CN217877687U - Unmanned ship type depth finder - Google Patents
Unmanned ship type depth finder Download PDFInfo
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- CN217877687U CN217877687U CN202221777842.4U CN202221777842U CN217877687U CN 217877687 U CN217877687 U CN 217877687U CN 202221777842 U CN202221777842 U CN 202221777842U CN 217877687 U CN217877687 U CN 217877687U
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- 239000000523 sample Substances 0.000 claims abstract description 27
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- 239000003990 capacitor Substances 0.000 claims description 24
- 238000012545 processing Methods 0.000 claims description 20
- 238000004364 calculation method Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 21
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 7
- 229910052744 lithium Inorganic materials 0.000 description 7
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 238000011160 research Methods 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model discloses an unmanned ship type depth finder; the unmanned ship depth finder is provided with a posture monitoring circuit, monitors the posture of a sensor probe in real time, automatically calibrates test data in real time, and counteracts the influence caused by the posture swing of the unmanned ship; according to the attitude data, real-time measurement singular values such as overlarge inclination angle and the like can be eliminated, and the stability of the measurement data is improved; in the testing process, real-time supervision probe inclination, the distance error that the slope of automatic correction probe brought satisfies the sounding demand under the various operational environment, adopts ultrasonic transducer simultaneously, and the measurement wave velocity angle is 8 degrees, can effectively concentrate the transmission with ultrasonic energy, avoids the energy to scatter and leads to measuring the depth of water scope narrowing too fast.
Description
Technical Field
The utility model relates to a measurement field especially relates to unmanned ship formula depth finder.
Background
The water depth measurement of water body environments such as ocean, river channel, lake and reservoir, namely river bottom or seabed geographic information, is very concerned by various research units. In order to improve the efficiency, an unmanned ship measuring platform is usually selected according to the working environment, and an intelligent depth sounding sensor is carried to quickly and automatically complete the measurement of the water depth factor in real time. The existing common test sensors are various in types, but are mostly installed in a handheld type or large ship platform, influence factors of structure size, power consumption and real-time attitude of the sensors are not considered, and the existing common test sensors are not suitable for being installed on a small unmanned ship measuring platform. Therefore, the unmanned ship type depth finder equipment is developed, the accuracy of the unmanned ship water depth measurement data can be improved, and the intelligent unmanned ship water depth measurement device is specially used for the environments such as rivers, lakes, reservoirs and the like.
For example, a "portable depth finder" disclosed in chinese patent literature, publication No. CN207180665U includes a depth finder body, a hook structure, a control display device, a floating block structure, a storage battery and a probe, wherein the hook structure is injection-molded on the upper right side of the depth finder body; the control display device is embedded on the front surface of the upper part of the depth finder body. The shape of the silica gel fastening piece of the depth finder is triangular, so that the fixing effect of the foam floating block on the depth finder body is favorably improved, and the depth finder can float on the water surface; the spring buckle is sleeved on the right side of the protective rope, so that the protective rope can be conveniently sleeved on the wrist of a user, and the depth finder is prevented from slipping in the hand; the arrangement of the transparent silica gel waterproof film is beneficial to improving the waterproof effect on the control display device, and the definition of the display screen is not influenced; the probe adopts the setting of ultrasonic wave depth finder probe, is favorable to the depth of water that can more accurate detection required waters. However, the depth finder is a floating depth finder, cannot adjust the posture and cannot move to measure the state of the water body according to requirements.
Disclosure of Invention
The utility model aims at the problem that the structural size, power consumption and sensor real-time posture influence factors of the current-stage unmanned ship depth finder are not suitable for being installed on a small-sized ship and can not meet the depth finding requirement of a small-sized lake; an unmanned ship type depth finder is provided; the system comprises a system power supply control circuit, an attitude monitoring circuit, a signal receiving and sending circuit and an external interface which are respectively connected with a signal processing unit; the system power supply control circuit, the circuit board power circuit and the signal receiving and transmitting circuit are connected in sequence. The unmanned ship depth finder is provided with an attitude monitoring circuit, the attitude of a sensor probe is monitored in real time, test data is automatically calibrated in real time, the influence caused by the attitude swing of the unmanned ship is counteracted, and the attitude sensor and the probe are arranged on a uniform plane and are directly connected to a controller as peripheral units; according to the attitude data, real-time measurement singular values such as overlarge inclination angle and the like can be eliminated, and the stability of the measurement data is improved; in the testing process, real-time supervision probe inclination, the distance error that the slope of automatic correction probe brought satisfies the sounding demand under the various operational environment, adopts ultrasonic transducer simultaneously, and the measurement wave velocity angle is 8 degrees, can effectively concentrate the transmission with ultrasonic energy, avoids the energy to scatter and leads to measuring the depth of water scope narrowing too fast.
The above technical problem of the utility model is mainly solved through the following technical scheme:
an unmanned marine depth finder, comprising: the system power supply control circuit, the attitude monitoring circuit, the signal receiving and transmitting circuit and the external interface are respectively connected with the signal processing unit; the system power supply control circuit, the circuit board power circuit and the signal receiving and transmitting circuit are connected in sequence. Carrying a posture monitoring circuit, monitoring the posture of a sensor probe in real time, automatically calibrating test data in real time, and offsetting the influence caused by the posture swing of the unmanned ship, wherein the posture sensor and the probe are arranged on a uniform plane and are directly connected to a controller as peripheral units; according to the attitude data, real-time measurement singular values such as overlarge inclination angles can be eliminated, and the stability of the measurement data is improved.
Preferably, the attitude monitoring circuit includes: the SDA port of the chip U15 is connected with the second end of the resistor R69, and the first end of the resistor R69 is connected with 3.3V voltage; a first end of the resistor R68 is connected with 3.3V voltage, and a second end of the resistor R68 is connected with an SCL port of the chip U15; the CPOUT port of the chip U15 is connected with the second end of the capacitor C73, and the first end of the capacitor C73 is grounded; the VLOGIC port of the chip U15 is connected with a first end of a capacitor C82, and a second end of the capacitor C82 is grounded; the REGOUT port of the chip U15 is connected with the first end of the capacitor C81, and the second end of the capacitor C81 is grounded; the INT port of the chip U15 is connected to a first end of the resistor R98, and a second end of the resistor R98 is connected to the PB6_ INT output port. In the test process, the inclination angle of the probe is monitored in real time, and the distance error caused by the inclination of the probe is automatically corrected
Preferably, the depth finder uses an ultrasonic probe, and the measurement wave velocity angle of the ultrasonic probe is 8 degrees. Ultrasonic energy can be effectively transmitted in a concentrated mode, and the phenomenon that the energy is dispersed too fast to narrow the range of the measured water depth is avoided.
Preferably, the system power supply control circuit comprises a key switch circuit; the one-key power on/off circuit includes: a KILL port of the chip U26 is connected with a second end of the resistor R135, a first end of the resistor R135 is connected with a first end of the capacitor C114, and a second end of the capacitor C114 is grounded; a first end of the resistor R135 is connected with a BATT _ IN port of the system power supply control circuit; the ONT port of the chip U26 is connected with the first end of the capacitor C115, and the second end of the capacitor C115 is grounded; an OPPT port of the chip U26 is connected with a first end of a capacitor C116, and a second end of the capacitor C116 is grounded; the EN port and the ONT port of the chip U26 are respectively connected with the BOOST _ EN port and the POWER _ KEY port of the system POWER supply control circuit. The system power supply control circuit comprises a one-key startup and shutdown circuit, an internal battery and external power supply automatic switching control circuit, a key of the system power supply control circuit is used for controlling, external power supply automatic detection is realized, external power supply is preferentially used, when the voltage of the internal battery is lower than that of the external power supply, automatic charging is realized, a lithium battery and a hardware circuit are matched, the hardware circuit of the system power supply control circuit is externally connected with the key and the lithium battery, the key is used as an external data interface of a controller, parameter setting can be directly realized, and the lithium battery is a self-contained power supply unit.
Preferably, the signal processing unit is used for digital signal processing, time calculation, distance calculation, error processing, and attitude compensation correction. Through digital signal processing, real-time measurement singular values such as overlarge inclination angles are directly eliminated, and the stability of measurement data is improved.
Preferably, the depth finder is connected with an upper computer through a wireless network; the depth finder transmits the attitude data to an upper computer in real time; the external interface comprises a display screen, a key and an external GPS equipment interface. The signal processing unit can process signals transmitted by the signal transmitting and receiving circuit and transmit real-time measurement data to the upper computer. The display screen is used for interactive interface, real-time display of measured data and monitoring of equipment state; the key is used for parameter configuration and modification; the external GPS equipment interface is used for engineering actual measurement, can be directly accessed into the GPS equipment and records real-time position information. Meanwhile, an external GPS input interface is reserved, engineering survey recording requirements can be met conveniently, the method is compatible with international standard formats, and automatic identification does not need to be configured.
The utility model has the advantages that:
1. the unmanned ship type depth finder has the advantages of small specific volume, simple structure, water resistance, pressure resistance, low power consumption, integration, convenient use and the like aiming at a small intelligent measuring platform such as a water surface radio intelligent measuring ship, an ROV (remote operated vehicle), an AUV (autonomous underwater vehicle) and other intelligent measuring carriers, can meet various requirements of reservoir water quality investigation, channel water depth measurement, water project early-stage investigation, college and university institute research units investigation and the like, and has a specific and wide application prospect;
2. the unmanned ship depth finder is provided with an attitude and attitude monitoring circuit, the attitude of a sensor probe is monitored in real time, test data is automatically calibrated in real time, and the influence caused by the attitude swing of the unmanned ship is counteracted; according to the attitude data, real-time measurement singular values such as overlarge inclination angle and the like can be eliminated, and the stability of the measurement data is improved; in the test process, the inclination angle of the probe is monitored in real time, the distance error caused by the inclination of the probe is automatically corrected, and the depth sounding requirements under various working environments are met;
3. by adopting the ultrasonic probe, the measurement wave velocity angle is 8 degrees, ultrasonic energy can be effectively and intensively transmitted, and the phenomenon that the water depth measurement range is narrowed due to too fast energy dispersion is avoided.
Drawings
FIG. 1 is an overall system block diagram;
FIG. 2 is a schematic diagram of an attitude monitoring circuit;
FIG. 3 is a one-key on-off key circuit diagram;
FIG. 4 is a connection diagram of a core MCU in the signal processing unit.
Detailed Description
It should be understood that the examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that various changes or modifications can be made by those skilled in the art after reading the teachings of the present invention, and these equivalents also fall within the scope of the appended claims.
The technical solution of the present invention is further specifically described below by way of examples and with reference to the accompanying drawings.
An unmanned marine depth finder, comprising: the system power supply control circuit, the attitude monitoring circuit, the signal receiving and transmitting circuit and the external interface are respectively connected with the signal processing unit; the system power supply control circuit, the circuit board power circuit and the signal receiving and transmitting circuit are connected in sequence.
The unmanned ship type depth finder provided by the invention is provided with the ultrasonic depth probe, and the ultrasonic adopts intelligent double-frequency 400KHZ and 200KHZ, so that the depth of water below 300 m can be effectively measured, and the precision reaches 1% of the depth of water. The measuring wave velocity angle of the ultrasonic probe is 8 degrees, ultrasonic energy can be effectively transmitted in a concentrated mode, and the phenomenon that the energy is dispersed too fast to narrow the measuring water depth range is avoided.
The unmanned ship type depth finder carries a posture and posture monitoring circuit which carries a posture three-axis posture sensor, and the posture monitoring circuit can monitor the inclination angle of the probe in real time and automatically correct the distance error caused by the inclination of the probe in the testing process. The attitude monitoring circuit may transmit the signal to the signal processing unit; the signal processing unit can remove real-time measurement singular values such as overlarge inclination angle and the like according to the attitude data, and the stability of the measurement data is improved. Meanwhile, the attitude sensor and the probe are arranged on a uniform plane and are directly connected to a system power supply control circuit as peripheral units. According to the attitude data, real-time measurement singular values such as overlarge inclination angles can be directly eliminated through digital signals, and the stability of the measurement data is improved.
The unmanned ship depth finder has a simple structure, adopts a copper shell, is biological corrosion resistant, has a standard withstand voltage depth of 300 meters, can be customized according to deeper requirements, and is convenient for third-party carrier installation and integration; the configuration controller is responsible for sending and receiving ultrasonic signals; the underwater movement time of the ultrasonic waves is accurately measured, and the underwater movement time is converted into the underwater measurement depth according to the measurement time.
The signal processing unit is used for digital signal processing, time calculation, distance calculation, error processing and attitude compensation correction. The signal processing unit is connected with an upper computer through a wireless network; the depth finder transmits the attitude data to the upper computer in real time; and the data display software of the upper computer is standard-matched, so that a third party can conveniently and directly check and process data.
The external interface comprises a display screen, a key and an external GPS equipment interface. The signal processing unit can process signals transmitted by the signal transmitting and receiving circuit and transmit real-time measurement data to the upper computer. The display screen is used for interactive interface, real-time display of measured data and monitoring of equipment state; the key is used for parameter configuration and modification; the external GPS equipment interface is used for engineering actual measurement, can be directly accessed into the GPS equipment and records real-time position information. Meanwhile, an external GPS input interface is reserved, so that the requirements of engineering survey recording can be met conveniently, the method is compatible with international standard formats, and automatic identification does not need to be configured.
The controller, system power supply control circuit has the button operation promptly to be furnished with lithium cell and hardware circuit, external button and lithium cell of controller hardware circuit, the button is as controller external data interface, can directly realize the parameter setting, and the lithium cell is for taking power supply unit certainly. Can take 12v lithium cell certainly, capacity 2600mAh, conveniently install alone and use on the ship, dispose external charger. The controller is connected with an external interface, and an LCD display screen is arranged on the external interface, so that the measured depth can be displayed in real time; the measured depth may be saved to the TF memory card. For different depths of water areas, measurement configuration parameters such as adaptive measurement and the like can be set.
Possess the data output interface on the external interface, can in time export RS232 interface or RS485 interface with measured data, make things convenient for the third party integrated. An external GPS input interface is reserved, engineering survey recording requirements are facilitated, the method is compatible with international standard formats, and automatic identification does not need to be configured. And the standard configuration 8G data storage space can be expanded to 32G, and the continuous measurement requirement of any scene data is met.
The external interface also comprises a display screen used for interacting the interface, displaying the measured data in real time and monitoring the equipment state; the key is used for parameter configuration and modification; the external GPS equipment interface is used for engineering actual measurement, can be directly accessed into the GPS equipment and records real-time position information. Simple operation, simple output format, providing detailed technical support data, and facilitating third party integration and independent use
The signal transmitting and receiving circuit comprises a transmitting loop and a receiving loop, wherein the transmitting loop can perform signal generation, signal modulation and signal amplification; the receiving loop is used for pre-processing (filtering, amplifying, demodulating) and post-processing (demodulating) the signal. The loop can measure the sludge condition of the river channel by sending pulse signals with different ultrasonic frequencies.
The system power supply control can be used for startup and shutdown and comprises an internal battery and an external power supply automatic switching control, wherein the external power supply automatic switching control can provide external power supply automatic detection, preferentially uses external power supply, and automatically charges when the voltage of the internal battery is lower than that of the external power supply.
Claims (6)
1. The utility model provides an unmanned ship formula depth finder which characterized in that includes: the system power supply control circuit, the attitude monitoring circuit, the signal receiving and transmitting circuit and the external interface are respectively connected with the signal processing unit; the system power supply control circuit, the circuit board power circuit and the signal receiving and transmitting circuit are connected in sequence.
2. The unmanned marine depth finder of claim 1, wherein the attitude monitoring circuit comprises: the SDA port of the chip U15 is connected with the second end of the resistor R69, and the first end of the resistor R69 is connected with 3.3V voltage; a first end of the resistor R68 is connected with 3.3V voltage, and a second end of the resistor R68 is connected with an SCL port of the chip U15; the CPOUT port of the chip U15 is connected with the second end of the capacitor C73, and the first end of the capacitor C73 is grounded; the VLOGIC port of the chip U15 is connected with a first end of a capacitor C82, and a second end of the capacitor C82 is grounded; the REGOUT port of the chip U15 is connected with the first end of the capacitor C81, and the second end of the capacitor C81 is grounded; the INT port of the chip U15 is connected to a first end of the resistor R98, and a second end of the resistor R98 is connected to the PB6_ INT output port.
3. The unmanned depth finder of claim 1, wherein the depth finder employs an ultrasonic probe, and a measurement wave velocity angle of the ultrasonic probe is 8 degrees.
4. The unmanned depth finder of claim 1, wherein the system power control circuitry comprises a one-key switch circuit; the one-key power on/off circuit comprises: a KILL port of the chip U26 is connected with a second end of the resistor R135, a first end of the resistor R135 is connected with a first end of the capacitor C114, and a second end of the capacitor C114 is grounded; a first end of the resistor R135 is connected with a BATT _ IN port of the system power supply control circuit; the ONT port of the chip U26 is connected with the first end of the capacitor C115, and the second end of the capacitor C115 is grounded; an OPPT port of the chip U26 is connected with a first end of a capacitor C116, and a second end of the capacitor C116 is grounded; the EN port and the ONT port of the chip U26 are respectively connected with the BOOST _ EN port and the POWER _ KEY port of the system POWER supply control circuit.
5. The unmanned depth finder of claim 1, wherein the signal processing unit is configured for digital signal processing, time calculation, distance calculation, error processing, and attitude compensation correction.
6. The unmanned depth finder of claim 1, wherein the depth finder is connected to an upper computer through a wireless network; the depth finder transmits the attitude data to an upper computer in real time; the external interface comprises a display screen, a key and an external GPS equipment interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202221777842.4U CN217877687U (en) | 2022-07-08 | 2022-07-08 | Unmanned ship type depth finder |
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| CN202221777842.4U CN217877687U (en) | 2022-07-08 | 2022-07-08 | Unmanned ship type depth finder |
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| CN217877687U true CN217877687U (en) | 2022-11-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117452336A (en) * | 2023-10-25 | 2024-01-26 | 东北大学 | Unmanned aerial vehicle sound event detection positioning device |
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2022
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117452336A (en) * | 2023-10-25 | 2024-01-26 | 东北大学 | Unmanned aerial vehicle sound event detection positioning device |
| CN117452336B (en) * | 2023-10-25 | 2024-06-04 | 东北大学 | Unmanned aerial vehicle sound event detection positioning device |
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