CN210027853U - Underwater torpedo-shaped robot for water quality detection - Google Patents
Underwater torpedo-shaped robot for water quality detection Download PDFInfo
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- CN210027853U CN210027853U CN201920015791.3U CN201920015791U CN210027853U CN 210027853 U CN210027853 U CN 210027853U CN 201920015791 U CN201920015791 U CN 201920015791U CN 210027853 U CN210027853 U CN 210027853U
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Abstract
The utility model relates to an underwater torpedo type robot for water quality testing, which comprises a torpedo type shell, a core cabin, a power supply, a first wireless communication module, a second wireless communication module, a water quality sensor, a first voltage reduction module, a second voltage reduction module, a BNC switching module, a first main control board, a second main control board, an internal power supply, a direct current motor driving module, a first direct current stepping motor, a second direct current stepping motor, a double-port direct current stepping motor driving module, a tail slurry and a tail propeller; the water quality sensor is respectively connected with the first wireless communication module and the first main control board through the BNC switching module, and the first wireless communication module is also in communication connection with an external industrial personal computer and is used for transmitting a measurement signal of the water quality sensor to the external industrial personal computer; the direct current motor is used for driving the tail propeller; the first direct current stepping motor and the second direct current stepping motor are respectively connected with a tail slurry and used for driving the tail slurry. The utility model discloses can increase the waters and detect the position, reduce manpower and materials.
Description
Technical Field
The utility model relates to a water quality testing field, especially an underwater torpedo type robot for water quality testing.
Background
With the increasing frequency and urgency of people to the development of rivers, lakes and seas and the deep attention of people to the water quality safety, the underwater robot is widely applied as an important tool. Because the application environment of the underwater robot is complex and changeable, the monitoring of the underwater robot becomes very important. In particular, auv (autonomous Underwater vehicle) monitors a robot operating under water through a communication device since it has no cable connection to the mother ship.
Disclosure of Invention
In view of this, the utility model aims at providing an underwater torpedo type robot for water quality testing can detect the quality of waters, the invention simple structure, convenient operation.
The utility model discloses a following scheme realizes: an underwater torpedo-shaped robot for water quality detection comprises a torpedo-shaped shell, a core cabin, an external power supply, a first wireless communication module, a second wireless communication module, a water quality sensor, a first voltage reduction module, a second voltage reduction module, a BNC (bayonet nut connector) switching module, a first main control board, a second main control board, an internal power supply, a direct current motor driving module, a first direct current stepping motor, a second direct current stepping motor, a double-port direct current stepping motor driving module, a tail slurry and a tail propeller;
the torpedo-shaped shell comprises a front end cover, a rear end cover and a middle shell, wherein the front end cover and the rear end cover are connected with the middle shell through bolts; the core cabin is arranged inside the torpedo-shaped shell; the second voltage reduction module, the second main control board, the internal power supply, the direct current motor driving module, the second wireless communication module, the first direct current stepping motor, the second direct current stepping motor and the double-port direct current stepping motor driving module are all arranged inside the core cabin; the external power supply, the BNC switching module, the first main control board, the first voltage reduction module, the first wireless communication module and the water quality sensor are all arranged outside the torpedo-shaped shell;
the water quality sensor is connected with the first main control board through the BNC switching module and is used for transmitting a measuring signal of the water quality sensor to the first main control board; the first wireless communication module is electrically connected with the first main control board, and is also in communication connection with an external industrial personal computer, so that the first main control board controls the wireless communication module to transmit the measurement signal to the external industrial personal computer; the external power supply is electrically connected with the first voltage reduction module; the first voltage reduction module is electrically connected with the first main control board and used for providing electric energy for the first main control board;
the internal power supply is electrically connected with the direct current motor driving module, the second voltage reduction module and the double-port direct current stepping motor driving module respectively and used for providing electric energy for the direct current motor driving module, the second voltage reduction module and the double-port direct current stepping motor driving module; the direct current motor driving module is also electrically connected with the direct current motor and used for driving the direct current motor; the second voltage reduction module is also electrically connected with the second main control board and used for providing electric energy for the second main control board; the second main control board is also electrically connected with the direct current motor driving module, the double-port direct current stepping motor driving module and the second wireless communication module respectively; the second wireless communication module is also in communication connection with an external industrial personal computer; the double-port direct current stepping motor driving module is electrically connected with the first direct current stepping motor and the second direct current stepping motor respectively and used for driving the first direct current stepping motor and the second direct current stepping motor; the direct current motor is connected with the tail propeller and used for driving the tail propeller; the first direct current stepping motor and the second direct current stepping motor are respectively connected with one tail slurry and used for driving the tail slurry.
Further, the first main control board and the second main control board both adopt controllers with the model number of DFRduino UNO R3.
Further, the direct current motor is a permanent magnet direct current motor, the working voltage of the permanent magnet direct current motor is 12V, the rated current is 2.42A, and the no-load rotation number is 3500 r/min.
Further, the water quality sensor adopts a dissolved oxygen sensor.
Further, the first wireless communication module and the second wireless communication module both adopt OBLOQ-IoTwifi modules.
Furthermore, the type of the driving module of the double-port direct current stepping motor is A4988; the first voltage reduction module and the second voltage reduction module both adopt DC/DC (direct current)/12V-5V modules formed by CS5173 chips
Further, the model number adopted by the direct current motor driving module is L298P.
Further, the first dc stepper motor and the second dc stepper motor are the same in type, and are both Panasonic/Panasonic MDN3BT3SCA 300 motors.
Furthermore, the internal power supply and the external power supply both adopt 12V and 5A storage batteries.
Compared with the prior art, the utility model discloses following beneficial effect has:
the invention has simple structure and convenient operation.
Drawings
Fig. 1a is a block diagram of a core cabin internal module according to an embodiment of the present invention.
Fig. 1b is a block diagram of the external module of the torpedo type housing according to the embodiment of the present invention.
Fig. 2 is the utility model discloses water quality testing robot exterior structure chart, wherein 1 is the tail thick liquid, 2 is the tail thick liquid transfer line, 3 is water quality sensor, 4 are external power supply WIFI and host system, 5 are front end extension mouth, 6 are the front end housing, 7 are middle casing, 8 are the rear end cap, 9 are the tail screw.
Fig. 3 is the inside structure view of water quality testing robot core cabin of the embodiment of the utility model, wherein 10 is hollow sleeve, 11 is afterbody location sealing ring, 12 is afterbody location sealing ring, 13 is the core cabin, 14 is the front end sealing positioning ring.
Detailed Description
The present invention will be further explained with reference to the drawings and the embodiments.
With the development of mobile communication network technology, 2G/3G mobile networks have covered most offshore and inland regions of China. The 2G/3G mobile network communication has the characteristics of low equipment and communication cost and mature and reliable technology. The 2G/3G mobile network communication and the water quality monitoring and monitoring equipment are combined, a remote water quality monitoring system for the underwater robot is developed, and the monitoring cost of the underwater robot and the labor intensity of monitoring personnel can be greatly reduced.
As shown in fig. 1a and fig. 1b, the present embodiment provides an underwater torpedo type robot for water quality detection, comprising a torpedo type housing, a core cabin 13, an external power supply, a first wireless communication module, a second wireless communication module, a water quality sensor 3, a first voltage reduction module, a second voltage reduction module, a BNC switching module, a first main control board, a second main control board, an internal power supply, a dc motor driving module, a first dc stepping motor, a second dc stepping motor, a dual-port dc stepping motor driving module, a tail rotor 1 and a tail rotor 9;
the torpedo-shaped shell comprises a front end cover 6, a rear end cover 8 and a middle shell 7, wherein the front end cover 6 and the rear end cover 8 are connected with the middle shell 7 through bolts; the core cabin 13 is arranged inside the torpedo-shaped shell; the second voltage reduction module, the second main control board, the internal power supply, the direct current motor driving module, the second wireless communication module, the first direct current stepping motor, the second direct current stepping motor and the double-port direct current stepping motor driving module are all arranged inside the core cabin 13; the external power supply, the BNC switching module, the first main control board, the first voltage reduction module, the first wireless communication module and the water quality sensor 3 are all arranged outside the torpedo-shaped shell;
the water quality sensor 3 is connected with the first main control board through the BNC switching module and is used for transmitting a measuring signal of the water quality sensor 3 to the first main control board; the first wireless communication module is electrically connected with the first main control board, and is also in communication connection with an external industrial personal computer, so that the first main control board controls the wireless communication module to transmit the measurement signal to the external industrial personal computer; the external power supply is electrically connected with the first voltage reduction module; (in this case, the connection of the power supply and the voltage-reducing module is equivalent to the generation of an external power supply). the first voltage-reducing module is electrically connected with the first main control board and is used for providing electric energy for the first main control board; (corresponding to the external power generated to power the first master control board).
The internal power supply is electrically connected with the direct current motor driving module, the second voltage reduction module and the double-port direct current stepping motor driving module respectively and used for providing electric energy for the direct current motor driving module, the second voltage reduction module and the double-port direct current stepping motor driving module; the direct current motor driving module is also electrically connected with the direct current motor and used for driving the direct current motor; the second voltage reduction module is also electrically connected with the second main control board and used for providing electric energy for the second main control board; the second main control board is also electrically connected with the direct current motor driving module, the double-port direct current stepping motor driving module and the second wireless communication module respectively; the second wireless communication module is also in communication connection with an external industrial personal computer; the double-port direct current stepping motor driving module is electrically connected with the first direct current stepping motor and the second direct current stepping motor respectively and used for driving the first direct current stepping motor and the second direct current stepping motor; the direct current motor is connected with the tail propeller 9 and used for driving the tail propeller 9; the first direct current stepping motor and the second direct current stepping motor are respectively connected with one tail pulp 1 and used for driving the tail pulp 1.
In this embodiment, the first main control board and the second main control board both use a controller with a model of DFRduino UNOR 3.
The main technical parameters are as follows: the working voltage is 5V; input voltage: when the USB is connected, external power supply or external 7V-12V DC input is not needed; output voltage: a 5V DC output and a 3.3V DC output and an external power input; the microprocessor: ATmega 328; clock frequency: 16 MHz; support USB interface protocol and power supply (do not need external power supply) digital I/O port: 14 (6 PWM outputs); an analog input port: 6; direct current I/O port: 40 mA; dc 3.3V port: 50 mA; size: 75x55x15 mm.
In this embodiment, the dc motor is a permanent magnet dc motor, and the permanent magnet dc motor has a working voltage of 12V, a rated current of 2.42A, and an idle rotation speed of 3500 r/min.
In the present embodiment, the water quality sensor 3 is a dissolved oxygen sensor.
The main technical parameters are as follows: electrode type: a primary cell; detection range: 0-20 mg/L; temperature range: 0-40 ℃; response time: 90 seconds to 98% full response (25 ℃); pressure range: 0-50 PSI; flow conditions were as follows: 0.3 mL/s; electrode core life: 1 year (under normal use conditions); a connecting line interface: BNC.
In this embodiment, the first wireless communication module and the second wireless communication module both employ OBLOQ-IoT wifi modules.
The technical parameters are as follows: supply voltage: 3.3-5.0V; working current: <240 mA; interface types are as follows: UART 4 PIN; interface rate: 9600; wireless mode: IEEE802.11b/g/n; encryption type: WPA WPA2/WPA 2-PSK; radio frequency: 2.4 GHz; product size: 35mm 32mm/1.38inch 1.26 inch; the built-in protocol comprises the following steps: TCP/IP protocol stack.
In this embodiment, the model number adopted by the dual-port dc stepping motor driving module is a 4988; the method is suitable for the two-phase four-wire stepping motor; 2 stepping motors can be easily driven through four digital I/O, and occupied ports are few; the system is compatible with controllers such as ArduinoUNO R3, Leonardo, Mega and the like, and has a complete port expansion function. The system supports an XBee module, an XBee Wi-Fi module, a Bluetooth module and a radio frequency module; each stepper motor has a dial switch to set the step resolution. The sensor adapter plate is a BNC signal adapter plate; the technical parameters are as follows: supply voltage: 3.3-5.5V; output voltage: 0-3.0V; electrode interface: BNC; signal interface: the Gravity interface (PH 2.0-3P); the size of the board is as follows: 42mm 32 mm. The first voltage reduction module and the second voltage reduction module both adopt CS5173 voltage reduction chips.
In this embodiment, the dc motor driving module is model L298P. The technical specification is as follows: logic portion input voltage VD: 5V, and (5); drive section input voltage VS: 4.8-35V; logic portion operating current Iss: less than or equal to 36 mA; drive portion operating current Io: less than or equal to 2A; maximum dissipated power: 25W (T =75 ℃); PWM and PLL driving modes; control signal input level: high level: vin is more than or equal to 2.3V and less than or equal to 5V, and the low level is as follows: vin is more than or equal to-0.3V and less than or equal to 1.5V; working temperature: -25 ℃ to + 130 ℃; the driving form is as follows: two-way high-power H-bridge drive; weight of the module: about 29 g.
In this embodiment, the first dc stepper motor and the second dc stepper motor are the same in type, and are a Panasonic/Panasonic MDN3BT3SCA 300 motor and a small motor with a working voltage of 5V.
In this embodiment, the internal power supply and the external power supply both use 12V,5A storage batteries.
Other technical parameters of the 12V2800mAh lithium battery power supply are as follows: weight: 158 g; sustainable current: 5A; overcurrent protection value: 10A; applicable electric power: within 12V 60W.
Preferably, the embodiment further provides a detection method based on the underwater torpedo type robot for water quality detection, which includes the following steps:
step S1: starting the internal power supply and the external power supply, and putting the robot into a water area to be tested;
step S2, the internal power supply provides electric energy for the second main control board, the direct current motor driving module, the double-port direct current stepping motor driving module, and the module and the device connected with the second main control board, the double-port direct current stepping motor driving module drives the first direct current stepping motor and the second direct current stepping motor, thereby driving the tail pulp 1 to swing; the direct current motor driving module drives the direct current motor so as to drive the tail propeller 9 to rotate; the robot advances under the propulsion of the tail rotor 1 and the tail propeller 9;
s3, the industrial personal computer is in communication connection with the second wireless communication module and controls the robot to reach a target position to be detected;
and S4, the water quality detector detects the water quality of the target position and feeds back a measurement signal to the first main control board, the first main control board controls the first wireless communication module to send the measurement signal to the industrial personal computer, and the industrial personal computer receives the measurement signal to finish detection.
Preferably, in this embodiment, the design of the water quality detection underwater robot is in a torpedo shape, so that the water quality detection underwater robot can reach a target position more quickly, and the water quality detection underwater robot can perform water quality detection on a shallow water layer without cable connection due to the adoption of wireless communication equipment for control. The shell part is provided with three through ports which are respectively used for a tail rotor control connecting rod and a space reserved for fixing and expanding the water quality detector. The inside portion of extension opening belongs to a link mechanism who is connected with tail-rotor swing motor, can increase the forebay and increase underwater robot's the nimble degree that turns to, perhaps independently install wireless control's camera or laser radar survey. The front end cover 6 and the rear end cover 8 are designed according to the shape of a torpedo, are fixed by adopting sealing bolts and rubber rings, and have certain waterproof capacity.
In particular, in terms of hardware of the embodiment, the internal power module is divided into two parts, one part is the power of the whole underwater robot, and a storage battery power supply (12V, 5A) is arranged in the sealed cabin to provide the power for swinging the tail rotor and propelling the propeller. The other part is an external independent power supply (12 v, 5A) specially provided for the water quality detector and a matched wireless communication module thereof. The internal power supply drives the motor through the direct current motor drive plate and is connected with the tail propeller 9. Besides, the two small direct current stepping motors are connected through the driving of the double-port stepping motor, and the internal wireless communication module and the main control board are powered through the voltage reduction module (12 v-5 v). The external independent small power supply is connected with the special module for the water quality detector, and the module has two functions, wherein the first function is to provide a power supply for the water quality detector, and the other function is to provide a power supply for the wireless communication module. The wireless communication module transmits the received measuring signal to the industrial personal computer on the shore through a TCP/IP protocol stack of 2.4 GHz.
The method comprises the following operation steps: 1. starting an internal power supply and an external independent power supply; 2. starting a mobile network communication and underwater robot power system through an industrial personal computer; 3. putting the underwater robot into a water area to be detected, issuing a control command to a second main control board by using an industrial personal computer through a second WIFI module, issuing a PWM signal by the main control board to drive a tail rotor and enabling a direct current motor driving module to drive a motor, and finally driving the water quality detection robot to a target position; 4. reading the data detected by the water quality detector, and analyzing the retained data by using a special APP to be researched; 5. and recovering the underwater robot.
Fig. 2 is a schematic diagram of an internal circuit, and the principle is that a 12v power supply firstly supplies power to a direct current motor and two small stepping electrical appliances through two different motor drive boards, and secondly supplies power to a main control board through a voltage reduction module. The main control board is responsible for supplying power for the WiFi module, and in addition, the main control board is responsible for controlling the effects of the direct current motor and the two stepping motors, and the operation commands are transmitted and received with the shore industrial personal computer through the WiFi module.
Fig. 3 is an external circuit schematic diagram, and the internal circuit principle is for supplying power (also can realize through a 5V power module) for whole internal circuit through 12V lithium battery power, and the main control board is responsible for the connection of wiFi module at first so that communicate with the industrial computer on the bank, and the BNC keysets is connected through the IO mouth of extension secondly, and this keysets is connected water quality sensor 3 and is collected data.
The water quality detector module is arranged on the outer shell part of the underwater robot, and the side end of the water quality detector module is provided with an expansion port for additionally adding a front slurry or a camera. The whole robot adopts a torpedo shape, which is beneficial to increasing the moving speed of the robot under water. The front end cover 6 and the rear end cover 8 adopt sealing bolts and rubber rings to improve the waterproof capability and isolate the contact of the internal elements of the core cabin 13 and water flow.
The inner structure under the shell positions the whole barrel-shaped structure through two fixing rings with circular channels, and a connecting rod mechanism between an expansion port and a tail motor is arranged in each circular channel. The head and the tail are provided with two different sealing rings to isolate the core cabin 13 from contacting with the outside and provide an interface for motor transmission.
The sensor portion is connected to the communication module by a cable and the module also powers it via an independent power module.
The embodiment proposes to associate the water quality monitoring with the underwater robot technology, and widens the application range of the underwater robot technology; the method provides a new idea in the field of water quality monitoring, namely that an underwater detection module is combined with an underwater robot to carry out surveying; due to the fact that the wireless communication module is additionally arranged, the detection range of the water area is greatly enhanced, and the portability and the usability are greatly enhanced.
It is worth mentioning that the utility model protects a hardware structure, as for the control method does not require protection. The above is only a preferred embodiment of the present invention. However, the present invention is not limited to the above embodiments, and any equivalent changes and modifications made according to the present invention do not exceed the scope of the present invention, and all belong to the protection scope of the present invention.
Claims (9)
1. The utility model provides an underwater torpedo type robot for water quality testing which characterized in that: the system comprises a torpedo-shaped shell, a core cabin, an external power supply, a first wireless communication module, a second wireless communication module, a water quality sensor, a first voltage reduction module, a second voltage reduction module, a BNC (bayonet nut connector) switching module, a first main control board, a second main control board, an internal power supply, a direct current motor driving module, a first direct current stepping motor, a second direct current stepping motor, a double-port direct current stepping motor driving module, a tail slurry and a tail propeller;
the torpedo-shaped shell comprises a front end cover, a rear end cover and a middle shell, wherein the front end cover and the rear end cover are connected with the middle shell through bolts; the core cabin is arranged inside the torpedo-shaped shell; the second voltage reduction module, the second main control board, the internal power supply, the direct current motor driving module, the second wireless communication module, the first direct current stepping motor, the second direct current stepping motor and the double-port direct current stepping motor driving module are all arranged inside the core cabin; the external power supply, the first main control board, the first voltage reduction module, the BNC switching module, the first wireless communication module and the water quality sensor are all arranged outside the torpedo-shaped shell;
the water quality sensor is connected with the first main control board through the BNC switching module and is used for transmitting a measuring signal of the water quality sensor to the first main control board; the first wireless communication module is electrically connected with the first main control board, and is also in communication connection with an external industrial personal computer, so that the first main control board controls the wireless communication module to transmit the measurement signal to the external industrial personal computer; the external power supply is electrically connected with the first voltage reduction module; the first voltage reduction module is electrically connected with the first main control board and used for providing electric energy for the first main control board;
the internal power supply is electrically connected with the direct current motor driving module, the second voltage reduction module and the double-port direct current stepping motor driving module respectively and used for providing electric energy for the direct current motor driving module, the second voltage reduction module and the double-port direct current stepping motor driving module; the direct current motor driving module is also electrically connected with the direct current motor and used for driving the direct current motor; the second voltage reduction module is also electrically connected with the second main control board and used for providing electric energy for the second main control board; the second main control board is also electrically connected with the direct current motor driving module, the double-port direct current stepping motor driving module and the second wireless communication module respectively; the second wireless communication module is also in communication connection with an external industrial personal computer; the double-port direct current stepping motor driving module is electrically connected with the first direct current stepping motor and the second direct current stepping motor respectively and used for driving the first direct current stepping motor and the second direct current stepping motor; the direct current motor is connected with the tail propeller and used for driving the tail propeller; the first direct current stepping motor and the second direct current stepping motor are respectively connected with one tail slurry and used for driving the tail slurry.
2. An underwater torpedo robot for water quality inspection according to claim 1, characterized in that: the first main control board and the second main control board are both controllers with the model number of DFRduino UNO R3.
3. An underwater torpedo robot for water quality inspection according to claim 1, characterized in that: the direct current motor is a permanent magnet direct current motor, the working voltage of the permanent magnet direct current motor is 12V, the rated current is 2.42A, and the no-load rotation number is 3500 r/min.
4. An underwater torpedo robot for water quality inspection according to claim 1, characterized in that: the water quality sensor adopts a dissolved oxygen sensor.
5. An underwater torpedo robot for water quality inspection according to claim 1, characterized in that: the first wireless communication module and the second wireless communication module both adopt OBLOQ-IoT wifi modules.
6. An underwater torpedo robot for water quality inspection according to claim 1, characterized in that: the type of the double-port direct current stepping motor driving module is A4988; the first voltage reduction module and the second voltage reduction module both adopt CS5173 voltage reduction chips.
7. An underwater torpedo robot for water quality inspection according to claim 1, characterized in that: the model number adopted by the direct current motor driving module is L298N.
8. An underwater torpedo robot for water quality inspection according to claim 1, characterized in that: the first direct current stepping motor and the second direct current stepping motor are the same in type and are MDN3BT3SCA 300 motors.
9. An underwater torpedo robot for water quality inspection according to claim 1, characterized in that: the internal power supply and the external power supply both adopt 12V and 5A storage batteries.
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| CN201920015791.3U CN210027853U (en) | 2019-01-07 | 2019-01-07 | Underwater torpedo-shaped robot for water quality detection |
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| CN201920015791.3U CN210027853U (en) | 2019-01-07 | 2019-01-07 | Underwater torpedo-shaped robot for water quality detection |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109501986A (en) * | 2019-01-07 | 2019-03-22 | 福州大学 | A kind of underwater torpedo humanoid robot and its detection method for water quality detection |
| CN112356041A (en) * | 2020-10-26 | 2021-02-12 | 广州大学 | Novel eight-degree-of-freedom diving robot |
-
2019
- 2019-01-07 CN CN201920015791.3U patent/CN210027853U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109501986A (en) * | 2019-01-07 | 2019-03-22 | 福州大学 | A kind of underwater torpedo humanoid robot and its detection method for water quality detection |
| CN112356041A (en) * | 2020-10-26 | 2021-02-12 | 广州大学 | Novel eight-degree-of-freedom diving robot |
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