CN107741589A - A kind of Underwater Navigation detection system based on ultrasonic wave - Google Patents
A kind of Underwater Navigation detection system based on ultrasonic wave Download PDFInfo
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- CN107741589A CN107741589A CN201711201452.6A CN201711201452A CN107741589A CN 107741589 A CN107741589 A CN 107741589A CN 201711201452 A CN201711201452 A CN 201711201452A CN 107741589 A CN107741589 A CN 107741589A
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of Underwater Navigation detection system based on ultrasonic wave, it is related to undersea detection technical field, to solve prior art using launching ultrasonic signal and receiving its echo-signal positioning measurement, the shortcomings that precision is low and operating rate is slow is present；It includes underwater body, the underwater body is provided with the control assembly of control coordinate detection, the control assembly includes human-computer interaction module, power module and the processor being connected respectively with power module, transmitter module, receiving module, A/D modular converters, D/A modular converters, and the transmitter module includes ultrasonic wave transmitting probe and laser emission probe；Also include the runner assembly of driving laser emission probe rotational positioning, the runner assembly includes drive module, and the drive module is connected with power module and processor respectively.By implementing the technical program, to realize the flexible rotating coordinate detection position for controlling laser emission probe, higher detection accuracy is realized.
Description
Technical field
The present invention relates to undersea detection technical field, is detected more particularly to a kind of Underwater Navigation based on ultrasonic wave
System.
Background technology
In recent years, undersea detection search technique is the important content of ocean observation technology, and ocean stereo monitoring net
Part, it is mainly used in underwater acoustic technology, underwater television and camera technique, submersible and underwater robot technology etc..At present
Diver is on the one hand that the method for directly taking artificial visual is searched under water used by reconnaissance probe, positioning in method
Rope, and borrow the auxiliary equipments such as steel ruler, tape measure and positioned, such a method is due to using eye recognition therefore visibility and accurately
All there is limitation in degree, be even more particularly to be difficult to search under the aquatic environment of dirt；On the other hand then use and regard under water
The big-and-middle-sized high-end devices such as frequency device, submersible, underwater robot, this kind equipment is not only complicated, bulky, cost is high
It is high, and the technical barrier for being difficult to measurement angle be present.
For above-mentioned technical problem, Application No. CN201610339580.6 patent discloses a kind of deep-sea far from bottom height
Measuring system, including underwater acoustic transducer, for launching ultrasonic signal and receiving its echo-signal；Radiating circuit, for exporting
Complementary pulse signal is to drive underwater acoustic transducer to start working；Receiving circuit, for receiving the echo-signal of underwater acoustic transducer, and
Echo-signal is amplified, frequency reducing and filtering process；Frequency control circuit, for radiating circuit and receiving circuit provide with
The sinusoidal signal that underwater acoustic transducer working frequency matches；Microcontroller, controlled by controlling the parameter of frequency control circuit
Radiating circuit processed sends complementary pulse signal, while the echo-signal of receiving circuit, and carries out signal analysis and processing；Communication electricity
Road, transmitted for microcontroller to be obtained into measurement altitude information to undersea detection system.The technical scheme can accurately measure deep-sea
From bottom height, but the technical scheme still has following weak point：1st, marine organisms and bacterium are easily made to measuring instrument
Into damage, influence normally to measure；2nd, using launching ultrasonic signal and receiving its echo-signal positioning measurement, exist precision it is low and
The shortcomings that operating rate is slow.
The content of the invention
The deficiencies in the prior art in view of the above, it is an object of the invention to provide a kind of underwater fixed based on ultrasonic wave
Position detector system, to realize location control measurement position, and realize higher detection accuracy.
The present invention specifically uses following technical scheme to achieve these goals：
A kind of Underwater Navigation detection system based on ultrasonic wave, including underwater body, the underwater body are provided with control
The control assembly of coordinate detection, the control assembly include human-computer interaction module, power module and are connected respectively with power module
Processor, transmitter module, receiving module, A/D modular converters, D/A modular converters, the transmitter module passes through D/A moduluss of conversion
Block is connected with processor, and the control parameter of setting is converted to analog signal control transmitting mould by processor by D/A modular converters
Block；The receiving module is connected by A/D modular converters with processor, and the analog signal come is sent back through A/D from receiving module
Modular converter is converted to data signal and is sent to processor processing, and the transmitter module includes ultrasonic wave transmitting probe and laser is sent out
Penetrate probe；Also include the runner assembly of driving laser emission probe rotational positioning, the runner assembly includes drive module, described
Drive module is connected with power module and processor respectively.
The operation principle of base case of the present invention is：During carrying out deep-sea coordinate detection, transmitter module includes ultrasonic wave
Transmitting probe and laser emission probe, include the runner assembly of driving laser emission probe rotational positioning, laser hair can be achieved
180 ° of rotation detections of probe are penetrated, when body slips into deep-sea under water, are launched using laser emission probe and ultrasonic wave transmitting probe
To target object, ultrasonic wave is produced after target object absorbs laser and ultrasonic wave and is received by receiving module, from reception mould
The analog signal that block is sent back is converted to data signal through A/D modular converters and is sent to processor processing, so as to analyze and process
Obtain the characteristic information of target object；Laser emission probe is provided with the basis of ultrasonic wave transmitting probe in the program, is kept away
Exempt from the prior art just with transmitting ultrasonic signal and receive its echo-signal positioning measurement, exist precision it is low and work speed
Spend the shortcomings that slow；And the runner assembly rotated by the controllable driving laser emission probe of processor automates rotational positioning,
Realize that laser emission probe multi-directional rotation detects, realize higher detection accuracy.
Further, the underwater body includes body, flow guiding head and propeller, before the flow guiding head is fixed on body
End, the propeller are fixed on body rear end, and the drive mechanism of driving propeller rotational is provided with the body.Installed in body
The flow guiding head of front end causes tube cavity to form closed space to install drive mechanism, and drive mechanism provides for underwater body
Power promotes underwater body to be moved freely at deep-sea, carries the apparatus of detecting objects body, has small volume, active and intelligent is excellent
Point.
Further, the quantity of the ultrasonic wave transmitting probe is that 2,2 ultrasonic wave transmitting probes are separately mounted to
Body close to the both sides of flow guiding head one end, and the angle of the longitudinal axis of 2 ultrasonic wave transmitting probes and body longitudinal axis be 8 °-
15°.Receiving module is specially ultrasonic wave receiving transducer；2 ultrasonic wave transmitting probes and body are in 8 ° of -15 ° of angles, through applicant
Detection experiment can obtain, and when baffle travels forward 2 ultrasonic wave transmitting probes can be avoided directly to be handed over flowing water front
Converge, there is larger resistance, and do not influence ultrasonic wave transmitting probe transmitting ultrasonic wave；And in baffle front end installation ultrasonic wave transmitting
Probe, the organism that can be interfered to detection expel, and avoid organism from directly causing impact wreckage to underwater body, and
Avoid injuring aquatic organism body.
Further, the runner assembly includes fixed shell, roll-shell, in fixed shell interior edge fixed shell axial direction
It is provided with rotating shaft A, the drive module includes motor A, and described rotating shaft A one end is defeated by bevel gear and motor A's
Go out axis connection, the rotating shaft A other end is fixedly connected with roll-shell, and the laser emission probe is arranged on roll-shell.Drive
Dynamic motor A drive shafts A rotates the laser emission probe that can be achieved to be connected on roll-shell and does 180 ° of reciprocating rotatings along rotating shaft A
Motion, specifically Bevel Gear Transmission is used between rotating shaft A and motor A, is had small volume and is realized the function of fine rotational, no
Easily disturbed by external environment.
Further, rotating shaft B is axially additionally provided with the fixed shell interior edge fixed shell, is set in the roll-shell
Rotating shaft C is equipped with, the rotating shaft B is set in rotating shaft A, and the drive module also includes motor B, and described rotating shaft B one end leads to
The output axis connection of bevel gear and the motor B is crossed, the rotating shaft B other end extends in roll-shell and passes through bevel gear
It is connected with rotating shaft C, the laser emission probe is connected with rotating shaft C.Motor B drive shafts B, which is rotated and driven to be arranged on, to be turned
Rotating shaft C in dynamic housing rotates, so as to drive the laser emission probe in rotating shaft C to do 180 ° of reciprocating rotatings along rotating shaft C
Motion, the compact stabilization of structure design, and the flexible rotating of laser emission probe is realized, realize higher detection accuracy.
Further, the rotating shaft C both ends are respectively arranged with upper flange and lower wing plate, are set between upper flange and lower wing plate
There are rotating shaft D, axle sleeve, micro-step motor and the installing plate with two wing plates in integrally connected, the axle sleeve to be set in rotating shaft D
And be threadedly coupled with rotating shaft D, described rotating shaft D one end through upper flange and micro-step motor output axis connection, rotating shaft D it is another
End is connected with lower wing plate by bearing；The laser emission probe is fixedly mounted on axle sleeve, and installing plate is provided with and supplies laser
The through hole that transmitting probe passes through.Rotating shaft D is driven to rotate by micro-step motor, so as to drive the axle sleeve being set in rotating shaft D
Moved axially along rotating shaft, realization is connected to the laser emission probe on axle sleeve and launches laser along multi-angle on the outside of through hole, realizes and visits
Head multi-angle flexible rotating, it is ensured that measurement accuracy.
Further, it is provided with Polyvinylidene Fluoride Coatings layer on the outside of the fixed shell and roll-shell.Kynoar applies
Material rises with good chemical resistance, excellent impact resistance intensity and oxidative resistance, therefore to the permeability resistance of film
Very big effect, it is adapted to etching condition more severe steel pipe in deep-sea to use, avoids biology or Bacteria destroyed rotating group in deep-sea
Part.
Further, in addition to ultrasonic transducer, described ultrasonic transducer one end are connected with ultrasonic wave transmitting probe,
The other end and D/A modular converters.So that the changeable frequency of ultrasonic wave transmitting probe transmitting, therefore can be used for driveing abyssopelagic organism
Body, prevent abyssopelagic organism body interference detection accuracy and avoid underwater body from being collided with abyssopelagic organism body.
Further, in addition to image capture module, described image acquisition module is Minitype underground camera, and Miniature water
Lower camera is connected with processor.Minitype underground camera specifically can be set on a mounting board, as runner assembly moves laser hair
Penetrating can monitoring deep sea environment and detection event, and control ultrasonic wave by human-computer interaction module in real time while popping one's head in rotational positioning
The generation coordinate detection direction of transmitting probe and laser emission probe.
Further, in addition to audible-visual annunciator, the audible-visual annunciator are connected with processor.Detect that organism is close
When, alarm can be made by audible-visual annunciator, avoid abyssopelagic organism body from hitting underwater body.
As described above, beneficial effects of the present invention are as follows：
1st, transmitter module includes ultrasonic wave transmitting probe and laser emission probe in the present invention, and it is fast and fixed that speed occurs for laser
Level is true, and laser emission probe is provided with the basis of ultrasonic wave transmitting probe, avoids in the prior art just with transmitting
, the shortcomings that precision is low and operating rate is slow be present in ultrasonic signal and its echo-signal positioning measurement of reception.
2nd, the runner assembly of driving laser emission probe rotational positioning is additionally provided with the present invention, Laser emission can be achieved and visit
First 180 ° of rotation detections, specifically, motor A drive shafts A rotate the Laser emission that can be achieved to be connected on roll-shell
Probe does 180 ° of reciprocating rotatings along rotating shaft A and moved, and specifically uses Bevel Gear Transmission between rotating shaft A and motor A, has volume
Function that is small and realizing fine rotational, it is not easy to disturbed by external environment；Further, motor B drive shafts B turns
Move and drive the rotating shaft C in roll-shell to rotate, so as to drive the laser emission probe in rotating shaft C along rotating shaft
C does 180 ° of reciprocating rotating motions, the compact stabilization of structure design, and realizes the flexible rotating of laser emission probe, realizes higher spy
Survey precision.
3rd, the present invention is provided with Minitype underground camera on a mounting board, as runner assembly moves laser emission probe rotation
While positioning can monitoring deep sea environment and detection event in real time, and by human-computer interaction module control ultrasonic wave transmitting probe and
The generation coordinate detection direction of laser emission probe.
4th, to be separately mounted to body close for 2,2 ultrasonic wave transmitting probes for the quantity of ultrasonic wave transmitting probe in the present invention
The both sides of flow guiding head one end, and the angle of the longitudinal axis of 2 ultrasonic wave transmitting probes and body longitudinal axis is 8 ° -15 °, through application
People detects experiment and can obtained, and when baffle travels forward 2 ultrasonic wave transmitting probes can be avoided directly to be handed over flowing water front
Converge, there is larger resistance, and do not influence ultrasonic wave transmitting probe transmitting ultrasonic wave；And in baffle front end installation ultrasonic wave transmitting
Probe, the organism that can be interfered to detection expel, and avoid organism from directly causing impact wreckage to underwater body, together
When avoid injure aquatic organism body.
5th, receiving module is specially ultrasonic wave receiving transducer in the present invention, specifically the ultrasonic wave of three-dimensional orthogonal can be used to receive
Linear transducer array structure, undersea detection path can be measured in target positioning, overcome direct requirement known to target location
In the case of the limitation that can just measure, practicality is good.
Brief description of the drawings
Fig. 1 is the flow chart of control assembly in a kind of Underwater Navigation detection system based on ultrasonic wave of the present invention；
Fig. 2 is the section of structure of runner assembly in a kind of Underwater Navigation detection system based on ultrasonic wave of the present invention；
Fig. 3 is a kind of schematic diagram of the Underwater Navigation detection system reclaimed water lower body based on ultrasonic wave of the present invention.
Reference：The underwater bodies of 01-, 02- bodys, 03- flow guiding heads, 04- propellers, 05- ultrasonic waves transmitting probe,
06- runner assemblies, 07- fixed shells, 08- roll-shells, 09- rotating shaft A, 10- motor A, 11- rotating shafts B, 12- driving electricity
Machine B, 13- rotating shaft C, 14- laser emission probes, 15- rotating shaft Ds, 16- upper flanges, 17- lower wing plates, 18- micro-step motors, 19-
Through hole, 20- Minitype undergrounds camera, 21- axle sleeves, 22- installing plates.
Embodiment
In order to which those skilled in the art are better understood from the present invention, below in conjunction with the accompanying drawings with following examples to the present invention
It is described in further detail.
Embodiment 1
Refer to shown in Fig. 1 to Fig. 2, the present embodiment provides a kind of Underwater Navigation detection system based on ultrasonic wave, including
Underwater body 01, underwater body 01 include body 02, flow guiding head 03 and propeller 04, and flow guiding head 03 is fixed on the front end of body 02,
Propeller 04 is fixed on the rear end of body 02, and the drive mechanism that driving propeller 04 rotates is provided with body 02.Installed in body 02
The flow guiding head 03 of front end causes the inner chamber of body 02 to form closed space to install drive mechanism, and drive mechanism is underwater body
01 offer power promotes underwater body 01 to be moved freely at deep-sea, carries the apparatus of detecting objects body, has small volume, flexibly
The advantages of quick.
Further, underwater body 01 is provided with the control assembly of control coordinate detection, and control assembly includes man-machine interaction
Module, power module and the processor being connected respectively with power module, transmitter module, receiving module, A/D modular converters, D/A turn
Block is changed the mold, transmitter module is connected by D/A modular converters with processor, and processor changes the control parameter of setting by D/A
Module is converted to analog signal control transmitter module；Receiving module is connected by A/D modular converters with processor, from receiving module
The analog signal sent back is converted to data signal through A/D modular converters and is sent to processor processing, and transmitter module includes super
Acoustic emission probe 05 and laser emission probe 14；Speed occurs soon for laser and accurate positioning, in ultrasonic wave transmitting probe 05
On the basis of be provided with laser emission probe 14, avoid in the prior art just with transmitting ultrasonic signal and receive its echo letter
, the shortcomings that precision is low and operating rate is slow be present in number positioning measurement.
Wherein, receiving module is ultrasonic wave receiving transducer, can specifically use the ultrasonic wave of three-dimensional orthogonal of the prior art
Receiving transducer array structure, undersea detection path can be measured in target positioning, overcome direct requirement in target location
The limitation that can be just measured in the case of known, practicality are good.
In addition, also including the runner assembly 06 of the driving rotational positioning of laser emission probe 14, runner assembly 06 includes driving
Module, drive module are connected with power module and processor respectively, specifically, as shown in figure 3, runner assembly 06 includes set casing
Body 07, roll-shell 08, there is rotating shaft A09 the interior edge fixed shell 07 of fixed shell 07 is axially arranged, drive module includes driving
Motor A10, rotating shaft A09 right-hand members are by bevel gear and motor A10 output axis connection, and rotating shaft A09 left end is with rotating shell
Body 08 is fixedly connected.Motor A10 drive shafts A09 rotates the laser emission probe that can be achieved to be connected on roll-shell 08
14 move along turning A09 and do 180 ° of reciprocating rotatings, specifically use Bevel Gear Transmission between rotating shaft A09 and motor A10, have body
Product function that is small and realizing fine rotational, it is not easy to disturbed by external environment.
Further, rotating shaft B11 axially is additionally provided with 07 interior edge fixed shell of fixed shell 07, is set in roll-shell 08
Rotating shaft C 13 is equipped with, rotating shaft B11 is set in rotating shaft A09, and drive module also includes motor B12, and rotating shaft B11 right-hand members pass through
Bevel gear and motor B12 output axis connection, the left end for turning B11 are extended in roll-shell 08 and by bevel gear with turning
Axle C13 connections, laser emission probe 14 are connected with rotating shaft C 13.Motor B12 drive shafts B11, which is rotated and driven, to be arranged on
Rotating shaft C 13 in roll-shell 08 rotates, so as to drive the laser emission probe 14 in rotating shaft C 13 to be done along rotating shaft C 13
180 ° of reciprocating rotating motions, the compact stabilization of structure design, and the flexible rotating of laser emission probe 14 is realized, realize higher detection
Precision.
Specifically, the both ends of rotating shaft C 13 have been bolted upper flange 16 and lower wing plate 17, upper flange 16 and bottom wing respectively
Rotating shaft D, axle sleeve 21, micro-step motor 18 and the installing plate 22 with two wing plates in integrally connected, axle are provided between plate 17
Set 21 is set in rotating shaft D and is threadedly coupled with rotating shaft D, and rotating shaft D upper end exports through upper flange 16 with micro-step motor 18
Axis connection, the lower end of rotating shaft D are connected with lower wing plate 17 by bearing；Laser emission probe 14 is fixedly mounted on axle sleeve 21, and
Installing plate 22 is provided with the through hole 19 passed through for laser emission probe 14.Rotating shaft D is driven to rotate by micro-step motor 18, from
And drive the axle sleeve 21 being set in rotating shaft D to be moved axially along rotating shaft D, realize the laser emission probe 14 being connected on axle sleeve 21
Along the outside multi-angle transmitting laser of through hole 19, probe multi-angle flexible rotating is realized, it is ensured that measurement accuracy.
In addition, fixed shell 07 and the outside of roll-shell 08 are provided with Polyvinylidene Fluoride Coatings layer.Polyvinylidene Fluoride Coatings have
There are good chemical resistance, excellent impact resistance intensity and oxidative resistance, thus it is very big to the permeability resistance of film
Effect, be adapted to etching condition more severe steel pipe in deep-sea to use, avoid biology or Bacteria destroyed runner assembly 06 in deep-sea.
Further, the quantity of ultrasonic wave transmitting probe 05 is that 2,2 ultrasonic wave transmitting probes 05 are separately mounted to body
02 close to the both sides of the one end of flow guiding head 03, and the angle of the longitudinal axis of 2 ultrasonic wave transmitting probes 05 and the longitudinal axis of body 02 is
8°.Receiving module is specially ultrasonic wave receiving transducer；2 ultrasonic wave transmitting probes 05 and body 02 are in 8 ° of angles, through applicant
Detection experiment can obtain, and when baffle travels forward 2 ultrasonic wave transmitting probes 05 can be avoided directly to be handed over flowing water front
Converge, there is larger resistance, and do not influence ultrasonic wave transmitting probe 05 and launch ultrasonic wave；And in baffle front end installation ultrasonic wave hair
Probe 05 is penetrated, the organism that can be interfered to detection expels, and avoids organism from directly causing to collide to underwater body 01
Destroy, and avoid injuring aquatic organism body.
In addition, also including image capture module, image capture module is Minitype underground camera 20, and Minitype underground images
First 20 are connected with processor.Minitype underground camera 20 specifically may be provided on installing plate 22, as runner assembly 06 moves laser
Can monitoring deep sea environment and detection event, and controlled and surpassed by human-computer interaction module in real time while 14 rotational positioning of transmitting probe
The generation coordinate detection direction of acoustic emission probe 05 and laser emission probe 14.
Further, control assembly also includes ultrasonic transducer, and ultrasonic transducer is connected to ultrasonic wave transmitting probe
Between 05 and D/A modular converters.So that the changeable frequency that ultrasonic wave transmitting probe 05 is launched, therefore can be used for driveing abyssopelagic organism
Body, prevent abyssopelagic organism body interference detection accuracy and avoid underwater body 01 from being collided with abyssopelagic organism body.
In addition, control assembly also includes audible-visual annunciator, audible-visual annunciator is connected with processor.Detect that organism is close
When, alarm can be made by audible-visual annunciator, avoid abyssopelagic organism body from hitting underwater body 01.
In this example, during carrying out deep-sea coordinate detection, transmitter module includes ultrasonic wave transmitting probe 05 and Laser emission
Probe 14, the path for the detectable target object of ultrasonic wave that ultrasonic wave transmitting probe 05 is sent, and ultrasonic transducer can be passed through
Change ultrasonic wave transmitting probe 05 sends frequency, to expel abyssopelagic organism body close to underwater body 01, avoids organism straight
Connect and impact wreckage is caused to underwater body 01；Also include the runner assembly 06 of the driving rotational positioning of laser emission probe 14, can be real
Existing laser emission probe 14 makees 180 ° of rotation detections, when body 01 slips into deep-sea under water, passes through the starting module of runner assembly 06
In motor A10, motor B12 and micro-step motor 18, can drive laser emission probe 14 make 180 ° rotate it is fixed
Position detecting objects body, and launched using laser emission probe 14 and ultrasonic wave transmitting probe 05 to target object, treat object
Body produces ultrasonic wave after absorbing laser and ultrasonic wave and received by receiving module, and the analog signal come is sent back from receiving module
Data signal is converted to through A/D modular converters and is sent to processor processing, so as to analyze and process the feature letter for obtaining target object
Breath；Laser emission probe 14 is provided with the program on the basis of ultrasonic wave transmitting probe 05, is avoided in the prior art only
Using launching ultrasonic signal and receiving its echo-signal positioning measurement, the shortcomings that precision is low and operating rate is slow be present；And
The runner assembly 06 rotated by the controllable driving laser emission probe 14 of processor automates rotational positioning, realizes Laser emission
14 multi-directional rotations of popping one's head in detect, and realize higher detection accuracy.
In addition, can be by the real-time monitoring deep sea environment of Minitype underground camera 20 and detection event, and pass through man-machine interaction
The generation coordinate detection direction of module control ultrasonic wave transmitting probe 05 and laser emission probe 14；And made by audible-visual annunciator
Alarm, avoids abyssopelagic organism body from hitting underwater body 01, and practicality is good.
Embodiment 2
Embodiment 2 is substantially the same manner as Example 1, and its difference is：The longitudinal axis of 2 ultrasonic wave transmitting probes 05 with
The angle of the longitudinal axis of body 02 is 15 °, and angle is larger, can further avoid 2 ultrasonic wave transmitting probes 05 directly with flowing water just
Face, which crosses, produces larger resistance, and ultrasonic wave transmitting and contact are respectively provided with preferable signal launch window and signal acquisition window,
Gathered data is accurate.
Described above, only presently preferred embodiments of the present invention is not intended to limit the invention, patent protection model of the invention
Enclose and be defined by claims, the equivalent structure change that every specification and accompanying drawing content with the present invention is made, similarly
It should include within the scope of the present invention.
Claims (10)
1. a kind of Underwater Navigation detection system based on ultrasonic wave, including underwater body, it is characterised in that：On the underwater body
Provided with control coordinate detection control assembly, the control assembly include human-computer interaction module, power module and respectively with power supply
Processor, transmitter module, receiving module, A/D modular converters, the D/A modular converters of module connection, the transmitter module pass through D/
A modular converters are connected with processor, and the control parameter of setting is converted to analog signal control by processor by D/A modular converters
Transmitter module；The receiving module is connected by A/D modular converters with processor, and the analog signal come is sent back from receiving module
Through A/D modular converters be converted to data signal be sent to processor processing, the transmitter module include ultrasonic wave transmitting probe and
Laser emission probe；Also include the runner assembly of driving laser emission probe rotational positioning, the runner assembly includes driving mould
Block, the drive module are connected with power module and processor respectively.
A kind of 2. Underwater Navigation detection system based on ultrasonic wave according to claim 1, it is characterised in that：It is described underwater
Body includes body, flow guiding head and propeller, and the flow guiding head is fixed on body front end, after the propeller is fixed on body
End, the interior drive mechanism for being provided with driving propeller rotational of the body.
A kind of 3. Underwater Navigation detection system based on ultrasonic wave according to claim 2, it is characterised in that：The ultrasound
The quantity of ripple transmitting probe is that 2,2 ultrasonic wave transmitting probes are separately mounted to body close to the both sides of flow guiding head one end,
And the angle of the longitudinal axis of 2 ultrasonic wave transmitting probes and body longitudinal axis is 8 ° -15 °.
A kind of 4. Underwater Navigation detection system based on ultrasonic wave according to claim 1, it is characterised in that：The rotation
Component includes fixed shell, roll-shell, has rotating shaft A, the drive module fixed shell interior edge fixed shell is axially arranged
Including motor A, described rotating shaft A one end by bevel gear and motor A output axis connection, the rotating shaft A other end with
Roll-shell is fixedly connected, and the laser emission probe is arranged on roll-shell.
A kind of 5. Underwater Navigation detection system based on ultrasonic wave according to claim 4, it is characterised in that：Described solid
Fixed shell interior edge fixed shell is axially additionally provided with rotating shaft B, and rotating shaft C is provided with the roll-shell, and the rotating shaft B is set in
In rotating shaft A, the drive module also includes motor B, and described rotating shaft B one end is by bevel gear with the motor B's
Axis connection is exported, the rotating shaft B other end is extended in roll-shell and is connected by bevel gear with rotating shaft C, the Laser emission
Probe is connected with rotating shaft C.
A kind of 6. Underwater Navigation detection system based on ultrasonic wave according to claim 5, it is characterised in that：The rotating shaft
C both ends are respectively arranged with upper flange and lower wing plate, and rotating shaft D, axle sleeve, micro-step motor are provided between upper flange and lower wing plate
With the installing plate for two wing plates being in integrally connected, the axle sleeve is set in rotating shaft D and is threadedly coupled with rotating shaft D, described turn
Axle D one end is connected through upper flange and micro-step motor output axis connection, the other end of rotating shaft D with lower wing plate by bearing；
The laser emission probe is fixedly mounted on axle sleeve, and installing plate is provided with the through hole passed through for laser emission probe.
A kind of 7. Underwater Navigation detection system based on ultrasonic wave according to claim 4, it is characterised in that：The fixation
Polyvinylidene Fluoride Coatings layer is provided with the outside of housing and roll-shell.
A kind of 8. Underwater Navigation detection system based on ultrasonic wave according to claim 1, it is characterised in that：Also include super
Sound wave frequency converter, described ultrasonic transducer one end are connected with ultrasonic wave transmitting probe, the other end and D/A modular converters.
A kind of 9. Underwater Navigation detection system based on ultrasonic wave according to claim 1, it is characterised in that：Also include figure
As acquisition module, described image acquisition module is Minitype underground camera, and Minitype underground camera is connected with processor.
A kind of 10. Underwater Navigation detection system based on ultrasonic wave according to claim 1, it is characterised in that：Also include
Audible-visual annunciator, the audible-visual annunciator are connected with processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711201452.6A CN107741589A (en) | 2017-11-27 | 2017-11-27 | A kind of Underwater Navigation detection system based on ultrasonic wave |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711201452.6A CN107741589A (en) | 2017-11-27 | 2017-11-27 | A kind of Underwater Navigation detection system based on ultrasonic wave |
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| CN107741589A true CN107741589A (en) | 2018-02-27 |
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| CN201711201452.6A Withdrawn CN107741589A (en) | 2017-11-27 | 2017-11-27 | A kind of Underwater Navigation detection system based on ultrasonic wave |
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Cited By (4)
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| CN108802739A (en) * | 2018-05-31 | 2018-11-13 | 深圳臻迪信息技术有限公司 | A kind of underwater obstacle detection method and detection device |
| CN110542933A (en) * | 2019-09-24 | 2019-12-06 | 吉林大学 | Human and animal heat-sensitive detection device for dead zone of high-stalk crop harvest |
| CN115507747A (en) * | 2022-10-20 | 2022-12-23 | 昆山国通新能源科技有限公司 | Method for identifying and positioning images of floating objects in water |
-
2017
- 2017-11-27 CN CN201711201452.6A patent/CN107741589A/en not_active Withdrawn
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| CN108225485A (en) * | 2018-03-26 | 2018-06-29 | 信阳市浉河区滢海电子科技有限公司 | A kind of depth of water tester ultrasonic probe stabilising arrangement and method |
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| CN108802739A (en) * | 2018-05-31 | 2018-11-13 | 深圳臻迪信息技术有限公司 | A kind of underwater obstacle detection method and detection device |
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Application publication date: 20180227 |