
8. undersea ranging device according to claim 7, which is characterized in that the infrared glass portion is located at described first and leads
On the one side in body portion, the side opposite with the infrared glass portion is equipped with the first opening portion on first main part；
Second main part is equipped with the second opening portion for being connected to first opening portion, first opening portion with it is described
The opening portion is collectively formed in second opening portion.
9. undersea ranging device according to any one of claims 1 to 8, which is characterized in that described including processing module
Processing module receives the analog voltage of the infrared distance sensor output and calculates distance value according to preset functional relation,
The wherein described functional relation is：
Y=ax3+bx2+ cx+d, wherein Y are distance value；X is analog voltage；A, b, c, d are all constant.
10. undersea ranging device according to claim 9, which is characterized in that a is that -7.50424541, b is
32.87472661 c is -51.81011843, d 69.36627567.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820306549.7U CN207976584U (en) | 2018-03-06 | 2018-03-06 | Undersea ranging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820306549.7U CN207976584U (en) | 2018-03-06 | 2018-03-06 | Undersea ranging device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207976584U true CN207976584U (en) | 2018-10-16 |
Family
ID=63764280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820306549.7U Active CN207976584U (en) | 2018-03-06 | 2018-03-06 | Undersea ranging device |
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| CN (1) | CN207976584U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108387903A (en) * | 2018-03-06 | 2018-08-10 | 中电科海洋信息技术研究院有限公司 | Undersea ranging device |
| CN113759343A (en) * | 2021-10-13 | 2021-12-07 | 灵动智能光学(杭州)有限公司 | Small-size laser rangefinder under water equipment based on point laser |
-
2018
- 2018-03-06 CN CN201820306549.7U patent/CN207976584U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108387903A (en) * | 2018-03-06 | 2018-08-10 | 中电科海洋信息技术研究院有限公司 | Undersea ranging device |
| CN113759343A (en) * | 2021-10-13 | 2021-12-07 | 灵动智能光学(杭州)有限公司 | Small-size laser rangefinder under water equipment based on point laser |
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