CN104407320A - Control device capable of detecting surrounding object direction angle underwater - Google Patents
Control device capable of detecting surrounding object direction angle underwater Download PDFInfo
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- CN104407320A CN104407320A CN201410681561.2A CN201410681561A CN104407320A CN 104407320 A CN104407320 A CN 104407320A CN 201410681561 A CN201410681561 A CN 201410681561A CN 104407320 A CN104407320 A CN 104407320A
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- ultrasound wave
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- brushless motor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A control device capable of detecting a surrounding object direction angle underwater comprises ultrasonic receiving probes Y1 and Y2, an ultrasonic wave transmitter probe, a loudspeaker port, a direct-current brushless motor, a rotary platform and a controller. The controller is mounted beside the rotary platform, the direct-current brushless motor is mounted on the rotary platform, the ultrasonic transmitter probe and the ultrasonic receiving probes Y1 and Y2 are arranged on a rotary shaft of the direct-current brushless motor, the ultrasonic receiving probes Y1 and Y2 are arranged right above the ultrasonic transmitter probe, the ultrasonic transmitter probe is provided with the loudspeaker port, the controller is connected with ultrasonic receiving probes Y1 and Y2, the ultrasonic transmitter probe and the direct-current brushless motor through leads, and an ultrasonic direction angle measuring circuit is arranged in the controller. The control device improves accuracy of the target object, has the advantages of low operation cost and simple structure, can provide a new concept for automatic working of underwater manipulators and is quite convenient in use.
Description
Technical field
The present invention relates to a kind of control device detecting ambient Block direction angle under water, belong to automation equipment field.
Background technology
The underwater manipulator technology of AUTONOMOUS TASK ability indicates a national high-tech development level in ocean to a certain extent.Current, underwater manipulator extensively uses master-slave mode to carry out operation, and operation process needs the manipulation of operator, manipulation arm end effector then needs operator to concentrate one's energy especially, usual operator can be tired nervous, and homework precision can not be guaranteed, if all the more so under disadvantageous sea situation.In addition, be subject to complicated hydrodynamic impact, underwater manipulator servocontrol characteristic can change, and precise operation is also difficult to be realized.
In view of current underwater manipulator remote operation height depends on operator, its complex operation and be difficult to ensure the situation of homework precision is a urgent problem at present.For improving this situation, patent of the present invention provides a kind of scheme detecting ambient Block direction angle under water, and it can realize the direction discernment of underwater manipulator to ambient block, thus reaches the target of AUTONOMOUS TASK, thus decreases the link that operator participates in.
Summary of the invention
The object of this invention is to provide a kind of control device detecting ambient Block direction angle under water.
The problem to be solved in the present invention is the deficiency that existing underwater manipulator remote operation height depends on operator.
For realizing object of the present invention, the technical solution used in the present invention is:
A kind of control device detecting ambient Block direction angle under water, comprise ultrasound wave receiving transducer Y1, Y2, ultrasound wave transmitting probe, amplify mouth, DC brushless motor, turntable and controller, described turntable is other is provided with controller, turntable is provided with DC brushless motor, the rotating shaft of DC brushless motor is provided with a ultrasound wave transmitting probe and two ultrasound wave receiving transducer Y1, Y2, ultrasound wave receiving transducer Y1, Y2 is positioned at directly over ultrasound wave transmitting probe, ultrasound wave transmitting probe is provided with the mouth that amplifies, controller is by wire and ultrasound wave receiving transducer Y1, Y2, ultrasound wave transmitting probe, DC brushless motor is connected, ultrasound wave deflection metering circuit is provided with in controller.
Ultrasound wave receiving transducer Y1 in described ultrasound wave deflection metering circuit, Y2 respectively with resistance R1, one end of R8 is connected, resistance R1, the other end of R8 respectively with integrated transporting discharging IC1a, the backward end of IC1b is connected, resistance R3, R10 is connected on integrated transporting discharging IC1a respectively, the end in the same way of IC1b, R1, R2, R3, IC1a and R8, R9, R10, IC1b forms two-way operational amplification circuit respectively, C1, L1 and C3, L2 forms two-way LC frequency selection circuit respectively, resistance R4, R11 respectively with voltage comparator ic 2a, the end of oppisite phase of IC2b is connected, resistance R5, R12 is connected on voltage comparator ic 2a respectively, the end in the same way of IC2b, voltage comparator ic 2a, the output terminal of IC2b respectively with resistance R6, one end of R13 is connected, voltage comparator ic 2a, the output terminal of IC2b is connected on the input end of XOR gate IC3, the output terminal of XOR gate IC3 is the input end of the selective frequency filter circuit that resistance R7 and electric capacity C2 are formed.
Ultrasound wave receiving transducer Y1 in described ultrasound wave deflection metering circuit, Y2 receives the ultrasound wave response signal returned from barrier, ultrasound wave Receiver inside includes a tuned circuit, make to only have frequency could be received close to the signal of 40Khz, the signal of other frequency is then filtered, by with operational amplifier IC1a, IC1b is that the amplifying circuit of key components amplifies the ultrasound wave response signal received, then the frequency selection circuit consisted of electric capacity C1 and inductance L 1 carries out filtering process again, two-way sinusoidal signal after frequency-selecting is again respectively through voltage comparator ic 2a, IC2b compares over the ground, after utilizing resistance R6 to carry out current limliting, make two-way voltage comparator ic 2a, IC2b exports a road Transistor-Transistor Logic level respectively, i.e. U
o1,u
o2, U
o1,u
o2dutycycle close to 50% square wave, frequency is all close to 40KHz, but there is certain phase differential, judges the left side or the right that front square object block is positioned at ultrasonic receiver by detecting this two-way dutycycle close to the advanced or delayed of 50% square wave phase.
Advantage of the present invention is: the deflection that can detect ambient block under water, just can control underwater manipulator and move near thing block, thus mechanical arm can implement corresponding action to thing block; Which overcome artificial participation link too much in underwater manipulator operation process, the exact shift achieving Controller of Underwater Manipulator controls and AUTONOMOUS TASK, improve the precision finding object block, have that operating cost is low, the simple feature of structure, there is provided a kind of new approaches can to the AUTONOMOUS TASK of underwater manipulator, use suitable convenience, market outlook widely should be had.
Accompanying drawing explanation
Fig. 1 is a kind of stereographic map detecting the control device at ambient Block direction angle under water of the present invention;
Fig. 2 is a kind of schematic diagram detecting the control device ultrasound wave deflection metering circuit at ambient Block direction angle under water of the present invention;
In figure: 1, ultrasound wave receiving transducer Y1, Y2 2, ultrasound wave transmitting probe 3, the mouth 4 that amplifies, DC brushless motor 5, turntable 6, controller.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated.
A kind of control device detecting ambient Block direction angle under water, comprise ultrasound wave receiving transducer Y1, Y2, ultrasound wave transmitting probe 2, amplify mouth 3, DC brushless motor 4, turntable 5 and controller 6, described turntable 5 is other is provided with controller 6, turntable 5 is provided with DC brushless motor 4, the rotating shaft of DC brushless motor 4 is provided with a ultrasound wave transmitting probe 2 and two ultrasound wave receiving transducer Y1, Y2, ultrasound wave receiving transducer Y1, Y2 is positioned at directly over ultrasound wave transmitting probe 2, ultrasound wave transmitting probe 2 is provided with the mouth 3 that amplifies, controller 6 is by wire and ultrasound wave receiving transducer Y1, Y2, ultrasound wave transmitting probe 2, DC brushless motor 4 is connected, ultrasound wave deflection metering circuit is provided with in controller 6.
Ultrasound wave receiving transducer Y1, Y2 in described ultrasound wave deflection metering circuit are connected with one end of resistance R1, R8 respectively, the other end of resistance R1, R8 is connected with the backward end of integrated transporting discharging IC1a, IC1b respectively, resistance R3, R10 are connected on the end in the same way of integrated transporting discharging IC1a, IC1b respectively, and R1, R2, R3, IC1a and R8, R9, R10, IC1b form two-way operational amplification circuit respectively.C1, L1 and C3, L2 form two-way LC frequency selection circuit respectively, resistance R4, R11 are connected with the end of oppisite phase of voltage comparator ic 2a, IC2b respectively, resistance R5, R12 are connected on the end in the same way of voltage comparator ic 2a, IC2b respectively, the output terminal of voltage comparator ic 2a, IC2b is connected with one end of resistance R6, R13 respectively, the output terminal of voltage comparator ic 2a, IC2b is connected on the input end of XOR gate IC3, and the output terminal of XOR gate IC3 is the input end of the selective frequency filter circuit that resistance R7 and electric capacity C2 are formed.
Ultrasound wave receiving transducer Y1 in described ultrasound wave deflection metering circuit, Y2 receives the ultrasound wave response signal returned from barrier, ultrasound wave Receiver inside includes a tuned circuit, make to only have frequency could be received close to the signal of 40Khz, the signal of other frequency is then filtered, by with operational amplifier IC1a, IC1b is that the amplifying circuit of key components amplifies the ultrasound wave response signal received, then the frequency selection circuit consisted of electric capacity C1 and inductance L 1 carries out filtering process again, two-way sinusoidal signal after frequency-selecting is again respectively through voltage comparator ic 2a, IC2b compares over the ground, after utilizing resistance R6 to carry out current limliting, make two-way voltage comparator ic 2a, IC2b exports a road Transistor-Transistor Logic level respectively, i.e. U
o1,u
o2, U
o1,u
o2dutycycle close to 50% square wave, frequency is all close to 40KHz, but there is certain phase differential, judges the left side or the right that front square object block is positioned at ultrasonic receiver by detecting this two-way dutycycle close to the advanced or delayed of 50% square wave phase.
The key component of ultrasound wave response signal treatment circuit design is just have the square wave of certain phase differential to become the square wave of another dutycycle, frequency by XOR gate IC3 two-way, and carry out filtering process by the low pass frequency selection circuit that resistance R7 and C2 forms, thus the phase differential size of two-way ultrasound wave response signal is converted to the stable constant DC voltage U of output
o2size, thus, under water, the phase differential of two response signals that the deflection of square object block records with a pair ultrasound wave Receiver Y1, Y2 becomes some linear.
Principle of work of the present invention: ultrasound wave receiving transducer size and choosing of spacing can have very large impact to the performance of system, it directly determines the precision that deflection detects, first, it is too large that this mistiming can not do, that can not do is too little, be the ultrasound wave of 40KHz for frequency, mistiming is maximum can not be greater than 25 μ S, otherwise the normal measurement at meeting interference radiating way angle, mistiming minimum value will be determined according to the interrupt response time of controller built-in type system, therefore, two ultrasound wave receiving transducer Y1, the size of Y2 and two ultrasound wave receiving transducer Y1, the distance of Y2 on pcb board must experimentally adjust, inadvisable too greatly.As long as the external interrupt response speed of embedded system is enough fast, a little bit smaller harmless.Embedded system U2 controls ultrasonic transmit circuit and sends the ultrasonic signal that frequency is 40KHz, the cycle is 25 μ S.When the surrounding detecting front square object Block direction angle apparatus does not under water have thing block, ultrasound wave receiving transducer Y1, Y2 do not receive echoed signal, embedded system U2 also just can not detect the two-way square-wave signal close to 40KHz, before detecting so under water, square object Block direction angle apparatus can ceaselessly rotate with a certain speed the thing block searching for surrounding, the real time position of the rotating disk in rotary course is converted to corresponding output voltage by potentiometer, by giving embedded system U2 after analog to digital converter process, embedded system U2 process also calculates rotation angle value α
1, ultrasound wave transmits once just return immediately after encountering the barrier in front, makes ultrasound wave receiving transducer Y1, Y2 echoed signal be detected, and embedded system U2 judges by external interrupt pin the square-wave signal U that Y1, Y2 are corresponding
o1, U
o3phase place advanced or delayed (judging that the advanced or delayed method of phase place is detected the time order and function of interrupt response), if U
o1the advanced U of phase place
o3, representative block is positioned at the direction to the left of ultrasonic receiver axis, so works as U
o1delayed phase U
o3time, representative block is positioned at the direction to the right of ultrasonic receiver axis, the output signal U in figure mono-
o2be a DC quantity, DC voltage U
o2size and the phase differential of two-way response signal linear, DC quantity U
o2carry out after modulus turns, just can giving embedded system U2 process and changing, just can obtain the direction angle alpha of front square object block relative to ultrasonic receiver axis
2; Thus, the absolute direction angle size of ambient block under water can be calculated, i.e. size=rotation angle value α 1+ relative direction angle value the α 2 at absolute direction angle; Turntable is driven by brshless DC motor, and when searching thing block, the brshless DC motor that controller controls on turntable stops operating immediately, and automatically starts calculated direction angle, therefore substantially increases intelligent level.
Claims (3)
1. one kind is detected the control device at ambient Block direction angle under water, comprise ultrasound wave receiving transducer Y1, Y2, ultrasound wave transmitting probe (2), amplify mouth (3), DC brushless motor (4), turntable (5) and controller (6), it is characterized in that: described turntable (5) is other is provided with controller (6), turntable (5) is provided with DC brushless motor (4), the rotating shaft of DC brushless motor (4) is provided with a ultrasound wave transmitting probe (2) and two ultrasound wave receiving transducer Y1, Y2, ultrasound wave receiving transducer Y1, Y2 is positioned at directly over ultrasound wave transmitting probe (2), ultrasound wave transmitting probe (2) is provided with the mouth that amplifies (3), controller (6) is by wire and ultrasound wave receiving transducer Y1, Y2, ultrasound wave transmitting probe (2), DC brushless motor (4) is connected, ultrasound wave deflection metering circuit is provided with in controller (6).
2. a kind of control device detecting ambient Block direction angle under water according to claim 1, is characterized in that: the ultrasound wave receiving transducer Y1 in described ultrasound wave deflection metering circuit, Y2 respectively with resistance R1, one end of R8 is connected, resistance R1, the other end of R8 respectively with integrated transporting discharging IC1a, the backward end of IC1b is connected, resistance R3, R10 is connected on integrated transporting discharging IC1a respectively, the end in the same way of IC1b, R1, R2, R3, IC1a and R8, R9, R10, IC1b forms two-way operational amplification circuit respectively, C1, L1 and C3, L2 forms two-way LC frequency selection circuit respectively, resistance R4, R11 respectively with voltage comparator ic 2a, the end of oppisite phase of IC2b is connected, resistance R5, R12 is connected on voltage comparator ic 2a respectively, the end in the same way of IC2b, voltage comparator ic 2a, the output terminal of IC2b respectively with resistance R6, one end of R13 is connected, voltage comparator ic 2a, the output terminal of IC2b is connected on the input end of XOR gate IC3, and the output terminal of XOR gate IC3 is the input end of the selective frequency filter circuit that resistance R7 and electric capacity C2 are formed.
3. a kind of control device detecting ambient Block direction angle under water according to claim 1, it is characterized in that: the ultrasound wave receiving transducer Y1 in described ultrasound wave deflection metering circuit, Y2 receives the ultrasound wave response signal returned from barrier, ultrasound wave Receiver inside includes a tuned circuit, make to only have frequency could be received close to the signal of 40Khz, the signal of other frequency is then filtered, by with operational amplifier IC1a, IC1b is that the amplifying circuit of key components amplifies the ultrasound wave response signal received, then the frequency selection circuit consisted of electric capacity C1 and inductance L 1 carries out filtering process again, two-way sinusoidal signal after frequency-selecting compares over the ground respectively through voltage comparator ic 2a, IC2b again, after utilizing resistance R6 to carry out current limliting, makes two-way voltage comparator ic 2a, IC2b export road Transistor-Transistor Logic level, i.e. a U respectively
o1,u
o2,
U
o1,u
o2dutycycle close to 50% square wave, frequency is all close to 40KHz, but there is certain phase differential; Judge close to the advanced or delayed of phase place of the square wave of 50% left side or the right that front square object block is positioned at ultrasonic receiver by detecting this two-way dutycycle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410681561.2A CN104407320A (en) | 2014-11-25 | 2014-11-25 | Control device capable of detecting surrounding object direction angle underwater |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410681561.2A CN104407320A (en) | 2014-11-25 | 2014-11-25 | Control device capable of detecting surrounding object direction angle underwater |
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| CN104407320A true CN104407320A (en) | 2015-03-11 |
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| CN201410681561.2A Pending CN104407320A (en) | 2014-11-25 | 2014-11-25 | Control device capable of detecting surrounding object direction angle underwater |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107981886A (en) * | 2017-11-23 | 2018-05-04 | 西安电子科技大学 | The analog signal processing circuit of ultrasonic imaging |
Citations (3)
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|---|---|---|---|---|
| JPH09292455A (en) * | 1996-04-30 | 1997-11-11 | Nec Corp | Detecting apparatus for position of underwater target |
| CN102879785A (en) * | 2012-09-22 | 2013-01-16 | 华南理工大学 | Method and system for detecting underwater objects based on frequency spectrum cognition and segmented frequency-hopping frequency modulation |
| CN103762421A (en) * | 2013-11-28 | 2014-04-30 | 电子信息***复杂电磁环境效应国家重点实验室 | Space beam scanning antenna system based on signals and method |
-
2014
- 2014-11-25 CN CN201410681561.2A patent/CN104407320A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09292455A (en) * | 1996-04-30 | 1997-11-11 | Nec Corp | Detecting apparatus for position of underwater target |
| CN102879785A (en) * | 2012-09-22 | 2013-01-16 | 华南理工大学 | Method and system for detecting underwater objects based on frequency spectrum cognition and segmented frequency-hopping frequency modulation |
| CN103762421A (en) * | 2013-11-28 | 2014-04-30 | 电子信息***复杂电磁环境效应国家重点实验室 | Space beam scanning antenna system based on signals and method |
Non-Patent Citations (1)
| Title |
|---|
| 陈庭勋等: "基于超声波的方向角测量方案研究", 《实验技术与管理》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107981886A (en) * | 2017-11-23 | 2018-05-04 | 西安电子科技大学 | The analog signal processing circuit of ultrasonic imaging |
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Application publication date: 20150311 |
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