CN204613744U - A kind of Algorithms of Robots Navigation System - Google Patents
A kind of Algorithms of Robots Navigation System Download PDFInfo
- Publication number
- CN204613744U CN204613744U CN201520369340.1U CN201520369340U CN204613744U CN 204613744 U CN204613744 U CN 204613744U CN 201520369340 U CN201520369340 U CN 201520369340U CN 204613744 U CN204613744 U CN 204613744U
- Authority
- CN
- China
- Prior art keywords
- chip microcomputer
- chip
- ultrasound wave
- signal
- algorithms
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model relates to a kind of control system, more specifically to a kind of Algorithms of Robots Navigation System, can be underwater robot and accurate geographical location information is provided, can be self attitude of robot adjustment and reference information is provided, communication can be carried out with the external world, the data recorded are transmitted with the form of radiowave.Reset chip is used for providing reset signal for single-chip microcomputer, prevents single-chip microcomputer error running.Clock chip provides clock signal for single-chip microcomputer.Single-chip microcomputer is used for the reception process of signal.Electronic compass is for measuring orientation values.Inertial Navigation Unit is used for the navigational reference coordinate system of calculating robot.Depthometer is for detecting the depth of water and the signal recorded being converted into current signal.Analog to digital converter is used for simulating signal to be converted into digital signal.Ultrasound wave transmitter module is for launching ultrasound wave.Ultrasound wave receiver module is for receiving ultrasound wave.Antenna is for expanding the signal transmission ranges of ultrasound wave transmitter module and ultrasound wave receiver module.
Description
Technical field
The utility model relates to a kind of control system, more specifically to a kind of Algorithms of Robots Navigation System.
Background technology
Underwater intelligent robot (AUV) can with surface vessel or submarine for operation base, hydrospace in tens of or hundreds of around, independently complete undersea detection, can be used for underwater operation construction, also can complete the measurement of, hydrographic information geographical to Ports And Waterways and collection etc., thus greatly expand people to the understanding in the water-bed world.The development experience of underwater robot carries device, has cable remote underwater robot and autonomous underwater carrier (being also called without cable underwater vehicle Autonomous Underwater Vehicles, an abbreviation AUV) three phases.AUV represents the direction of following underwater robot development, is the focus of our times various countries research work.The most important condition that robot navigates by water under water will obtain self locating information accurately exactly.
Summary of the invention
The technical matters that the utility model mainly solves is: provide a kind of Algorithms of Robots Navigation System, can be underwater robot and accurate geographical location information is provided, can be self attitude of robot adjustment and reference information is provided, communication can be carried out with the external world, the data recorded are transmitted with the form of radiowave.
For solving the problems of the technologies described above, the utility model relates to a kind of control system, more specifically to a kind of Algorithms of Robots Navigation System, comprise power supply, mu balanced circuit, reset chip, clock chip, electric power detection chip, single-chip microcomputer, electronic compass, Inertial Navigation Unit, RS232 bus, depthometer, analog to digital converter, ultrasound wave transmitter module, ultrasound wave receiver module and ball float antenna, can be underwater robot and accurate geographical location information is provided, can be self attitude of robot adjustment and reference information is provided, communication can be carried out with the external world, the data recorded are transmitted with the form of radiowave.
Power supply provides electric energy, and power supply is connected with mu balanced circuit.Mu balanced circuit is reset chip, clock chip, single-chip microcomputer, electronic compass, Inertial Navigation Unit, depthometer, analog to digital converter, ultrasound wave transmitter module, ultrasound wave receiver module and ball float antenna provide stable operating voltage.Reset chip is connected with single-chip microcomputer, and reset chip is used for providing reset signal for single-chip microcomputer, prevents single-chip microcomputer error running.Clock chip is connected with single-chip microcomputer, and clock chip provides clock signal for single-chip microcomputer.Electric power detection chip for detecting electric quantity of power supply, and by the Signal transmissions that detects to single-chip microcomputer.Single-chip microcomputer is used for the reception process of signal.Electronic compass is for measuring orientation values.Inertial Navigation Unit is used for the navigational reference coordinate system of calculating robot.RS232 bus one end is connected on single-chip microcomputer, the other end is connected with electronic compass and Inertial Navigation Unit, RS232 bus provides data transmission channel, for the serial communication of Inertial Navigation Unit and single-chip microcomputer provides data transmission channel for the serial communication of electronic compass and single-chip microcomputer.Depthometer is for detecting the depth of water and the signal recorded being converted into current signal.Analog to digital converter one end is connected with single-chip microcomputer, and the other end is connected with depthometer, and analog to digital converter is used for simulating signal to be converted into digital signal.Ultrasound wave transmitter module is for launching ultrasound wave.Ultrasound wave receiver module is for receiving ultrasound wave.Antenna is for expanding the signal transmission ranges of ultrasound wave transmitter module and ultrasound wave receiver module.
As the further optimization of this programme, the electric power detection chip that the electric power detection chip described in a kind of Algorithms of Robots Navigation System of the utility model selects Mei Xin Semiconductor Co., Ltd to produce, its model is DS2784G.
As the further optimization of this programme, the single-chip microcomputer that the single-chip microcomputer described in a kind of Algorithms of Robots Navigation System of the utility model selects Ai Te Mel company limited to produce, its model is YL9G20.
As the further optimization of this programme, the electronic compass that the electronic compass described in a kind of Algorithms of Robots Navigation System of the utility model selects Li Yin company limited to produce, its model is DCM260B.
As the further optimization of this programme, the Inertial Navigation Unit that the Inertial Navigation Unit described in a kind of Algorithms of Robots Navigation System of the utility model selects Li Yin company limited to produce, its model is AH100B.
As the further optimization of this programme, the depthometer that the depthometer described in a kind of Algorithms of Robots Navigation System of the utility model selects get Le company limited to produce, its model is DMD2100J.
The beneficial effect of a kind of Algorithms of Robots Navigation System of the utility model is:
A. for underwater robot provides locating information;
B. positioning precision is high;
C. can communicate with the external world.
Accompanying drawing explanation
Fig. 1 is the system chart of a kind of Algorithms of Robots Navigation System of the utility model.
Embodiment
In FIG, the utility model relates to a kind of control system, more specifically to a kind of Algorithms of Robots Navigation System, comprise power supply, mu balanced circuit, reset chip, clock chip, electric power detection chip, single-chip microcomputer, electronic compass, Inertial Navigation Unit, RS232 bus, depthometer, analog to digital converter, ultrasound wave transmitter module, ultrasound wave receiver module and ball float antenna, can be underwater robot and accurate geographical location information is provided, can be self attitude of robot adjustment and reference information is provided, communication can be carried out with the external world, the data recorded are transmitted with the form of radiowave.
Power supply provides electric energy, and power supply is connected with mu balanced circuit.Mu balanced circuit is reset chip, clock chip, single-chip microcomputer, electronic compass, Inertial Navigation Unit, depthometer, analog to digital converter, ultrasound wave transmitter module, ultrasound wave receiver module and ball float antenna provide stable operating voltage.After mu balanced circuit carries out lowering and stabilizing blood pressure to power supply, for reset chip, clock chip, analog to digital converter and single-chip microcomputer provide the operating voltage of 1.8V, for electronic compass, Inertial Navigation Unit, depthometer, ultrasound wave transmitter module, ultrasound wave receiver module and ball float antenna provide the operating voltage of 3.3V.
Reset chip is connected with single-chip microcomputer, and reset chip is used for providing reset signal for single-chip microcomputer, prevents single-chip microcomputer error running.Clock chip is connected with single-chip microcomputer, and clock chip provides clock signal for single-chip microcomputer.After single-chip microcomputer operation makes mistakes, reset chip carries out reset operation to single-chip microcomputer, and can get rid of the impact of external interference on single-chip microcomputer.
Electric power detection chip for detecting electric quantity of power supply, and by the Signal transmissions that detects to single-chip microcomputer.Single-chip microcomputer is used for the reception process of signal.The single-chip microcomputer that single-chip microcomputer selects Ai Te Mel company limited to produce, its model is YL9G20.The electric power detection chip that electric power detection chip selects Mei Xin Semiconductor Co., Ltd to produce, its model is DS2784G.Electric power detection chip records electric quantity of power supply and charge value is passed to single-chip microcomputer in real time, when electricity drops to setting value, single-chip microcomputer Received signal strength also processes rear output alarm signal to signal, alerting signal is transferred to ultrasound wave transmitter module, and alerting signal transfers to control center through ultrasound wave transmitter module.
RS232 bus one end is connected on single-chip microcomputer, the other end is connected with electronic compass and Inertial Navigation Unit, RS232 bus provides data transmission channel, for the serial communication of Inertial Navigation Unit and single-chip microcomputer provides data transmission channel for the serial communication of electronic compass and single-chip microcomputer.Electronic compass is for measuring orientation values.The electronic compass that electronic compass selects Li Yin company limited to produce, its model is DCM260B.Electronic compass is the mutually perpendicular magnetic induction type sensor of employing three, and each sensor axially detects geomagnetic field intensity in the direction in which.Direction is forward called that the sensor in x direction detects the vector value of terrestrial magnetic field in x direction.Left or the sensor of Y-direction detect terrestrial magnetic field vector value in the Y direction.Sensor that is downward or Z-direction detects the vector value of terrestrial magnetic field in Z-direction.The sensitivity of the sensor in each direction adjusts to Best Point according to the resolute of terrestrial magnetic field in the direction in which, and has low-down cross axis sensitivity.Though be go up under the line upwards change or in the more low value position of south poles.The information recorded is sent to single-chip microcomputer by electronic compass, and single-chip microcomputer only just can determine orientation values with terrestrial magnetic field in two resolute values of X and Y.
Inertial Navigation Unit is used for the navigational reference coordinate system of calculating robot.The Inertial Navigation Unit that Inertial Navigation Unit selects Li Yin company limited to produce, its model is AH100B.Inertial Navigation Unit comprises 3 accelerometers and 3 gyroscopes.3 accelerometers are used for the acceleration of 3 translation motions of measuring vehicle, the direction of instruction local ground vertical line.3 gyroscopes are used for the angular displacement of 3 rotational motions of robot measurement, the direction of instruction earth's axis.Single-chip microcomputer carries out twice integration to the acceleration measured, and can calculate the position of the navigational reference coordinate system selected by robot.
The depthometer that depthometer selects get Le company limited to produce, its model is DMD2100J.Depthometer is for detecting the depth of water and the signal recorded being converted into current signal.Analog to digital converter one end is connected with single-chip microcomputer, and the other end is connected with depthometer, and analog to digital converter is used for simulating signal to be converted into digital signal.Single-chip microcomputer receives the digital signal of analog to digital converter transmission and draws the degree of depth after processing signal.
Ultrasound wave transmitter module is for launching ultrasound wave.Ultrasound wave receiver module is for receiving ultrasound wave.Antenna is for expanding the signal transmission ranges of ultrasound wave transmitter module and ultrasound wave receiver module.Azimuth information, depth information and information about power are passed to ultrasound wave transmitter module by single-chip microcomputer, after ultrasound wave transmitter module processes signal, signal are passed to long-range receiving end with hyperacoustic form.Ultrasound wave receiver module is for receiving the steering order of control center.
Certain above-mentioned explanation is not limitation of the utility model; the utility model is also not limited only to above-mentioned citing; the change that those skilled in the art make in essential scope of the present utility model, remodeling, interpolation or replacement, also belong to protection domain of the present utility model.
Claims (6)
1. an Algorithms of Robots Navigation System, comprise power supply, mu balanced circuit, reset chip, clock chip, electric power detection chip, single-chip microcomputer, electronic compass, Inertial Navigation Unit, RS232 bus, depthometer, analog to digital converter, ultrasound wave transmitter module, ultrasound wave receiver module and ball float antenna, it is characterized in that: power supply provides electric energy, power supply is connected with mu balanced circuit; Mu balanced circuit is reset chip, clock chip, single-chip microcomputer, electronic compass, Inertial Navigation Unit, depthometer, analog to digital converter, ultrasound wave transmitter module, ultrasound wave receiver module and ball float antenna provide stable operating voltage; Reset chip is connected with single-chip microcomputer, and reset chip is used for providing reset signal for single-chip microcomputer, prevents single-chip microcomputer error running; Clock chip is connected with single-chip microcomputer, and clock chip provides clock signal for single-chip microcomputer; Electric power detection chip for detecting electric quantity of power supply, and by the Signal transmissions that detects to single-chip microcomputer; Single-chip microcomputer is used for the reception process of signal; Electronic compass is for measuring orientation values; Inertial Navigation Unit is used for the navigational reference coordinate system of calculating robot; RS232 bus one end is connected on single-chip microcomputer, the other end is connected with electronic compass and Inertial Navigation Unit, RS232 bus provides data transmission channel, for the serial communication of Inertial Navigation Unit and single-chip microcomputer provides data transmission channel for the serial communication of electronic compass and single-chip microcomputer; Depthometer is for detecting the depth of water and the signal recorded being converted into current signal; Analog to digital converter one end is connected with single-chip microcomputer, and the other end is connected with depthometer, and analog to digital converter is used for simulating signal to be converted into digital signal; Ultrasound wave transmitter module is for launching ultrasound wave; Ultrasound wave receiver module is for receiving ultrasound wave; Antenna is for expanding the signal transmission ranges of ultrasound wave transmitter module and ultrasound wave receiver module.
2. a kind of Algorithms of Robots Navigation System according to claim 1, is characterized in that: the electric power detection chip that described electric power detection chip selects Mei Xin Semiconductor Co., Ltd to produce, and its model is DS2784G.
3. a kind of Algorithms of Robots Navigation System according to claim 1, is characterized in that: the single-chip microcomputer that described single-chip microcomputer selects Ai Te Mel company limited to produce, and its model is YL9G20.
4. a kind of Algorithms of Robots Navigation System according to claim 1, is characterized in that: the electronic compass that described electronic compass selects Li Yin company limited to produce, and its model is DCM260B.
5. a kind of Algorithms of Robots Navigation System according to claim 1, is characterized in that: the Inertial Navigation Unit that described Inertial Navigation Unit selects Li Yin company limited to produce, and its model is AH100B.
6. a kind of Algorithms of Robots Navigation System according to claim 1, is characterized in that: the depthometer that described depthometer selects get Le company limited to produce, and its model is DMD2100J.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520369340.1U CN204613744U (en) | 2015-06-01 | 2015-06-01 | A kind of Algorithms of Robots Navigation System |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520369340.1U CN204613744U (en) | 2015-06-01 | 2015-06-01 | A kind of Algorithms of Robots Navigation System |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204613744U true CN204613744U (en) | 2015-09-02 |
Family
ID=53966285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520369340.1U Expired - Fee Related CN204613744U (en) | 2015-06-01 | 2015-06-01 | A kind of Algorithms of Robots Navigation System |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204613744U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549395A (en) * | 2018-06-19 | 2018-09-18 | 西安特种飞行器工程研究院有限公司 | Underwater unmanned autonomous navigation device navigation control system and method |
| CN109106399A (en) * | 2017-06-23 | 2019-01-01 | 佳能医疗***株式会社 | Diagnostic ultrasound equipment and method of reducing power consumption |
-
2015
- 2015-06-01 CN CN201520369340.1U patent/CN204613744U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109106399A (en) * | 2017-06-23 | 2019-01-01 | 佳能医疗***株式会社 | Diagnostic ultrasound equipment and method of reducing power consumption |
| CN108549395A (en) * | 2018-06-19 | 2018-09-18 | 西安特种飞行器工程研究院有限公司 | Underwater unmanned autonomous navigation device navigation control system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108693547B (en) | Navigation system for underwater deep submersible vehicle and accurate three-point positioning method | |
| US10355351B2 (en) | Antenna array pointing direction estimation and control | |
| CN201497509U (en) | Double-antenna GPS/INS combined navigator | |
| CN105021188B (en) | A kind of bionic polarization/combined geomagnetism aided navigation system | |
| CN102288170B (en) | Correction method of electronic compass in underwater vehicle | |
| CN110855343B (en) | Underwater sound positioning and timing buoy and working method thereof | |
| JP2018155765A (en) | Compensation of magnetic data for autonomous underwater vehicle mapping surveys | |
| CN108303081A (en) | A kind of bionical polarization/inertia/atmosphere data integrated navigation system | |
| CN210719199U (en) | Multi-equipment combined navigation system of underwater robot | |
| CN109471433B (en) | Course and attitude reference system based on polarization compass | |
| CN110927802B (en) | Submarine cable fault accurate positioning method based on magnetic vector data and positioner | |
| CN103697885B (en) | Automatically the long range positioning method of magnetic declination is compensated | |
| CN204142233U (en) | A kind of intelligent land area measuring device | |
| CN104515519A (en) | Space track positioning system based on accelerated speed, gyroscope and magnetic field nine-axis sensors | |
| CN109319074B (en) | Multi-orthogonal signal emission unmanned submersible vehicle sound guiding and recycling system | |
| CN109814069A (en) | A kind of underwater mobile node passive location method and its system based on single localizer beacon | |
| CN111398905A (en) | AUV underwater recovery docking system based on multi-acoustic beacon guidance | |
| CN204613744U (en) | A kind of Algorithms of Robots Navigation System | |
| CN111366143A (en) | Combined polar region compass device capable of automatically positioning and orienting | |
| CN101650433B (en) | Method for obtaining self-movement locus of object | |
| CN207181664U (en) | A kind of device and system for observing underwater vehicle relative position | |
| CN104515522A (en) | Underwater magnetic field and six-axis inertia combined positioning system | |
| CN101644769A (en) | Method for acquiring 3D motion trace of object | |
| CN105338495A (en) | Short-distance wireless communication positioning and tracking device and tracking method thereof | |
| CN202837553U (en) | Position estimation device for distance and direction correction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150902 Termination date: 20160601 |