Sonar scanning test automation device based on mobile phone Bluetooth control

Abstract

The invention discloses an automation device for a sonar scanning test based on mobile phone Bluetooth control. The automation device comprises a display module, a driving module, an ultrasonic ranging module, a direct-current gear motor TT motor, a power supply, a trolley bottom plate, a Bluetooth module, rubber wheels, a development board and a sonar test target scanning object. The motion state and the motion mode of the automation device are controlled through the development board. Compared with an existing experimental method for measuring sonar reflection energy data at different positions by manually moving the scanning and measuring target object at a fixed distance, the automatic device has the advantages that the automatic device can be used for replacing the work of manually moving the scanning and measuring target object, so that the manual operation amount is greatly reduced, the measurement period of each group of data is remarkably shortened, and the measurement efficiency is improved. Therefore, the data acquisition efficiency of the sonar scanning test is effectively improved.

Description

Technical Field

[0001] The invention relates to the field of underwater sonar scanning, and in particular to an automated device for sonar scanning experiments based on mobile phone Bluetooth control. Background Art

[0002] With the development of marine resources and the increase of underwater operations, underwater target identification with sonar images has become a hot research field. Underwater target detection is the basis of underwater image processing and one of the basic tasks for the utilization and development of marine resources and other water resources. Underwater target detection has been widely used in civil and military fields such as underwater weapon detection, underwater weapon tracking and self-guidance, marine life tracking, fishery farming and salvage, and underwater environmental exploration. Compared with underwater imaging detection technologies such as optical imaging, sonar imaging has the advantages of long detection distance, strong penetration ability, and applicability to turbid waters.

[0003] Based on the research purposes of using sonar equipment for real-time imaging to guide underwater operations and conduct underwater monitoring, the sonar equipment is first used to collect the reflected wave energy when the target is located at different positions, and the relationship between the reflected wave energy and the distance is established. In view of this research content, a sonar scanning experiment for collecting the reflected wave energy and distance is carried out to obtain enough sample data. The present invention aims to solve the problem of automatic movement of the scanned target in the sonar scanning experiment.

[0004] Current technology focuses on achieving automatic tracking and automatic obstacle avoidance functions (Design of a Bluetooth smart obstacle avoidance car based on Arduino. Ren Lingling; Li Lang; Yan Genglong; Mo Renlang. Electronic Production, 2022, 30(19).), but cannot achieve the function of moving a certain distance and then stopping for a period of time required by sonar scanning experiments, and cannot measure the required distance value in real time. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings and deficiencies of the above-mentioned existing sonar scanning experiments, and to provide an automated device for sonar scanning experiments based on mobile phone Bluetooth control. The scanning target of the sonar experiment itself cannot move, and by fixing the scanning target on the automated device, the automated movement of the device is used to achieve the purpose of automated movement of the scanning target.

[0006] The present invention is achieved by at least one of the following technical solutions.

[0007] An automated device for sonar scanning experiment based on mobile phone Bluetooth control, characterized in that it includes a display module, a drive module, an ultrasonic ranging module, a main frame, a power supply, a Bluetooth module, a development board, and a sonar experiment target scanning object; the display module, the ultrasonic ranging module, and the Bluetooth module are all connected to the development board; The main structure includes four DC reduction motors TT motors, a trolley bottom plate, and four rubber wheels. The four rubber wheels are installed on the shafts of the four DC reduction motors TT motors, and the rotation of the rubber wheels is driven by the rotation of the DC reduction motors TT motors; the DC reduction motors TT motors are installed on the trolley bottom plate; the drive module is connected to the DC reduction motors TT motors, the power supply, and the development board. The four DC reduction motors TT motors, under the control of the development board and driven by the drive module, complete the motion state and motion mode of the predetermined automation device.

[0008] Furthermore, an IIC adapter board is welded on the LCD 1602 display screen of the display module to improve the interface utilization rate of the display module and the development board. The development board provides the operating voltage for it. The display module is controlled by the development board and displays the measurement results of the ultrasonic ranging module in real time.

[0009] Furthermore, the ultrasonic ranging module is a contactless ranging module. Under the premise that the development board provides a continuous high level, the ultrasonic probe emits ultrasonic waves, calculates the distance value by detecting the echo, transmits it to the development board, and finally displays it in real time through the display module under the control of the development board.

[0010] Furthermore, the Bluetooth module is used to realize the function of remotely controlling the motion state and motion mode of the automation device, and transmit the remote control command signal to the development board. After receiving the command, the development board exerts its control function and directs other modules to realize corresponding functions in an orderly manner.

[0011] Furthermore, the power supply includes a 5V 18650 lithium battery and a battery box, the lithium battery is placed in the battery box, and the battery box is then fixed to the lower surface of the bottom plate of the trolley.

[0012] Furthermore, the development board is an Arduino UNO R3 single-chip microcomputer. The relevant programming of the motion state and motion mode of the automation device, the ultrasonic ranging module, the display module and the Bluetooth module is completed on the computer through the Arduino IDE. The USB port of the Arduino UNO R3 single-chip microcomputer is used to realize the serial port communication between the single-chip microcomputer and the computer, and the program is burned to the single-chip microcomputer before connection.

[0013] Furthermore, the driving module is an L298N dual H-bridge motor driving module.

[0014] Furthermore, the ultrasonic ranging module is a HC-SR04 chip with an accuracy of 1 mm.

[0015] Furthermore, the Bluetooth module is a Qindu HC-05 master-slave integrated Bluetooth chip.

[0016] Furthermore, by pairing the mobile phone's Bluetooth serial port debugging assistant APP with the Bluetooth module, the mobile phone can realize the automatic movement of the sonar scanning target.

[0017] Furthermore, the circuit connections among the development board, display module, ultrasonic ranging module, Bluetooth module and driving module are all made by using DuPont wires, and two types of DuPont wires are used: male-to-male and male-to-female.

[0018] Compared with the prior art, the present invention has the following advantages and effects: The present invention is based on an automated device for sonar scanning experiments controlled by mobile phone Bluetooth. The target object for sonar experiment scanning is cleverly fixed on the bottom plate of a trolley. By means of a method for controlling the motion mode and motion state of the automated device, the purpose of automated movement of the target object for sonar experiment scanning is achieved, thereby solving the problem of automated movement of the scanning target object. Compared with the existing methods of manually moving scanning targets, the advantage of the present invention is that it can make full use of computer, communication, automatic control and other technologies to directly realize the function of remotely controlling the automated device by mobile phone Bluetooth, thereby achieving the purpose of solving the problem of automated movement of the target object for sonar experiment scanning. The present invention is based on the use of an automated device for sonar scanning experiments controlled by mobile phone Bluetooth, which more than doubles the acquisition rate of reflected wave energy data in sonar scanning experiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of an automated device for sonar scanning experiments based on mobile phone Bluetooth control provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of a development board in an embodiment of the present invention; Figure 3 This is a schematic diagram of a driving module in an embodiment of the present invention; Figure 4 This is a schematic diagram of an ultrasonic ranging module in an embodiment of the present invention; Figure 5 This is a schematic diagram of a Bluetooth module in an embodiment of the present invention; Figure 6 It is a schematic diagram of a display module in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0021] like Figure 1As shown, the automation device for sonar scanning experiment based on mobile phone Bluetooth control disclosed in the present invention includes a display module 1, a drive module 2, an ultrasonic ranging module 3, four DC reduction motors TT motors 4, a power supply 5, a trolley bottom plate 6, a Bluetooth module 7, four rubber wheels 8, a development board 9, and a sonar experiment target scanning object 10. The sonar experiment target scanning object 10 is a threaded alloy cylinder, which is installed on the trolley bottom plate 6. During the experiment, the depth of one end of the sonar experiment target scanning object 10 in the water is kept consistent. The energy of the sonar reflected wave collected in this experiment is the energy of the pulse wave reflected back to the sonar device by the sonar experiment target scanning object 10.

[0022] The four rubber wheels 8 are installed on the shafts of four DC reduction motors TT motors 4, and the rotation of the rubber wheels 8 is driven by the rotation of the DC reduction motors TT motors 4. The DC reduction motors TT motors 4, the trolley bottom plate 6, and the rubber wheels 8 constitute the main structure of the automation device. The DC reduction motors TT motors 4 are installed on the trolley bottom plate 6. The main structure is controlled by the development board 9 and driven by the driving module 2 to complete the predetermined motion state and motion mode of the automation device. On this basis, the ranging function of the ultrasonic ranging module 3, the Bluetooth remote control function of the Bluetooth module 7, and the display function of the display module 1 are added.

[0023] The driving module 2 is a motor driving chip with strong driving capability, low heat generation and strong anti-interference capability. It is usually used to drive a DC motor and can adopt an L298N dual H-bridge motor driving module. The positive and negative electrodes of the driving module 2 are directly connected to the positive and negative electrodes of the power supply, and the power supply directly provides the working voltage for the driving module. The driving module 2 is connected to the DC reduction motor TT motor 4, the power supply 5 and the development board (9). Under the control of the development board 9, the driving module 2 drives the DC reduction motor TT motor 4 according to corresponding instructions, so that it rotates according to a predetermined motion state and motion mode.

[0024] The power supply 5 provides sufficient and stable working voltage for the driving module 2. The power supply 5 is composed of two 5V 18650 lithium batteries and a battery box. The lithium batteries are placed in the battery box, and the battery box is fixed to the lower surface of the bottom plate of the trolley.

[0025] The development board 9 is the control center of the automation device. The development board 9 is connected to the drive module 2, the ultrasonic ranging module 3, the Bluetooth module 7, and the display module 1. The circuit connections between the development board 9, the display module 1, the ultrasonic ranging module 3, the Bluetooth module 7, and the drive module 2 are all DuPont wires, and two types of DuPont wires are used: male to male and male to female.

[0026] An IIC adapter board 39 is welded on the LCD 1602 display screen 40 of the display module 1, and a pin header IIC module is welded to the LCD 1602A liquid crystal display screen, thereby improving the interface utilization rate of the display module 1 and the development board 9. The display module 1 is only connected to the development board 9, and the development board 9 provides it with a working voltage. The display module 1 is controlled by the development board 9 and displays the measurement results of the ultrasonic ranging module 9 in real time.

[0027] The Bluetooth module 7 is used to realize the function of remotely controlling the motion state and motion mode of the automation device. The Bluetooth module 7 is only connected to the development board 9, and the development board 9 provides it with the voltage required for normal operation. At the same time, the Bluetooth module 7 transmits the remote control command signal to the development board 9. After receiving the command, the development board exerts its control function and instructs other modules to realize the corresponding functions in an orderly manner.

[0028] The ultrasonic ranging module 3 is a non-contact ranging module with high-precision ranging capability and good reliability. It can improve the data accuracy of the sonar scanning experiment and reduce errors. The HC-SR04 chip can be used with an accuracy of up to 1mm. The ultrasonic ranging module 3 is only connected to the development board 9, and the development board 9 provides it with a working voltage. Under the premise that the development board provides a continuous high level, the ultrasonic ranging module 3 emits ultrasonic waves by the ultrasonic probe 24, calculates the distance value by detecting the echo, and transmits it to the development board 9. Finally, under the control of the development board 9, it is displayed in real time through the display module 1.

[0029] The Bluetooth module 7 is responsible for establishing the communication function between the development board 9 and the mobile phone Bluetooth, and the Qindu HC-05 master-slave integrated Bluetooth chip can be used. On the mobile phone Bluetooth debugging serial port APP, click the function button of the pre-defined movement mode and movement state, and the Bluetooth module 7 will transmit the movement signal instruction to the development board. The development board 9, as the control center of the automation device circuit, transmits corresponding signal instructions to the drive module 2, the ultrasonic ranging module 3 and the display module 1 after receiving the movement signal instruction from its own Bluetooth module 7. First, the drive module 2 of the automation device drives the DC reduction motor TT motor to rotate 4 according to the movement signal instruction to realize the movement corresponding to the movement signal instruction. After the drive module 2 completes the corresponding movement, the automation device carries the scanning target of the sonar experiment to the corresponding position. Secondly, the ultrasonic ranging module 3 of the automation device uses the ultrasonic ranging principle to complete the distance value measurement between the scanning target and the sonar equipment. Finally, the display module 1 of the automation device displays the measured distance value in real time. When the sonar device completes the collection of reflected wave energy of the scanning target at a certain position, the above operation can be repeated to complete the collection of sonar reflected wave energy of the scanning target at the next position.

[0030] like Figure 2As shown, in some embodiments of the present invention, the development board 9 is an Arduino UNO R3 single-chip microcomputer, and the relevant programming of the motion state and motion mode of the automation device, the ultrasonic ranging module, the display module and the Bluetooth module is completed on the computer through the Arduino IDE, and the USB socket of the Arduino UNO R3 single-chip microcomputer is used to realize the serial port communication between the single-chip microcomputer and the computer, and the program is burned into the single-chip microcomputer before the circuit connection is made. Specifically, the development board 9 is composed of a digital interface 11, an external power jack 12, a USB interface 13, a reset button 14, an analog signal interface 15, etc. The USB interface 13 is used to connect the computer and the development board for serial communication, and the program written in advance in the Arduino IDE is burned into the development board 9 through this interface for storage.

[0031] like Figure 3 As shown, in some embodiments of the present invention, the driving module 2 is composed of an output A interface 23, a 12V power supply interface 22, a GND interface 21, a 5V power supply interface 20, a channel A enable interface 19, a logic input interface 18, a channel B enable interface 17, an output B interface 16, etc. The 12V power supply interface 22 and the GND interface 21 of the driving module 2 are respectively connected to the positive and negative poles of the power supply 5 to provide power supply for the driving module. The output A interface 23 is connected to the positive and negative poles of the two DC reduction motors TT motors 4 on the right side of the device, and the output B interface 16 is connected to the positive and negative poles of the two DC reduction motors TT motors 4 on the left side of the device, providing voltage for the four DC reduction motors TT motors 4 of the device to drive them to rotate, thereby driving the rubber tire 8 installed on the DC reduction motor TT motor, and finally making the automation device move. The 5V power supply interface 20 and the GND interface 21 of the driving module 2 are connected to the VIN and GND interfaces of the development board 9 to provide a power source for the operation of the development board 9. The logic input interface 18 of the driving module 2 is connected to the digital interface 15 of the development board, so that the driving module can receive the command signal issued by the development board 9, the driving module can realize specific driving movement, the automation device can realize specific movement, realize the specific movement of the sonar experiment scanning target, and make the scanning target be located at different positions. By scanning the reflected energy of the target through the sonar equipment, a series of reflected energy numbers at different positions can be collected, providing sufficient data for the sonar scanning experiment.

[0032] like Figure 4As shown, in some embodiments of the present invention, the ultrasonic ranging module 3 has four interfaces, including a GND interface 25 and a VCC interface 28 connected to the GND interface and the 3.3V interface of the development board 9, and the development board 9 provides the working voltage for the ultrasonic ranging module 3. The Echo interface 26 and the Trig interface 27 of the ultrasonic ranging module 3 are connected to the digital interface 15 of the development board 9. The development board 9 provides a high level of more than 10 microseconds at the Trig27 interface, and the ultrasonic probe 24 of the ultrasonic ranging module 3 can emit 8 40KHZ ultrasonic pulses and then detect the echo signal. When the echo signal is detected, it is output through the Echo26 interface. The distance value can be calculated according to the duration of the high level output by the Echo26 interface, that is, the distance value is: (high level duration * 340m / s) / 2.

[0033] like Figure 5 As shown, in some embodiments of the present invention, the Bluetooth module 7 has six interfaces: STAT interface 34, RXD interface 33, TXD interface 32, GND interface 31, VCC interface 30, and EN interface 29. The GND31 and VCC30 interfaces of the Bluetooth module 7 are connected to the GND and 5V interfaces of the development board 9, and the development board 9 provides voltage supply for the normal operation of the Bluetooth module. The RXD interface 33 and TXD interface 32 of the Bluetooth module 7 are connected to the digital interface 15 of the development board 9. Through the mobile phone Bluetooth serial port debugging assistant APP paired with the Bluetooth module 7, according to the ASCII code corresponding to the different motion modes of the automation device set when programming in the Arduino IDE, the corresponding function keys of the different motion modes of the automation device can be defined by using the custom function in the mobile phone Bluetooth serial port debugging assistant APP. After the mobile phone Bluetooth serial port debugging assistant APP is paired with the Bluetooth module 7, the corresponding function keys can be used to realize the automatic movement of the sonar scanning target.

[0034] like Figure 6 As shown, in some embodiments of the present invention, the display module 1 includes an LCD 1602 display screen 40 and an IIC adapter board 39, and the IIC adapter board 39 is welded on the LCD 1602 display screen 40, in order to reduce the occupation of the digital interface 15 on the development board 9. The GND interface 38 and the VCC interface 37 of the IIC adapter board are connected to the 5V and GND interfaces in the development board 9, and the development board 9 provides a stable working voltage for the display module 1. The SDA interface 36 and the SCL interface 35 of the IIC adapter board are connected to any two interfaces in the analog interface 11 of the development board 9. When the distance measuring module measures the distance between the target object of the sonar experiment scanning and the sonar device, it is displayed through the display module.

[0035] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. An automated device for sonar scanning experiments based on mobile phone Bluetooth control, characterized in that: It comprises a display module (1), a driving module (2), an ultrasonic distance measuring module (3), a main frame, a power supply (5), a Bluetooth module (7), a development board (9), and a sonar experimental target scanning object (10); the display module (1), the ultrasonic distance measuring module (3), and the Bluetooth module (7) are all connected to the development board (9); The main structure comprises four DC reduction motors TT motors (4), a trolley bottom plate (6), and four rubber wheels (8); the four rubber wheels (8) are mounted on the shafts of the four DC reduction motors TT motors (4), and the rotation of the DC reduction motors TT motors (4) drives the rubber wheels (8) to rotate; the DC reduction motors TT motors (4) are mounted on the trolley bottom plate (6); the drive module (2) is connected to the DC reduction motors TT motors (4), a power source (5), and a development board (9); the four DC reduction motors TT motors (4) are controlled by the development board (9) and driven by the drive module (2) to complete the movement state and movement mode of the predetermined automation device.

2. The automated device for sonar scanning experiment based on mobile phone Bluetooth control according to claim 1 is characterized in that: An IIC adapter board (39) is welded onto the LCD 1602 display screen (40) of the display module (1), thereby improving the interface utilization rate of the display module (1) and the development board (9). The development board (9) provides the display module with an operating voltage. The display module (1) is controlled by the development board (9) and displays the measurement result of the ultrasonic distance measurement module (9) in real time.

3. The automated device for sonar scanning experiment based on mobile phone Bluetooth control according to claim 1 is characterized in that: The ultrasonic distance measurement module (3) is a non-contact distance measurement module. Under the premise that the development board (9) provides a continuous high level, the ultrasonic probe (24) emits ultrasonic waves, calculates the distance value by detecting the echo, transmits it to the development board (9), and finally displays it in real time through the display module (1) under the control of the development board (9).

4. The automated device for sonar scanning experiment based on mobile phone Bluetooth control according to claim 1 is characterized in that: The Bluetooth module (7) is used to realize the function of remotely controlling the motion state and motion mode of the automation device, and transmits the remote control command signal to the development board (9). After receiving the command, the development board exerts its control function and instructs other modules to realize corresponding functions in an orderly manner.

5. The automated device for sonar scanning experiment based on mobile phone Bluetooth control according to claim 1 is characterized in that: The power source (5) comprises a 5V 18650 lithium battery and a battery box, wherein the lithium battery is placed in the battery box, and the battery box is fixed to the lower surface of the bottom plate of the trolley.

6. The automated device for sonar scanning experiment based on mobile phone Bluetooth control according to claim 1 is characterized in that: The development board (9) is an Arduino UNO R3 single-chip microcomputer. The relevant programming of the motion state and motion mode of the automation device, the ultrasonic distance measurement module (3), the display module (1) and the Bluetooth module (7) is completed on the computer through the Arduino IDE. The USB socket of the Arduino UNO R3 single-chip microcomputer is used to realize the serial port communication between the single-chip microcomputer and the computer, and the program is burned into the single-chip microcomputer before connection.

7. The automated device for sonar scanning experiment based on mobile phone Bluetooth control according to claim 1 is characterized in that: The driving module (2) is an L298N dual H-bridge motor driving module.

8. The automated device for sonar scanning experiment based on mobile phone Bluetooth control according to claim 1 is characterized in that: The ultrasonic distance measurement module (3) is a HC-SR04 chip with an accuracy of 1 mm.

9. The automated device for sonar scanning experiment based on mobile phone Bluetooth control according to claim 1 is characterized in that: The Bluetooth module (7) is a Qindu HC-05 master-slave integrated Bluetooth chip.

10. The automated device for sonar scanning experiment based on mobile phone Bluetooth control according to claim 9, characterized in that: By pairing the mobile phone's Bluetooth serial port debugging assistant APP with the Bluetooth module (7), the mobile phone can realize the automatic movement of the sonar scanning target.

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