CN210222252U

CN210222252U - Anti-collision sonar system

Info

Publication number: CN210222252U
Application number: CN201920250915.6U
Authority: CN
Inventors: Hongyong Deng; 邓红勇
Original assignee: WUXI HAIYING-CAL TEC MARINE TECHNOLOGY Co Ltd
Current assignee: WUXI HAIYING-CAL TEC MARINE TECHNOLOGY Co Ltd
Priority date: 2019-02-28
Filing date: 2019-02-28
Publication date: 2020-03-31
Anticipated expiration: 2029-02-28

Abstract

The utility model discloses a collision avoidance sonar system belongs to sonar technical field. The collision-prevention sonar system comprises a power circuit and a depth sounding system, wherein the power circuit supplies power to the depth sounding system; the testing system comprises a DSP circuit, a transceiving circuit, a channel selection circuit and a transducer which are connected in sequence in a bidirectional manner; the DSP circuit is connected with the channel selection circuit. Originally need all only 1 way with 4 way transceiver circuit, 4 way power supply circuit, 4 way DSP circuits now, product cost reduces and is about 4 original one-tenth, and volume and consumption all reduce by a wide margin, if the detection of more directions of needs, use this utility model also can expand the passageway to more passageways very easily. In addition, the anti-collision sonar is simple in structure, easy to control and low in price, can be flexibly applied to various occasions, and provides a good anti-collision solution for the submersible vehicle.

Description

Anti-collision sonar system

Technical Field

The utility model relates to a sonar technical field, in particular to collision avoidance sonar system.

Background

With the increasing exhaustion of land resources, the investigation and development of marine resources are increasingly emphasized, and China takes the development of marine resources as an important decision. More and more ocean exploration equipment, such as underwater integrated towed bodies or submersibles of AUVs, ROVs, underwater robots and the like, are applied.

When the submersible vehicle travels underwater, due to unpredictability of the underwater environment, the obstacle on the traveling route needs to be surveyed in real time through the collision avoidance sonar, and therefore an avoidance strategy is adopted when the vehicle encounters the obstacle. At present, three types of collision avoidance sonars are respectively a conventional distance measurement sonar, a two-dimensional imaging sonar and a three-dimensional image sonar. Wherein, two-dimensional imaging sonar and three-dimensional image sonar all can be according to the echo information formation energy image that acquires, obtains more information of target through the processing to the image, but consequently the degree of difficulty of development is great, and is higher to the hardware requirement, and the price is more expensive, and market demand is less relatively. And the distance and the orientation parameter of the target barrier are obtained by the conventional ranging sonar according to the echo information in a certain direction, and the conventional ranging sonar is simple in structure, easy to control and low in price, and can be flexibly applied to various occasions.

Four conventional distance measuring sonars 12 are respectively arranged at the front end, the left end, the right end and the lower end of the submersible vehicle 11, as shown in fig. 1, so that the four conventional distance measuring sonars can obtain the obstacle information of the submersible vehicle in four directions, and then the distance information from the obstacle is obtained through the respective configured transducers. If adopt traditional mode, install with four range finding sonars, will cause bulky, with high costs, the consumption is big like this.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a collision prevention sonar system to solve current collision prevention sonar bulky, problem with high costs.

In order to solve the technical problem, the utility model provides a collision avoidance sonar system, include:

the depth measuring system comprises a power supply circuit and a depth measuring system, wherein the power supply circuit supplies power to the depth measuring system; wherein the content of the first and second substances,

the depth measurement system comprises a DSP circuit, a transceiver circuit, a channel selection circuit and a transducer which are connected in sequence in a bidirectional manner; the DSP circuit is connected with the channel selection circuit.

Optionally, the power supply circuit includes an anti-reverse connection device and a plurality of DCDC power supply modules; the reverse connection preventer is a Schottky diode, and the plurality of DCDC power supply modules respectively generate different voltages to supply to each part in the depth sounding system.

Optionally, the DSP circuit includes a power chip, a DSP chip, a communication chip, an AD chip/DA chip, and a FLASH chip; the power supply chip converts the voltage provided by the power supply circuit into the voltage suitable for different chips.

Optionally, the transceiver circuit includes a transmitting circuit and a receiving circuit; wherein the content of the first and second substances,

the transmitting circuit comprises a waveform processor, a bridge type amplifier and an impedance matching circuit which are connected in sequence;

the receiving circuit comprises a receiving-transmitting conversion circuit, an isolation coupling circuit, a preamplifier circuit, a first band-pass filter circuit, an automatic gain control circuit, a second band-pass filter circuit, a post-amplifier circuit and a detection circuit which are connected in sequence.

Optionally, the channel selection circuit includes a plurality of optocoupler isolation relays.

Optionally, the number of the optical coupling isolation relays is twice that of the transducers.

The utility model provides a collision-prevention sonar system, which comprises a power circuit and a depth sounding system, wherein the power circuit supplies power to the depth sounding system; the depth measurement system comprises a DSP circuit, a transceiver circuit, a channel selection circuit and a transducer which are connected in sequence in a bidirectional manner; the DSP circuit is connected with the channel selection circuit. Originally need all only 1 way with 4 way transceiver circuit, 4 way power supply circuit, 4 way DSP circuits now, product cost reduces and is about 4 original one-tenth, and volume and consumption all reduce by a wide margin, if need more arrive the detection of direction, use this utility model also can expand the passageway to more passageways very easily. In addition, the anti-collision sonar is simple in structure, easy to control and low in price, can be flexibly applied to various occasions, and provides a good anti-collision solution for the submersible vehicle.

Drawings

FIG. 1 is a schematic structural view of a current submersible with four conventional range finding sonars;

fig. 2 is a schematic structural diagram of the collision-preventing sonar system provided by the present invention;

fig. 3 is a schematic structural diagram of a power supply circuit provided by the present invention;

fig. 4 is a schematic structural diagram of a DSP circuit provided by the present invention;

fig. 5 is a schematic structural diagram of a transmitting circuit provided by the present invention;

fig. 6 is a schematic structural diagram of a receiving circuit provided by the present invention;

fig. 7 is a schematic structural diagram of a channel selection circuit provided by the present invention.

Detailed Description

The following describes a collision-preventing sonar system according to the present invention in further detail with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more fully apparent from the following description and appended claims. It should be noted that the drawings are in simplified form and are not to precise scale, and are provided for convenience and clarity in order to facilitate the description of the embodiments of the present invention.

Example one

The utility model provides a collision-prevention sonar system, the structure of which is shown in figure 2. The collision-prevention sonar system comprises a power circuit 1 and a depth measurement system 2, wherein the power circuit 1 supplies power to the depth measurement system 2; specifically, the depth measurement system 2 includes a DSP circuit 21, a transceiver circuit 22, a channel selection circuit 23, and a transducer 24, which are connected in sequence and bidirectionally; the DSP circuit is connected with the channel selection circuit. Further, the transceiver circuit 22 includes a transmitting circuit 221 and a receiving circuit 222. Specifically, the power supply circuit 1 adopts wide-range input, and can generate stable power supply with enough power for each circuit in the sounding system 2 under the condition that the external power supply input range is 10V to 36V; the DSP circuit 21 is an operation center of the sounding system 2, is responsible for system synchronization and sounding tracking, controls the power and pulse width of a transmitter, controls receiving gain, collects envelope signals output by a receiver and sends the envelope signals to external equipment through a serial port; the transceiver circuit 22 is the key to the depth measurement capability. By adopting the channel selection circuit 23, when one transducer 24 is selected to work, the corresponding transducer enters a working state to complete measurement, and the other three transducers are in an open circuit state and do not influence the working of the transducer. Therefore, the volume and the power consumption are reduced while the performance is ensured, and the volume is also reduced.

Specifically, referring to fig. 3, the power circuit 1 includes an anti-reverse device 10 and a plurality of DCDC power modules; the DCDC power supply modules respectively generate different voltages to supply to each component in the sounding system. In consideration of the performance of the whole machine, all selected DCDC power modules are power modules with small volume, low power consumption and low noise. After an external power supply enters the power supply circuit 1, firstly, an anti-reverse connection device 11 is passed through, the anti-reverse connection device 11 is preferably a schottky diode, the type of the schottky diode can be diode IN5819, the reverse withstand voltage of the schottky diode is 40V, the rated forward current is 1A, the reverse recovery time of the schottky diode is extremely short, and the performance meets the design requirement. When an external power supply is correctly input, the reverse connection preventing device 11 is conducted, the DCDC power supply module at the rear end works to supply power to other circuits, and the whole system works normally; when the external power supply is reversely connected, the reverse connection preventing device 11 is not conducted at this time, and the power supply does not flow into the rear end circuit, so that the reverse connection protection of the power supply input is realized, and the DCDC power supply module at the rear end cannot be damaged.

In order to realize wide-range power input, the input power range of the selected DCDC power module should be 9-36V. A 5V power supply needs to be provided for the DSP circuit 21 in the sounding system 2; 5V, 15V, 24V power supplies to the transmit circuitry 221 and + -5V power supplies to the receive circuitry 222. If DCDC power supply modules with wide power supply input range are selected, the volume of the power supply circuit 1 is greatly increased, and the 5V power consumption of the DSP circuit 21 is considered to be large, so that a 3W 5V power supply module is selected, the power supply input range is 9-36V, and the generated 5V is only supplied to the DSP circuit 21; since the power consumption of the power supplies on the transmitting circuit 221 and the receiving circuit 222 is very small, a power supply module of 24V of 3W is adopted, the power supply input range of the power supply module is 9-36V, the 24V generated by the power supply module is firstly supplied to the transmitting circuit 221, the 15V generated by the power supply module of 15V input by a narrow-range power supply is supplied to the transmitting circuit 221 for use, the 5V generated by the power supply module of 5V input by a narrow-range power supply is supplied to the transmitting circuit 221 and the receiving circuit 222 for use, and the-5V generated by the power supply module of-5V input by a narrow-range power supply is supplied to the receiving circuit for use. By the mode, normal work of collision prevention under wide-range input of a power supply can be realized, and the miniaturization of a power supply circuit is realized.

Fig. 4 is a schematic structural diagram of the DSP circuit 21. The DSP circuit 21 is a control center of the collision avoidance sonar, and includes a power chip 211, a DSP chip 212, a communication chip 213, an AD chip/DA chip 214, and a FLASH chip 215. Because the internal chips of the DSP circuit 21 are more, three power supplies of 5V, 3.3V and 1.5V are needed, the power supply circuit 1 provides a 5V power supply, and the power supply chip 211 converts the voltage provided by the power supply circuit 1 into the voltage suitable for different chips.

Specifically, the communication chip 213 is an MAX3160EAP chip, and is a high-performance pin-programmable multi-protocol transceiver device, and an RS232 transceiver is set by a pin, so that the device can communicate with an external device through the RS232 transceiver, and mainly has functions of receiving an external control command, sending a measurement value, upgrading an internal program, and the like.

The AD/DA chip 214 includes an AD chip and a DA chip. The AD chip adopts THS1206IDA, and the THS1206 is a 12-bit high-speed A/D converter based on a pipeline structure and developed by TI company. The A/D converter adopts a pipeline structure and can process a plurality of paths of analog signals in parallel, thereby obtaining higher conversion speed; and the internal error can be corrected by the internal correction circuit, so that higher precision is obtained. The analog echo signal in the receiving circuit is converted into a digital signal through the THS1206IDA chip so as to carry out subsequent processing on the DSP signal.

The DA chip adopts TLV5614, the TLV5614 is a 12-bit voltage output analog-to-digital converter (DAC) composed of four parts, and the DAC is provided with a flexible serial interface and can be used withoutSuture attachment to TMS320^TM、SPI^TM、QSPI^TMAnd Microwire^TMA serial port. The digital signal of the DSP is mainly received and converted into an analog signal, so that the automatic gain of the receiving circuit is controlled.

The FLASH chip 215 adopts 29LV400, and compared with an EPROM, the FLASH has the advantages of high integration level, low power consumption and electric erasing, and 3.3V FLASH can be directly interfaced with a DSP, so that the interface circuit is convenient to design. The 29LV400 has the advantages of single power supply operation, high access speed, long read-write service life, low power consumption and the like, so that the 29LV400 is used for storing programs and data.

The DSP chip 212 adopts TMS320VC5416 fixed point DSP of TI company, an improved Harvard bus structure is adopted in the DSP chip, the width of a data bus is 16b, and the maximum addressing space is 64 Kx16 b. The program bus width is 23b and the maximum addressing space is 8 mx 16 b. The chip has a RAM of 128 Mx 16b, a DMA transfer controller of 6 channels, and a serial communication interface (McBSP) with a buffer. The separated data and instruction space enables the chip to have high parallel operation capability, allows instructions and data to be accessed simultaneously in a single cycle, and enables the chip to have high operation speed up to 160MIPS due to the highly optimized instruction set. The DSP chip 212 is the operation center of the whole device, and is responsible for system synchronization, depth measurement tracking, controlling the power and pulse width of the transmitter, switching the four transducers to work, controlling the receiving gain, collecting the envelope signal output by the receiver, and sending the measured value to the external device through the cable.

The transceiver circuit 22 includes a transmitting circuit 221 and a receiving circuit 222. As shown in fig. 5, the transmitting circuit 221 includes a waveform processor 2211, a bridge amplifier 2212, and an impedance matching circuit 2213, which are connected in sequence. The waveform processor 2211 preferably selects the UC2706 to perform waveform processing, performs frequency division processing on a low-voltage driving signal provided by the DSP circuit 21, generates two PWM waves after the frequency division processing, and respectively drives two MOSFET transistors on a diagonal of the bridge power amplifier 2212, and also ensures that no direct connection occurs between an upper bridge arm and a lower bridge arm of the bridge power amplifier 2212 after the waveform processing is performed through the UC2706, thereby avoiding a phenomenon that the circuit is burnt down due to full-bridge direct connection. In addition, because of low power ratio, the MOSFET is preferably IRFL4610PBF, which has VDSS of 100V, rds (on) of 0.2 Ω and ID of 1.6A, and is packaged as SOT-223, and the volume is relatively small.

The impedance matching circuit 2213 functions as: firstly, tuning matching, namely adjusting the impedance of the transducer to enable the transmitting load to be close to a pure impedance state as much as possible and reduce reactive components; and the second is impedance matching, namely, the impedance of the transducer circuit is changed to enable the transducer circuit to achieve impedance matching with a power supply, so that the transducer is ensured to obtain the maximum electric power. Meanwhile, the series-parallel matching circuit can prevent the instrument from being damaged due to short circuit of the transducer.

Because the requirement on transmitting power is low, a transformer required in a traditional transmitting circuit is eliminated, and the weight and the volume of the transmitting circuit are reduced.

As shown in fig. 6, the receiving circuit 222 includes a transceiver switching circuit 2221, an isolation coupling circuit 2222, a pre-amplifier circuit 2223, a first band-pass filter circuit 2224, an automatic gain control circuit 2225, a second band-pass filter circuit 2226, a post-amplifier circuit 2227, and a detector circuit 2228, which are connected in sequence. Since the transducers of the collision avoidance sonar adopt a transmit-receive integrated mode, the receiving circuit 222 firstly passes through a transmit-receive conversion circuit 2221 and an isolation coupling circuit 2222. With the transceiving switching circuit 2221, when transmitting, the transceiving switching circuit 2221 is equivalent to a short circuit, and the receiving circuit will not be burned out. When the transducer receives a small signal, the small signal can pass through the transceiving switching circuit 2221 and be amplified by the subsequent receiving circuit 222.

The pre-amplifier circuit 2223 and the post-amplifier circuit 2227 both amplify weak signals.

The propagation of the acoustic signal in water causes a dispersion loss proportional to the square of the propagation distance and an absorption loss, and the signal processing circuit performs a time gain control (TVG) on the receiving circuit 222 to compensate the propagation loss of the acoustic signal and suppress the near-field interference and reverberation, which is the function of the TVG circuit.

The automatic gain control circuit 2225 is to make the gain of the receiving circuit 222 automatically change according to the magnitude of the input quantity, so that the output thereof is kept substantially constant. The automatic gain control circuit 2225 is controlled by the signal processing board, and when the signal processing board detects that the output voltage of the receiving circuit 222 increases, the gain of the automatic gain control circuit 2225 is controlled to decrease, and when the signal processing board detects that the output voltage of the receiving circuit 222 decreases, the gain of the automatic gain control circuit 2225 is controlled to increase, so that the system gain of the receiving circuit 222 is automatically adjusted according to the strength of the input signal.

The first bandpass filter circuit 2224 and the second bandpass filter circuit 2226 mainly achieve the function of transmitting signals in a required specific frequency range, and blocking signals outside the frequency range, thereby achieving the purpose of selective transmission.

Since the signal processing board needs pulse signals for subsequent processing, the receiver circuit 222 needs to perform the detector circuit 2228 after amplifying and filtering the signals received from the water bottom.

Fig. 7 is a circuit schematic diagram of the channel selection circuit 23. The channel selection circuit 23 includes a plurality of opto-isolator relays. The number of the optical coupling isolation relays is twice that of the transducers.

Due to the special requirement of a collision avoidance sonar circuit, a controlled multi-path electronic switch not only bears the impact of a transmitting circuit with high frequency, large current and large voltage, but also has good anti-interference performance when receiving weak signals. The minimum signal of the receiving circuit 222 is only tens of microvolts or even a few microvolts, and under this condition, it is to be ensured that the electronic switch is not affected by the external power supply of the electronic switch. The relay model adopted here is AQY277AX, is an optical coupling isolation relay, and is widely applied to measurement and test equipment, IC testers and high-speed detection machines. It has small volume, supports various types of load control and has high sensitivity. The maximum peak value of the output end of the high-voltage power supply is 200V, the average current of the output end is 0.65A, the peak current of the output end is 2.0A, the average on-resistance is 0.7 omega, and the design requirements of people can be met.

The external equipment gives a command for selecting the channel of the transducer through the RS232 serial port, and according to the command, the DSP circuit 21 provides selection signals corresponding to the four transducers for the channel selection circuit 23, wherein the four selection signals are low level at ordinary times, the four transducers do not work, and because the transducers have positive and negative electrodes, two optical coupling isolation relays are used for corresponding to one of the transducers. When receiving external serial port order, DSP circuit 21 can only select a transducer work at every moment, works as when DSP circuit 21 selects the transducer of passageway 1 according to external order, then the signal for passageway 1 is high, and other three passageways are low, opens opto-coupler isolation relay 231, opto-coupler isolation relay 232 this moment, and transducer 241 inserts behind opto-

coupler isolation relay

231, 232 transceiver circuitry 22, and transducer 241 carries out operating condition, and other three transducers are out of work. When the DSP circuit 21 selects the transducer of the channel 2 according to the external command, the signal to the channel 2 is high, the optical coupling isolation relay 233 and the optical coupling isolation relay 234 are turned on at this time, the transducer 2 is connected to the transceiver circuit 22 after passing through the optical coupling isolation relays 233 and 234, the transducer 242 operates, and the other three transducers do not operate. When the DSP circuit 21 selects the transducer of the channel 3 according to the external command, the signal to the channel 3 is high, the optical coupling isolation relays 235 and 236 are turned on, the transducer 243 is connected to the transceiver circuit 22 after passing through the optical coupling isolation relays 235 and 236, the transducer 243 operates, and the other three transducers do not operate. When the DSP circuit 21 selects the transducer of the channel 4 according to the external command, the signal to the channel 4 is high, the optical coupling isolation relays 237 and 238 are turned on, the transducer 244 is connected to the transceiver circuit 22 through the

relays

237 and 238, the transducer 244 operates, and the other three transducers do not operate.

Adopt this passageway selection circuit, utilize traditional depth finder principle, constituted the collision avoidance sonar that can survey four directions. After using the passageway selection circuit, originally need all only 1 way with 4 way transceiver circuits, 4 way power supply circuit, 4 way DSP circuits, product cost reduces and is about original 4 times, and volume and consumption all reduce by a wide margin, if need more arrive the detection of direction, use this utility model discloses also can expand the passageway to more passageways very easily. In addition, the anti-collision sonar is simple in structure, easy to control and low in price, can be flexibly applied to various occasions, and provides a good anti-collision solution for the submersible vehicle.

The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and any modification and modification made by those skilled in the art according to the above disclosure are all within the scope of the claims.

Claims

1. A collision-avoidance sonar system, comprising:

2. The collision-avoidance sonar system of claim 1, wherein the power circuit includes a reverse-connection prevention device and a plurality of DCDC power modules; the reverse connection preventer is a Schottky diode, and the plurality of DCDC power supply modules respectively generate different voltages to supply to each part in the depth sounding system.

3. The collision-prevention sonar system according to claim 1, wherein the DSP circuit includes a power chip, a DSP chip, a communication chip, an AD chip/DA chip, and a FLASH chip; the power supply chip converts the voltage provided by the power supply circuit into the voltage suitable for different chips.

4. The sonar system of claim 1, wherein the transceiver circuitry includes transmit circuitry and receive circuitry; wherein the content of the first and second substances,

5. The sonar system of claim 1, wherein the channel selection circuit includes a plurality of optically coupled isolation relays.

6. The sonar system of claim 5, wherein the number of optically coupled isolation relays is twice the number of transducers.