An automated device for sonar scanning experiments controlled by mobile phone via Bluetooth

Abstract

This invention discloses an automated device for sonar scanning experiments controlled by a mobile phone via Bluetooth. The automated device includes a display module, a drive module, an ultrasonic ranging module, a DC geared motor (TT motor), a power supply, a trolley base plate, a Bluetooth module, rubber wheels, a development board, and a sonar experimental target. This invention uses the development board to control the motion state and mode of the automated device. Compared to existing experimental methods that involve manually moving the target at a fixed distance to measure sonar reflection energy data at different locations, this invention has the advantage of replacing manual movement of the target with an automated device, thus significantly reducing manual labor, shortening the measurement cycle for each set of data, and effectively improving the data acquisition efficiency of sonar scanning experiments.

Description

Technical Field

[0001] This invention relates to the field of underwater sonar scanning, and more particularly to an automated device for sonar scanning experiments based on mobile phone Bluetooth control. Background Technology

[0002] With the increasing development of marine resources and underwater operations, underwater target identification using nano-imagery has become a popular research area. Underwater target detection is the foundation of underwater image processing and one of the fundamental tasks for utilizing and developing marine resources and other aquatic resources. Underwater target detection has been widely applied in civilian and military fields such as underwater weapon detection, underwater weapon tracking and guidance, marine life tracking, aquaculture and salvage, and underwater environmental exploration. Compared with underwater imaging detection technologies such as optical imaging, sonar imaging has advantages such as long detection range, strong penetration capability, and applicability to turbid waters.

[0003] Based on research objectives such as using sonar equipment for real-time imaging to guide underwater operations and conduct underwater monitoring, this invention first uses sonar equipment to collect the reflected wave energy of a target object at different locations, establishing the relationship between reflected wave energy and distance. To address this research, sonar scanning experiments were conducted to collect reflected wave energy and distance data, obtaining sufficient sample data. This invention aims to solve the problem of automated movement of the target object in sonar scanning experiments.

[0004] Current technology focuses on achieving automatic tracking and obstacle avoidance functions (Design of 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 motion mode required by sonar scanning experiments, which involves moving a certain distance and then stopping for a period of time, and cannot measure the required distance value in real time. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings and deficiencies of existing sonar scanning experiments and to provide an automated device for sonar scanning experiments based on Bluetooth control via a mobile phone. Since the target object in a sonar experiment cannot move, the target object is fixed to the automated device, and the automated movement of the device is used to achieve the automated movement of the target object.

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

[0007] An automated device for sonar scanning experiments based on mobile phone Bluetooth control is characterized by comprising a display module, a driver module, an ultrasonic ranging module, a main structure, a power supply, a Bluetooth module, a development board, and a sonar experimental target object for scanning; wherein the display module, ultrasonic ranging module, and Bluetooth module are all connected to the development board.

[0008] The main structure includes four DC geared motors (TT motors), a trolley base plate, and four rubber wheels. The four rubber wheels are mounted on the shafts of the four DC geared motors (TT motors), and the rotation of the TT motors drives the rotation of the rubber wheels. The DC geared motors (TT motors) are mounted on the trolley base plate. The drive module is connected to the DC geared motors (TT motors), a power supply, and a development board. Under the control of the development board and driven by the drive module, the four DC geared motors (TT motors) complete the predetermined motion state and motion mode of the automated device.

[0009] Furthermore, an IIC adapter board is soldered onto the LCD 1602 display screen of the display module to improve the interface utilization between the display module and the development board. The development board provides the operating voltage for the display module, which is controlled by the development board to display the measurement results of the ultrasonic ranging module in real time.

[0010] Furthermore, the ultrasonic ranging module is a non-contact 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.

[0011] Furthermore, the Bluetooth module is used to remotely control the motion status and motion mode of the automated device, transmit remote control command signals to the development board, and after receiving the command, the development board performs its control function to direct other modules to perform the corresponding functions in an orderly manner.

[0012] 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 vehicle's floor.

[0013] Furthermore, the development board is an Arduino UNO R3 microcontroller. The Arduino IDE is used to program the motion state and mode of the automation device, the ultrasonic ranging module, the display module, and the Bluetooth module on the computer. The USB port of the Arduino UNO R3 microcontroller is used to realize serial communication between the microcontroller and the computer. The program is burned to the microcontroller before connection.

[0014] Furthermore, the drive module is an L298N dual H-bridge motor drive module.

[0015] Furthermore, the ultrasonic ranging module uses an HC-SR04 chip with an accuracy of 1mm.

[0016] Furthermore, the Bluetooth module is the Qindu HC-05 master-slave integrated Bluetooth chip.

[0017] Furthermore, by pairing the Bluetooth module with a mobile phone Bluetooth serial port debugging assistant APP, the mobile phone can realize the automated movement of the target object for sonar scanning.

[0018] Furthermore, the circuit connections between the development board, display module, ultrasonic ranging module, Bluetooth module, and driver module all use DuPont wires, specifically both male-to-male and male-to-female types.

[0019] Compared with the prior art, the present invention has the following advantages and effects:

[0020] This invention relates to an automated device for sonar scanning experiments controlled by a mobile phone via Bluetooth. It cleverly fixes the target object for sonar scanning onto the chassis of a small vehicle. By controlling the movement mode and state of this automated device, the automated movement of the target object is achieved, thus solving the problem of automated target object movement. Compared to existing methods of manually moving the target object, the advantage of this invention lies in its full utilization of computer, communication, and automatic control technologies, enabling direct remote control of the automated device via mobile phone Bluetooth, thereby solving the problem of automated target object movement in sonar experiments. The application of this automated device for sonar scanning experiments controlled by a mobile phone via Bluetooth more than doubles the data acquisition rate of reflected wave energy in sonar scanning experiments. Attached Figure Description

[0021] Figure 1 A schematic diagram of an automated device for sonar scanning experiments based on mobile phone Bluetooth control, provided in an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the development board in an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the driver module in an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the ultrasonic ranging module in an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the Bluetooth module in an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the display module in an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0028] like Figure 1 As shown, the automated device for sonar scanning experiments based on mobile phone Bluetooth control disclosed in this invention includes a display module 1, a drive module 2, an ultrasonic ranging module 3, four DC geared motors (TT motors) 4, a power supply 5, a trolley base plate 6, a Bluetooth module 7, four rubber wheels 8, a development board 9, and a sonar experimental target 10. The sonar experimental target 10 is a threaded alloy cylinder, mounted on the trolley base plate 6. During the experiment, the water depth at one end of the sonar experimental target 10 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 equipment by the sonar experimental target 10.

[0029] The four rubber wheels 8 are mounted on the shafts of four DC geared motors 4 (TT motors). The rotation of the DC geared motors 4 drives the rotation of the rubber wheels 8. The DC geared motors 4, the trolley base plate 6, and the rubber wheels 8 constitute the main structure of the automated device. The DC geared motors 4 are mounted on the trolley base plate 6. Under the control of the development board 9 and driven by the drive module 2, the main structure completes the predetermined motion state and motion mode of the automated device. Based on this, 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.

[0030] The drive module 2 is a motor drive chip with strong driving capability, low heat generation, and strong anti-interference ability. It is typically used to drive DC motors and can employ an L298N dual H-bridge motor drive module. The positive and negative terminals of the drive module 2 are directly connected to the positive and negative terminals of the power supply, which directly provides the operating voltage to the drive module. The drive module 2 is connected to the DC geared motor TT motor 4, the power supply 5, and the development board 9. Under the control of the development board 9, the drive module 2 drives the DC geared motor TT motor 4 according to corresponding instructions, causing it to rotate according to a predetermined motion state and motion mode.

[0031] The power supply 5 provides sufficient and stable operating voltage for the drive module 2. The power supply 5 consists of two 5V 18650 lithium batteries and a battery box. The lithium batteries are placed in the battery box, and the battery box is then fixed to the lower surface of the vehicle's floor.

[0032] The development board 9 serves as the control center of the automated device. Development board 9 is connected to drive module 2, ultrasonic ranging module 3, Bluetooth module 7, and display module 1. The circuit connections between development board 9, display module 1, ultrasonic ranging module 3, Bluetooth module 7, and drive module 2 all utilize DuPont wires, employing both male-to-male and male-to-female types.

[0033] An IIC adapter board 39 is soldered onto the LCD 1602 display screen 40 of the display module 1 to provide an IIC module for the LCD 1602A liquid crystal display screen, thereby improving the interface utilization between the display module 1 and the development board 9. The display module 1 is only connected to the development board 9, which provides it with operating voltage. The display module 1 is controlled by the development board 9 and displays the measurement results of the ultrasonic ranging module 3 in real time.

[0034] The Bluetooth module 7 is used to remotely control the motion status and mode of the automated device. The Bluetooth module 7 connects only to the development board 9, which provides it with the necessary voltage for normal operation. Simultaneously, the Bluetooth module 7 transmits remote control command signals to the development board 9. Upon receiving the commands, the development board performs its control functions, directing other modules to perform their corresponding functions in an orderly manner.

[0035] 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 sonar scanning experiments and reduce errors. It can use the HC-SR04 chip, with an accuracy of up to 1mm. The ultrasonic ranging module 3 is only connected to the development board 9, which provides it with operating voltage. Under the premise that the development board provides a continuous high level, the ultrasonic ranging module 3 emits ultrasonic waves through 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, the value is displayed in real time through the display module 1.

[0036] The Bluetooth module 7 is responsible for establishing Bluetooth communication between the development board 9 and the mobile phone, and can use the Qindu HC-05 master-slave integrated Bluetooth chip. On the mobile phone's Bluetooth debugging serial port APP, clicking the pre-defined function buttons for movement modes and states sends the movement signal command to the development board via the Bluetooth module 7. The development board 9, acting as the control center of the automation device circuit, receives the movement signal command from its Bluetooth module 7 and sends corresponding signal commands to the drive module 2, ultrasonic ranging module 3, and display module 1. First, the drive module 2 of the automation device drives the DC geared motor TT motor 4 to rotate according to the movement signal command, thus achieving the movement corresponding to the movement signal command. After the drive module 2 completes the corresponding movement, the automation device carries the sonar experimental target to the corresponding position. Second, the ultrasonic ranging module 3 of the automation device uses the ultrasonic ranging principle to measure the distance between the target and the sonar equipment. Finally, the display module 1 of the automation device displays the measured distance value in real time. Once the sonar equipment has completed the acquisition of the reflected wave energy of the target object at its current location, the above operation can be repeated to complete the acquisition of the sonar reflected wave energy of the target object at the next location.

[0037] like Figure 2 As shown, in some embodiments of the present invention, the development board 9 is an Arduino UNO R3 microcontroller. The relevant programming for the motion state and mode of the automation device, the ultrasonic ranging module, the display module, and the Bluetooth module is completed on a computer via the Arduino IDE. The USB port of the Arduino UNO R3 microcontroller enables serial communication between the microcontroller and the computer. The program is burned into the microcontroller before circuit connection. Specifically, the development board 9 consists of a digital interface 11, an external power jack 12, a USB interface 13, a reset button 14, and a digital interface 15. The USB interface 13 is used to connect the computer and the development board for serial communication. The program written in the Arduino IDE is burned into the development board 9 for storage via this interface.

[0038] like Figure 3As shown, in some embodiments of the present invention, the drive module 2 comprises 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, and an output B interface 16. The 12V power supply interface 22 and the GND interface 21 of the drive module 2 are connected to the positive and negative terminals of the power supply 5, respectively, providing power to the drive module. The output A interface 23 is connected to the positive and negative terminals of the two DC geared motors 4 on the right side of the device, and the output B interface 16 is connected to the positive and negative terminals of the two DC geared motors 4 on the left side of the device, providing voltage to the four DC geared motors 4, driving them to rotate, thereby driving the rubber wheels 8 mounted on the DC geared motors 4, ultimately causing the automation device to move. The 5V power supply interface 20 and the GND interface 21 of the drive module 2 are connected to the VIN and GND interfaces of the development board 9, providing power for the operation of the development board 9. The logic input interface 18 of the drive module 2 is connected to the digital interface 15 of the development board. Thus, the drive module can receive the command signals sent by the development board 9, and the drive module can realize specific drive movements. The automated device can realize specific movements, realize specific movement of the target object in the sonar experiment, so that the target object is located in different positions. By scanning the reflected energy of the target object with the sonar equipment, a series of reflected energy numbers at different positions can be collected, providing sufficient data for the sonar scanning experiment.

[0039] like Figure 4 As shown, in some embodiments of the present invention, the ultrasonic ranging module 3 has four interfaces: a GND interface 25, a VCC interface 28, and a GND interface and a 3.3V interface of the development board 9. The development board 9 provides the operating voltage for the ultrasonic ranging module 3. The Echo interface 26 and 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 Trig interface, so that the ultrasonic probe 24 of the ultrasonic ranging module 3 can emit eight 40kHz ultrasonic pulses and then detect the echo signal. When the echo signal is detected, it is output through the Echo interface 26. The distance value can be calculated based on the duration of the high level output by the Echo interface 26, i.e., the distance value is: (high level duration * 340m / s) / 2.

[0040] like Figure 5As 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 GND 31 and VCC 30 interfaces of the Bluetooth module 7 are connected to the GND and 5V interfaces of the development board 9, which provides voltage for the normal operation of the Bluetooth module. The RXD 33 and TXD 32 interfaces of the Bluetooth module 7 are connected to the digital interface 15 of the development board 9. By pairing the Bluetooth module 7 with a mobile phone Bluetooth serial port debugging assistant APP, and based on the ASCII codes corresponding to different movement modes of the automated device set during programming in the Arduino IDE, the corresponding function keys for different movement modes of the automated device can be defined in the mobile phone Bluetooth serial port debugging assistant APP using custom functions. After the mobile phone Bluetooth serial port debugging assistant APP is paired with the Bluetooth module 7, the automated movement of the sonar scanning target can be achieved by using the corresponding function keys.

[0041] 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. The IIC adapter board 39 is soldered onto the LCD 1602 display screen 40 to reduce the amount of digital interface 15 occupied on the development board 9. The GND interface 38 and VCC interface 37 of the IIC adapter board are connected to the 5V and GND interfaces on the development board 9, and the development board 9 provides a stable operating voltage for the display module 1. The SDA interface 36 and SCL interface 35 of the IIC adapter board are connected to any two interfaces of the analog interface 11 on the development board 9. When the ranging module measures the distance between the target object and the sonar equipment in the sonar experiment, it displays the distance through the display module.

[0042] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, enabling those skilled in the art to better understand and utilize the invention.

Claims

1. An automated device for sonar scanning experiments based on mobile phone Bluetooth control, characterized in that, It includes a display module (1), a driver module (2), an ultrasonic ranging module (3), a main structure, 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 ranging module (3), and the Bluetooth module (7) are all connected to the development board (9); The main structure includes four DC geared motors (4), a trolley base plate (6), and four rubber wheels (8). The four rubber wheels (8) are mounted on the shafts of the four DC geared motors (4). The rotation of the DC geared motors (4) drives the rotation of the rubber wheels (8). The DC geared motors (4) are mounted on the trolley base plate (6). The drive module (2) is connected to the DC geared motors (4), the power supply (5), and the development board (9). Under the control of the development board (9) and driven by the drive module (2), the four DC geared motors (4) complete the predetermined motion state and motion mode of the automated device. The power supply (5) 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 car's bottom plate. The development board (9) is an Arduino UNO R3 microcontroller. The relevant programming of the motion state and motion mode of the automation device, the ultrasonic ranging module (3), the display module (1) and the Bluetooth module (7) is completed on the computer through the Arduino IDE. The USB port of the Arduino UNO R3 microcontroller is used to realize serial communication between the microcontroller and the computer. The program is burned to the microcontroller before connection. The ultrasonic ranging module (3) is an HC-SR04 chip with an accuracy of 1mm; The Bluetooth module (7) is the Qindu HC-05 master-slave integrated Bluetooth chip; The depth of one end of the sonar experimental target (10) in the water is kept consistent, and the energy of the collected sonar reflected wave is the energy of the pulse wave reflected back to the sonar device by the sonar experimental target (10).

2. The automated device for sonar scanning experiments based on mobile phone Bluetooth control according to claim 1, characterized in that, An IIC adapter board (39) is soldered onto the LCD 1602 display screen (40) of the display module (1) to improve the interface utilization of the display module (1) and the development board (9). The development board (9) provides the working voltage for it. The display module (1) is controlled by the development board (9) and displays the measurement results of the ultrasonic ranging module (3) in real time.

3. The automated device for sonar scanning experiments based on mobile phone Bluetooth control according to claim 1, characterized in that, The ultrasonic ranging module (3) is a non-contact ranging 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 experiments based on mobile phone Bluetooth control according to claim 1, characterized in that, The Bluetooth module (7) is used to realize the function of remotely controlling the motion status and motion mode of the automated device, and transmits the remote control command signal to the development board (9). After receiving the command, the development board performs its control function and directs other modules to perform the corresponding functions in an orderly manner.

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

6. The automated device for sonar scanning experiments based on mobile phone Bluetooth control according to claim 1, characterized in that, By pairing the mobile phone with the Bluetooth module (7) via the mobile phone Bluetooth serial port debugging assistant APP, the mobile phone can realize the automated movement of the target object for sonar scanning.

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