Overwater power ultrasonic obstacle avoidance alarm system

Abstract

The invention discloses a water power ultrasonic obstacle avoidance alarm system, which comprises a central control single chip microcomputer, a speed regulation interface, a touch switch, an ultrasonic transmitting circuit, an ultrasonic receiving circuit and a buzzer circuit, and is characterized in that a first pin of the central control single chip microcomputer is connected with the speed regulation interface; a second pin of the central control single-chip microcomputer is connected with the touch switch. A third pin of the central control single chip microcomputer is connected with the ultrasonic transmitting circuit; a fourth pin of the central control single chip microcomputer is connected with the ultrasonic receiving circuit; a fifth pin of the central control single-chip microcomputer is connected with the buzzer circuit. The sixth pin of the central control single-chip microcomputer is connected with the power supply end of the power supply. A seventh pin of the central control single-chip microcomputer is connected with the grounding end. And the touch switch is connected with the grounding end. By integrating the central control chip, the underwater ultrasonic transmitting and receiving circuit, the speed regulation interface, the touch switch, the buzzer and the like, an intelligent water ultrasonic obstacle avoidance function is realized.

Description

Technical Field

[0001] This application relates to the fields of water transportation and automation technology, and particularly to a waterborne power ultrasonic obstacle avoidance and alarm system. Background Art

[0002] With the continuous growth of global water transportation and the rapid development of automation technology, the safety and intelligence requirements of waterborne navigation equipment are increasing at an unprecedented rate. Waterborne navigation equipment, including but not limited to ships, unmanned surface vehicles (USVs), and various water entertainment facilities, undertakes multiple tasks such as transportation, patrol, rescue, scientific research, and leisure in various water areas. However, when these devices operate in complex and changeable water environments, they face many challenges, especially in obstacle avoidance.

[0003] Traditional waterborne navigation equipment mainly relies on manual operation for obstacle avoidance. Operators identify and avoid obstacles by observing the surrounding environment, interpreting navigation charts, and using means such as radar and vision. However, the effectiveness of this method will be greatly reduced under conditions with limited visibility such as at night, in fog, or in rain. In addition, even in clear weather, it is difficult for manual operation to detect and effectively avoid underwater obstacles or small objects hidden on the water surface in a timely manner.

[0004] To overcome these limitations, people have begun to explore various advanced obstacle avoidance technologies. Among them, ultrasonic obstacle avoidance technology has attracted much attention due to its unique advantages. Ultrasonic obstacle avoidance technology uses the principle that ultrasonic beams propagate in space and are reflected back when encountering obstacles, and calculates the distance to the obstacle by measuring the time difference or phase difference of the reflected waves. This technology is not affected by light and can work normally in dark or limited visibility environments; at the same time, its detection distance is moderate, which can not only meet the needs of most waterborne navigation equipment but also not introduce too much noise and interference due to too long detection distance; in addition, the cost of ultrasonic sensors is relatively low, and they are easy to integrate and maintain.

[0005] However, although ultrasonic obstacle avoidance technology has been widely used on land and in shallow water areas, its integrated application in the field of waterborne navigation equipment, especially for the detection and avoidance of underwater obstacles, is not yet popular. This is mainly because the working environment of waterborne navigation equipment is complex and changeable, the types of underwater obstacles are diverse and unevenly distributed, which puts higher requirements on the accuracy, stability, and reliability of ultrasonic sensors. At the same time, the power system and control system of waterborne navigation equipment also need to be closely integrated and work together with the ultrasonic obstacle avoidance module to achieve intelligent obstacle avoidance decision-making and execution. Summary of the Invention

[0006] To solve the integration problem of the above-mentioned ultrasonic obstacle avoidance technology in the detection and obstacle avoidance of underwater obstacles on the system of waterborne navigation equipment, the embodiment of the present application provides a waterborne power ultrasonic obstacle avoidance and alarm system, and its technical solution is as follows: In the first aspect, the embodiment of the present application provides a waterborne power ultrasonic obstacle avoidance and alarm system, including a central control single-chip microcomputer, a speed regulation interface, a touch switch, an ultrasonic transmitting circuit, an ultrasonic receiving circuit, and a buzzer circuit, wherein: The first pin of the central control single-chip microcomputer is connected to the speed regulation interface; the second pin of the central control single-chip microcomputer is connected to the touch switch; the third pin of the central control single-chip microcomputer is connected to the ultrasonic transmitting circuit; the fourth pin of the central control single-chip microcomputer is connected to the ultrasonic receiving circuit; the fifth pin of the central control single-chip microcomputer is connected to the buzzer circuit; the sixth pin of the central control single-chip microcomputer is connected to the power supply terminal; the seventh pin of the central control single-chip microcomputer is connected to the ground terminal; The touch switch is connected to the ground terminal.

[0007] In an optional solution of the first aspect, the waterborne power ultrasonic obstacle avoidance and alarm system further includes a first filter capacitor, wherein: The first filter capacitor is connected to the sixth pin of the central control single-chip microcomputer and is connected to the ground terminal.

[0008] In another optional solution of the first aspect, the waterborne power ultrasonic obstacle avoidance and alarm system further includes a first pull-up resistor, wherein: The first pull-up resistor is connected to the second pin of the central control single-chip microcomputer and is connected to the power supply terminal.

[0009] In another optional solution of the first aspect, the ultrasonic transmitting circuit includes a capacitive isolation chip and an ultrasonic generator, wherein: The first pin of the capacitive isolation chip is connected to the power supply terminal; the second pin of the capacitive isolation chip is connected to the third pin of the central control chip; the third pin of the capacitive isolation chip is connected to the ground terminal; the fourth pin of the capacitive isolation chip is connected to the ultrasonic generator and is connected to the ground terminal; the fifth pin of the capacitive isolation chip is connected to the ultrasonic generator; the sixth pin of the capacitive isolation chip is connected to the power supply terminal.

[0010] In another optional solution of the first aspect, the ultrasonic transmitting circuit further includes a second filter capacitor and a third filter capacitor, wherein: The second filter capacitor is connected to the first pin of the capacitive isolation chip and is connected to the ground terminal; The third filter capacitor is connected to the sixth pin of the capacitive isolation chip and is connected to the ground terminal.

[0011] In another optional solution of the first aspect, the ultrasonic receiving circuit includes a decoding chip and an ultrasonic receiver, wherein: The first pin of the decoding chip is connected to the ultrasonic receiver; the second pin of the decoding chip is connected to the ultrasonic receiver and also connected to the ground terminal; the third pin of the decoding chip is connected to the fourth pin of the central control chip; the fourth pin of the decoding chip is connected to the power supply terminal.

[0012] In another alternative solution of the first aspect, the ultrasonic receiving circuit further includes an adjusting resistor and a fourth filter capacitor, where: The adjusting resistor is connected to the fifth pin of the decoding chip and is also connected to the fourth filter capacitor; The fourth filter capacitor is connected to the ground terminal.

[0013] In another alternative solution of the first aspect, the ultrasonic receiving circuit further includes a detection capacitor and an integration capacitor, where: The detection capacitor is connected to the sixth pin of the decoding chip and is also connected to the ground terminal; The integration capacitor is connected to the seventh pin of the decoding chip and is also connected to the ground terminal.

[0014] In another alternative solution of the first aspect, the ultrasonic receiving circuit further includes a tuning resistor, where: The tuning resistor is connected to the fourth pin of the decoding chip and is also connected to the eighth pin of the decoding chip.

[0015] In another alternative solution of the first aspect, the ultrasonic receiving circuit further includes a second pull-up resistor, where: The second pull-up resistor is connected to the third pin of the decoding chip and is also connected to the fourth pin of the decoding chip.

[0016] The beneficial effects brought by the technical solutions provided in some embodiments of this specification at least include: In the water-powered ultrasonic obstacle avoidance and alarm system, by integrating a central control chip, an underwater ultrasonic transmitting and receiving circuit, a speed regulation interface, a touch switch, a buzzer, etc., an intelligent water ultrasonic obstacle avoidance function is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is a schematic structural diagram of a water-powered ultrasonic obstacle avoidance and alarm system provided by an embodiment of the present application; Figure 2 It is a schematic structural diagram of an ultrasonic transmitting circuit provided by an embodiment of the present application; Figure 3 Schematic diagram of a structure of an ultrasonic receiving circuit provided by an embodiment of the present application. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application.

[0020] In the following introduction, the terms "first" and "second" are only for the purpose of description and cannot be construed as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application. Different embodiments can be replaced or combined. Therefore, the present application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments including one or more all other possible combinations of A, B, C, and D, although such embodiments may not be explicitly described in the following content in words.

[0021] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes can be made to the functions and arrangements of the described elements without departing from the scope of the content of the present application. Each example can appropriately omit, substitute, or add various processes or components. For example, the described method can be executed in a different order from the described order, and various steps can be added, omitted, or combined. In addition, the features described in some examples can be combined into other examples.

[0022] Please refer to Figure 1 , Figure 1 which shows a schematic diagram of a structure of a water-powered ultrasonic obstacle avoidance and alarm system provided by an embodiment of the present application.

[0023] As Figure 1 shown, the water-powered ultrasonic obstacle avoidance and alarm system includes a central control single-chip microcomputer, a speed regulation interface, a touch switch, an ultrasonic transmitting circuit, an ultrasonic receiving circuit, and a buzzer circuit, where: The first pin of the central control single-chip microcomputer is connected to the speed regulation interface; the second pin of the central control single-chip microcomputer is connected to the touch switch; the third pin of the central control single-chip microcomputer is connected to the ultrasonic transmitting circuit; the fourth pin of the central control single-chip microcomputer is connected to the ultrasonic receiving circuit; the fifth pin of the central control single-chip microcomputer is connected to the buzzer circuit; the sixth pin of the central control single-chip microcomputer is connected to the power supply terminal; the seventh pin of the central control single-chip microcomputer is connected to the ground terminal; The touch switch is connected to the ground terminal.

[0024] Specifically, when the touch switch K1 button is pressed, the level received by pin 7 (i.e., the second pin) of the central control single-chip microcomputer U2 changes from high level to low level; when the touch switch K1 button is released, the level received by pin 7 of the central control single-chip microcomputer U2 changes from low level to high level.

[0025] After the information collected during the ultrasonic wave emission process and reception process is transmitted to the central control single-chip microcomputer U2 through pin 10 (i.e., the fourth pin) and pin 11 (i.e., the third pin) of the central control single-chip microcomputer U2, the central control single-chip microcomputer U2 can determine whether the distance reaches the deceleration threshold. When the deceleration threshold is reached, pins 1 and 2 (i.e., the first pin of the central control single-chip microcomputer connected to the speed regulation interface) output a deceleration instruction. At this time, pin 8 (i.e., the fifth pin) of the central control single-chip microcomputer U2 outputs a high level, and the buzzer sounds.

[0026] It should be noted that Figure 1 pin 14 in

[0027] is the sixth pin of the central control single-chip microcomputer, and pin 13 is the seventh pin of the central control single-chip microcomputer. The first filter capacitor is connected to the sixth pin of the central control single-chip microcomputer and is connected to the grounded terminal.

[0028] Specifically, the water-powered ultrasonic obstacle avoidance and alarm system further includes a first filter capacitor C1, which is used to store energy and filter the input voltage of the power supply terminal, thereby reducing the AC pulsation ripple coefficient, improving the high-efficiency smooth DC output, and ensuring the stability of the input voltage of the water-powered ultrasonic obstacle avoidance and alarm system.

[0029] As another option of the embodiment of the present application, the water-powered ultrasonic obstacle avoidance and alarm system further includes a first pull-up resistor, where: The first pull-up resistor is connected to the second pin of the central control single-chip microcomputer and is connected to the power supply terminal.

[0030] Specifically, the water-powered ultrasonic obstacle avoidance and alarm system further includes a first pull-up resistor R4, which fixes the undetermined signal at the logic high level by connecting a resistor in series to ensure signal stability and avoid signal instability caused by external interference or noise. When the input port is set to the input state, if the pull-up resistor R4 is connected, its normal state is high level.

[0031] Here, please refer to Figure 2 Figure 2 which shows a schematic structural diagram of an ultrasonic wave emission circuit provided by the embodiment of the present application.

[0032] As Figure 2 shown, the ultrasonic wave emission circuit includes a capacitive isolation chip and an ultrasonic wave generator, where:​ The first pin of the isolation chip is connected to the power supply terminal; the second pin of the isolation chip is connected to the third pin of the central control chip; the third pin of the isolation chip is connected to the ground terminal; the fourth pin of the isolation chip is connected to the ultrasonic generator and is also connected to the ground terminal; the fifth pin of the isolation chip is connected to the ultrasonic generator; the sixth pin of the isolation chip is connected to the power supply terminal.

[0033] Specifically, U3 is the isolation chip, which is used for level conversion and providing driving ability. When the 11th pin of the central control single-chip microcomputer U2 issues an ultrasonic instruction, the 3rd pin (i.e., the second pin) of the isolation chip U3 receives the instruction from U2. At this time, the 6th pin (i.e., the fifth pin) of the isolation chip U3 outputs a high level, a voltage difference is formed across the ultrasonic generator H1, and the ultrasonic generator H1 starts to send ultrasonic signals.

[0034] It should be noted that Figure 2 the 1st pin and the 8th pin in are the first pin of the isolation chip, the 4th pin is the third pin of the isolation chip, the 5th pin is the fourth pin of the isolation chip, and the 6th pin is the output terminal corresponding to the 3rd pin.

[0035] As another option of the embodiment of the present application, the ultrasonic transmitting circuit further includes a second filter capacitor and a third filter capacitor, where: The second filter capacitor is connected to the first pin of the isolation chip and is also connected to the ground terminal; The third filter capacitor is connected to the sixth pin of the isolation chip and is also connected to the ground terminal.

[0036] Specifically, the ultrasonic transmitting circuit further includes a second filter capacitor C2 and a third filter capacitor C3, which are used for energy storage and filtering operations on the input voltage of the power supply terminal, so as to reduce the AC pulsation ripple coefficient, improve the high-efficiency smooth DC output, and ensure the stability of the input voltage of this water-powered ultrasonic obstacle avoidance and alarm system.

[0037] Here, please refer to Figure 3 , Figure 3 which shows a schematic structural diagram of an ultrasonic receiving circuit provided by the embodiment of the present application.

[0038] As shown in Figure 3 , this ultrasonic receiving circuit includes a decoding chip and an ultrasonic receiver, where: The first pin of the decoding chip is connected to the ultrasonic receiver; the second pin of the decoding chip is connected to the ultrasonic receiver and is also connected to the ground terminal; the third pin of the decoding chip is connected to the fourth pin of the central control chip; the fourth pin of the decoding chip is connected to the power supply terminal.

[0039] Specifically, when the ultrasonic generator H1 sends an ultrasonic signal, the ultrasonic receiver H2 receives the ultrasonic signal and inputs it to pin 1 (i.e., the first pin) of the ultrasonic decoding chip U1. Then, a corresponding decoded signal (the decoded signal is a level signal) can be output from pin 7 (i.e., the third pin) of the decoding chip U1, and thus is output to pin 10 of the central control chip U2 through pin 7.

[0040] It should be noted that Figure 3 pin 5 in is the second pin of the decoding chip, and pin 8 is the fourth pin of the decoding chip.

[0041] As another alternative of the embodiment of the present application, the ultrasonic receiving circuit further includes an adjusting resistor and a fourth filter capacitor, where: The adjusting resistor is connected to the fifth pin of the decoding chip and is connected to the fourth filter capacitor; The fourth filter capacitor is connected to the ground terminal.

[0042] Specifically, the ultrasonic receiving circuit further includes an adjusting resistor R1 and a fourth filter capacitor R4. R1 and C4 form a series RC circuit, which is used to provide low-pass filtering and change the amplification factor.

[0043] It should be noted that Figure 3 pin 2 in is the fifth pin of the decoding chip.

[0044] As another alternative of the embodiment of the present application, the ultrasonic receiving circuit further includes a detection capacitor and an integration capacitor, where: The detection capacitor is connected to the sixth pin of the decoding chip and is connected to the ground terminal; The integration capacitor is connected to the seventh pin of the decoding chip and is connected to the ground terminal.

[0045] Specifically, the ultrasonic receiving circuit further includes a detection capacitor C5 and an integration capacitor C6. The detection capacitor C5 is used to prevent high-frequency AC signals from passing through to the subsequent circuit and allow DC components to pass through, so as to ensure that the subsequent circuit (such as an amplifier) only processes DC signals and avoid interference or damage to the circuit caused by high-frequency signals. The integration capacitor C6 is used to adjust the detection distance.

[0046] It should be noted that Figure 3 pin 3 in is the sixth pin of the decoding chip, and pin 6 is the seventh pin of the decoding chip.

[0047] As another alternative of the embodiment of the present application, the ultrasonic receiving circuit further includes a tuning resistor, where: The tuning resistor is connected to the fourth pin of the decoding chip and is connected to the eighth pin of the decoding chip.

[0048] Specifically, the ultrasonic receiving circuit further includes a tuning resistor R2, which is used to set the center frequency of the band-pass filter. It should be noted that Figure 3 Pin 5 in

[0049] As another alternative of the embodiment of the present application, the ultrasonic receiving circuit further includes a second pull-up resistor, where: The second pull-up resistor is connected to the third pin of the decoding chip and is also connected to the fourth pin of the decoding chip.

[0050] Specifically, the ultrasonic receiving circuit further includes a second pull-up resistor R3. When the output terminal needs to be maintained at a high-level state, the pull-up resistor R3 can provide a stable current path to ensure that the output level will not fluctuate due to external interference or load changes. By selecting an appropriate value of the pull-up resistor, the power consumption and current requirements can be balanced to achieve a stable level output. In some cases, the signal at the output terminal needs to drive a relatively large load or connect multiple circuit components. The pull-up resistor R3 can enhance the driving ability of the output signal so that it can better meet the load requirements and ensure the stability and reliability of signal transmission. When connecting different circuits or devices, there may be a problem of level mismatch. The pull-up resistor R3 can adjust the output level to match the level requirements of the receiving end, thereby ensuring the correct transmission and processing of the signal. If the output terminal is not connected to any power supply or load, it may cause the output to be floating, that is, the output level is in an uncertain state. The pull-up resistor R3 can ensure that the output terminal remains at a high-level state when there is no external connection, avoiding circuit failures or instabilities caused by floating problems. The pull-up resistor R3 can reduce the input impedance of the output terminal and reduce the influence of external electromagnetic interference on the circuit. By providing a stable current path, the pull-up resistor R3 can absorb part of the interference signal to protect the normal operation of the circuit.

Claims

1. A water powered ultrasonic obstacle avoidance alarm system, characterized in that: It includes a central control microcontroller, a speed control interface, a touch switch, an ultrasonic transmitting circuit, an ultrasonic receiving circuit and a buzzer circuit, among which: The first pin of the central control single chip microcomputer is connected to the speed regulating interface; the second pin of the central control single chip microcomputer is connected to the touch switch; the third pin of the central control single chip microcomputer is connected to the ultrasonic transmitting circuit; the fourth pin of the central control single chip microcomputer is connected to the ultrasonic receiving circuit; the fifth pin of the central control single chip microcomputer is connected to the buzzer circuit; the sixth pin of the central control single chip microcomputer is connected to the power supply terminal; the seventh pin of the central control single chip microcomputer is connected to the ground terminal; The touch switch is connected to the ground terminal.

2. The water powered ultrasonic obstacle avoidance alarm system according to claim 1, characterized in that: The water power ultrasonic obstacle avoidance alarm system also includes a first filter capacitor, wherein: The first filter capacitor is connected to the sixth pin of the central control microcontroller and is also connected to the ground terminal.

3. The water powered ultrasonic obstacle avoidance alarm system according to claim 1, characterized in that: The water power ultrasonic obstacle avoidance alarm system also includes a first pull-up resistor, wherein: The first pull-up resistor is connected to the second pin of the central control microcontroller and to the power supply terminal.

4. The water powered ultrasonic obstacle avoidance alarm system according to claim 1, characterized in that: The ultrasonic transmitting circuit includes a capacitive isolation chip and an ultrasonic generator, wherein: The first pin of the isolation chip is connected to the power supply end; the second pin of the isolation chip is connected to the third pin of the central control chip; the third pin of the isolation chip is connected to the ground end; the fourth pin of the isolation chip is connected to the ultrasonic generator and to the ground end; the fifth pin of the isolation chip is connected to the ultrasonic generator; the sixth pin of the isolation chip is connected to the power supply end.

5. The water powered ultrasonic obstacle avoidance alarm system according to claim 4, characterized in that: The ultrasonic transmitting circuit also includes a second filter capacitor and a third filter capacitor, wherein: The second filter capacitor is connected to the first pin of the isolation chip and to the ground terminal; The third filter capacitor is connected to the sixth pin of the capacitance isolation chip and is connected to the ground terminal.

6. The water powered ultrasonic obstacle avoidance alarm system according to claim 1, characterized in that: The ultrasonic receiving circuit includes a decoding chip and an ultrasonic receiver, wherein: The first pin of the decoding chip is connected to the ultrasonic receiver; the second pin of the decoding chip is connected to the ultrasonic receiver and to the ground terminal; the third pin of the decoding chip is connected to the fourth pin of the central control chip; and the fourth pin of the decoding chip is connected to the power supply terminal.

7. The water powered ultrasonic obstacle avoidance alarm system according to claim 6, characterized in that: The ultrasonic receiving circuit further includes an adjusting resistor and a fourth filter capacitor, wherein: The regulating resistor is connected to the fifth pin of the decoding chip and is also connected to the fourth filtering capacitor; The fourth filter capacitor is connected to the ground terminal.

8. The water powered ultrasonic obstacle avoidance alarm system according to claim 6, characterized in that: The ultrasonic receiving circuit also includes a detection capacitor and an integration capacitor, wherein: The detection capacitor is connected to the sixth pin of the decoding chip and is also connected to the ground terminal; The integrating capacitor is connected to the seventh pin of the decoding chip and is also connected to the ground terminal.

9. The water powered ultrasonic obstacle avoidance alarm system according to claim 6, characterized in that: The ultrasonic receiving circuit also includes a tuning resistor, wherein: The tuning resistor is connected to the fourth pin of the decoding chip and to the eighth pin of the decoding chip.

10. The water powered ultrasonic obstacle avoidance alarm system according to claim 6, characterized in that: The ultrasonic receiving circuit further includes a second pull-up resistor, wherein: The second pull-up resistor is linked to the third pin of the decoding chip and connected to the fourth pin of the decoding chip.

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