Sonar data acquisition device and underwater robot

Abstract

The utility model relates to a sonar data acquisition device and an underwater robot. The sonar data acquisition device comprises a sonar unit, a data acquisition module and a one-way conduction element. And a plurality of sonar units are provided. The distribution end of the data acquisition module and the receiving end of each sonar unit form signal connection capable of transmitting broadcast information. The sending end of the sonar unit can send sonar data in the form of serial data when the receiving end receives the matched broadcast information. The data acquisition module sends out different broadcast information in sequence, so that the data acquisition module can enable different sonar units to enter a trigger state in sequence, and the sonar units automatically quit the trigger state after completing the sending of sonar data. The data acquisition module can receive sonar data of more sonar units under the condition that fewer ports are used, so that the circuit structure of the underwater robot can be simplified, the hardware resource requirement on the data acquisition module can be reduced, and the hardware cost can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of sonar data acquisition, and in particular to a sonar data acquisition device and an underwater robot. Background Art

[0002] Underwater robots, also known as unmanned remote-controlled submersibles, are robots that work underwater for extreme operations. Due to the harsh and dangerous underwater environment and the limited diving depth of humans, underwater robots have become an important tool for developing the ocean. At the same time, they can provide early detection and construction monitoring in underwater projects.

[0003] In order to realize the movement and measurement of underwater robots in water, underwater robots generally have sonar devices, which generate sound waves and use the propagation and reflection characteristics of sound waves in water to detect underwater environments or predetermined targets. During operation, the sonar device generates sonar data that can reflect the detection results and transmits it to the acquisition module.

[0004] In traditional technology, the acquisition module has multiple communication terminals, and the acquisition module is connected to the sonar device signal through the communication terminals. With the improvement of the performance requirements of underwater robots, the number of sonar devices configured in underwater robots has gradually increased. Since the number of communication terminals of the acquisition module is limited, the increase in the number of sonar devices will occupy most of the hardware interface resources of the acquisition module. The acquisition module needs to reserve more communication terminals, which makes the circuit structure of the underwater robot complicated and increases the hardware cost of the acquisition module. Utility Model Content

[0005] Based on this, it is necessary to provide a sonar data acquisition device and an underwater robot to address the problem that the number of sonar devices configured in the underwater robot gradually increases, which makes the circuit structure of the underwater robot complicated and the hardware cost of the acquisition module increases.

[0006] A sonar data acquisition device, comprising:

[0007] A plurality of sonar units, at least two of which have a receiving end and a transmitting end;

[0008] A data acquisition module having a distribution end and an input end; the distribution end of the data acquisition module forms a signal connection with the receiving end of each of the sonar units respectively to transmit broadcast information; a resistor element is electrically connected between the input end of the data acquisition module and the positive electrode of the power supply; the transmitting end of the sonar unit can send out sonar data in the form of serial data when the receiving end receives matching broadcast information, and maintain a high level when the receiving end receives non-matching broadcast information; and

[0009] A unidirectional conductive element is arranged in a one-to-one correspondence with the sonar unit; the unidirectional conductive element includes a first end and a second end; the first end of each of the unidirectional conductive elements is electrically connected to the input end of the data acquisition module; the second end of the unidirectional conductive element is electrically connected to the corresponding transmitting end of the sonar unit; the unidirectional conductive element is in a conducting state when the potential of the first end is greater than the potential of the second end; the unidirectional conductive element is in a cut-off state when the potential of the first end is not greater than the potential of the second end.

[0010] In the above-mentioned sonar data acquisition device, the broadcast information of the data acquisition module is simultaneously sent to the receiving end of each sonar unit. Each sonar unit stores different position information respectively, and each sonar unit has unique position information. Therefore, the broadcast information sent by the data acquisition module each time can only match the position information of one of the sonar units, and the position information of the remaining sonar units forms a non-matching relationship with the broadcast information. The sonar unit whose position information matches the broadcast information enters the trigger state and sends out the sonar data in the form of serial data at the transmitting end. The output of the sonar data causes the transmitting end of the sonar unit to show alternating changes between high level and low level. When the transmitting end is at a high level, the potential of the first terminal is not greater than the potential of the second terminal, and the transmitting ends of other sonar units that are not in the triggered state are maintained at a relatively high level. Therefore, when the transmitting end of the sonar unit in the triggered state outputs a high level, the input end of the data acquisition module is also at a high level. When the transmitting end of the sonar unit in the triggered state outputs a low level, the potential of the first terminal of the unidirectional conductive element corresponding to the sonar unit is greater than the potential of the second terminal, then the unidirectional conductive element corresponding to the sonar unit in the triggered state is in a conducting state, while the unidirectional conductive elements corresponding to other sonar units not in the triggered state are in a cut-off state, so the input end of the data acquisition module is in a low level, and at least maintains a potential difference with the positive electrode of the power supply through the resistor element. Therefore, the transmitting end of the sonar unit in the triggered state is synchronized with the input end of the data acquisition module in terms of potential, and the sonar data of the sonar unit in the triggered state can be uniquely input to the data acquisition module. By sending different broadcast information in sequence through the data acquisition module, the data acquisition module can allow different sonar units to enter the triggered state in sequence, and the sonar unit automatically exits the triggered state after completing the sending of the sonar data, so the data acquisition module can receive more sonar data from sonar units while using fewer ports, thereby simplifying the circuit structure of the underwater robot, and reducing the hardware resource requirements for the data acquisition module, which helps to reduce hardware costs.

[0011] In one embodiment, the unidirectional conductive element includes a diode; the anode of the diode serves as the first end, and the cathode of the diode serves as the second end.

[0012] In one of the embodiments, the unidirectional conducting element comprises a PNP type BJT tube; the emitter of the PNP type BJT tube serves as the first terminal, and the base of the PNP type BJT tube serves as the second terminal.

[0013] In one of the embodiments, the sonar unit is provided with a first TTL serial port at the transmitting end; the data acquisition module is provided with a second TTL serial port at the input end; and the first TTL serial port and the second TTL serial port are signal-connected.

[0014] In one embodiment, the sonar unit includes a ranging sonar element; the ranging sonar element is connected to the distribution end signal of the data acquisition module; the ranging sonar element can send out sonar data in the form of serial data.

[0015] An underwater robot comprises a sonar data acquisition device.

[0016] In one of the embodiments, it also includes a cabin and a propeller installed on the cabin; the data acquisition module is installed on the cabin, and at least a signal transmission coordination is formed between the data acquisition module and the propeller that can trigger the propeller to start or stop.

[0017] In one of the embodiments, it also includes an electrical cable and an onshore remote control device; the data acquisition module is electrically connected to the onshore remote control device via the electrical cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 It is a structural schematic diagram of a sonar data acquisition device according to an embodiment of the present application.

[0020] Figure 2 This is a schematic structural diagram of a sonar data acquisition device according to another embodiment of the present application.

[0021] Figure numerals: 100, sonar data acquisition device; 20, sonar unit; 20a, receiving end; 20b, transmitting end; 30, data acquisition module; 30a, distribution end; 30b, input end; R1, resistor element; 40, unidirectional conductive element; 40a, first terminal; 40b, second terminal; D1, diode; T1, PNP type BJT tube. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0024] In the present utility model, unless otherwise clearly stipulated and limited, the terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. The technical solution of the present utility model is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0025] The present application provides an underwater robot.

[0026] In some embodiments, the underwater robot is used to perform underwater operations. Specifically, the underwater robot can be used to measure the underwater environment and determine the spatial form of the underwater environment. The underwater robot can be used to detect the surface form of underwater buildings or the bottom of the water.

[0027] In some embodiments, in combination Figure 1 and Figure 2As shown, the underwater robot includes a sonar data acquisition device 100. The sonar data acquisition device 100 includes a data acquisition module 30 and a plurality of sonar units 20. The sonar unit 20 detects the underwater environment or a predetermined target object through sound waves. The sonar data detected by the sonar unit 20 is fed back to the data acquisition module 30. In some embodiments, the sonar data can reflect the relative distance between the sonar unit 20 and the sound wave reflection point.

[0028] In some embodiments, the underwater robot further comprises a cabin and a propeller installed on the cabin. The data acquisition module 30 and the sonar unit 20 are installed on the cabin.

[0029] In some embodiments, the data acquisition module 30 acts as a host controller and forms a signal transmission coordination with the propeller. Specifically, the data acquisition module 30 can trigger the propeller to start running by issuing a control instruction to the propeller. The data acquisition module 30 can also trigger the propeller to stop running. In other embodiments, the data acquisition module 30 can also control the propeller to run in a predetermined mode through a control instruction.

[0030] In some embodiments, the underwater robot further comprises an electrical cable and a remote control device on shore; the data acquisition module 30 is electrically connected to the remote control device on shore via the electrical cable. In some embodiments, the data acquisition module 30 feeds back sonar data to the remote control device on shore via the electrical cable. In other embodiments, the remote control device on shore transmits operation instructions to the data acquisition module 30 via the electrical cable, so that the data acquisition module 30 issues corresponding control instructions to other connected modules.

[0031] Combination Figure 1 and Figure 2 As shown, the present application provides a sonar data acquisition device 100 .

[0032] In some embodiments, in combination Figure 1As shown, the sonar data acquisition device 100 includes: a sonar unit 20, a data acquisition module 30 and a unidirectional conductive element 40. There are at least two sonar units 20. The sonar unit 20 has a receiving end 20a and a transmitting end 20b. The data acquisition module 30 has a distribution end 30a and an input end 30b. The distribution end 30a of the data acquisition module 30 forms a signal connection with the receiving end 20a of each sonar unit 20 to transmit broadcast information. A resistor element R1 is electrically connected between the input end 30b of the data acquisition module 30 and the positive electrode V+ of the power supply. The transmitting end 20b of the sonar unit 20 can send out sonar data in the form of serial data when the receiving end 20a receives matching broadcast information, and the transmitting end 20b of the sonar unit 20 can also maintain a relatively high level when the receiving end 20a receives non-matching broadcast information. The unidirectional conductive element 40 is set in a one-to-one correspondence with the sonar unit 20. The unidirectional conductive element 40 includes a first terminal 40a and a second terminal 40b. The first terminal 40a of each unidirectional conductive element 40 is electrically connected to the input terminal 30b of the data acquisition module 30. The second terminal 40b of the unidirectional conductive element 40 is electrically connected to the transmitting terminal 20b of the corresponding sonar unit 20. The unidirectional conductive element 40 is in a conducting state when the potential of the first terminal 40a is greater than the potential of the second terminal 40b. The unidirectional conductive element 40 is in a cut-off state when the potential of the first terminal 40a is not greater than the potential of the second terminal 40b.

[0033] Specifically, the broadcast information of the data acquisition module 30 is simultaneously sent to the receiving end 20a of each sonar unit 20. Each sonar unit 20 stores different position information, and each sonar unit 20 has unique position information. Therefore, the broadcast information sent by the data acquisition module 30 each time can only match the position information of one of the sonar units 20, and the position information of the remaining sonar units 20 forms a non-matching relationship with the broadcast information. The sonar unit 20 whose position information matches the broadcast information enters the trigger state and sends out the sonar data in the form of serial data at the transmitting end 20b. The output of the sonar data causes the transmitting end 20b of the sonar unit 20 to alternate between a high level and a low level. When the transmitting end 20b is at a high level, the potential of the first terminal 40a is not greater than the potential of the second terminal 40b, and the transmitting ends 20b of the other sonar units 20 that are not in the triggered state are maintained at a relatively high level. Therefore, when the transmitting end 20b of the sonar unit 20 in the triggered state outputs a high level, the input end 30b of the data acquisition module 30 is also at a high level. When the transmitting end 20b of the sonar unit 20 in the triggered state outputs a low level, the potential of the first terminal 40a of the unidirectional conductive element 40 corresponding to the sonar unit 20 is greater than the potential of the second terminal 40b, and the unidirectional conductive element 40 corresponding to the sonar unit 20 in the triggered state is in the conducting state, while the unidirectional conductive elements 40 corresponding to other sonar units 20 not in the triggered state are in the cut-off state, so the input end 30b of the data acquisition module 30 is in the low level, and the input end 30b of the data acquisition module 30 maintains a potential difference with the positive electrode V+ of the power supply through at least the resistor R1. Therefore, the transmitting end 20b of the sonar unit 20 in the triggered state keeps synchronization with the input end 30b of the data acquisition module 30 in terms of potential, and the sonar data of the sonar unit 20 in the triggered state can be uniquely input to the data acquisition module 30. By sending out different broadcast information in sequence through the data acquisition module 30, the data acquisition module 30 can make different sonar units 20 enter the trigger state in sequence. The sonar unit 20 automatically exits the trigger state after completing the sending of the sonar data. The data acquisition module 30 can receive sonar data from more sonar units 20 while using fewer ports, which is helpful to simplify the line structure of the underwater robot, reduce the hardware resource requirements for the data acquisition module 30, and help reduce hardware costs.

[0034] In some embodiments, the positive electrode V+ of the power supply is a positive voltage output terminal of any DC power supply. In other embodiments, the positive electrode V+ of the power supply is an output terminal of the DC power supply with a higher potential than the other terminal.

[0035] Specifically, when all unidirectional conductive elements 40 are in the cut-off state, the input end 30b of the data acquisition module 30 is isolated from the ground. Since the input end 30b of the data acquisition module 30 is electrically connected to the positive electrode V+ of the power supply through the resistor R1, when all unidirectional conductive elements 40 are in the cut-off state, the positive electrode V+ of the power supply at the input end 30b of the data acquisition module 30 maintains a consistent potential, that is, the input end 30b of the data acquisition module 30 is at a high level. When only the resistor R1 is connected between the positive electrode V+ of the power supply and the input end 30b of the data acquisition module 30, the potential difference across the resistor R1 is zero.

[0036] Specifically, when one of the unidirectional conductive elements 40 is in the conducting state, the voltage drop between the input terminal 30b of the data acquisition module 30 and the ground is close to zero. Without considering the voltage drop of the unidirectional conductive element 40, it is equivalent to short-circuiting the input terminal 30b of the data acquisition module 30 and the ground, that is, the input terminal 30b of the data acquisition module 30 is at a low level. When the positive electrode V+ of the power supply and the input terminal 30b of the data acquisition module 30 are only connected to the resistor element R1, the potential difference between the two ends of the resistor element R1 is approximately the output voltage of the positive electrode V+ of the power supply.

[0037] In some other implementations, the resistor element R1 and one or more other resistor elements may be connected in series between the input terminal 30 b of the data acquisition module 30 and the positive electrode V+ of the power supply.

[0038] More specifically, the distribution end 30 a of the data acquisition module 30 sends the broadcast information in the form of serial data to the receiving end 20 a of each sonar unit 20 .

[0039] In some embodiments, the number of sonar units 20 is not limited to Figure 1 and Figure 2 The number of sonar units 20 can be any number of more than two, and the connection relationship between each sonar unit and other components is the same as Figure 1 and Figure 2 The sonar unit 20 includes a ranging sonar element. The ranging sonar element is signal-connected to the distribution end 30a of the data acquisition module 30. The ranging sonar element can send out sonar data in the form of serial data. The receiving end 20a and the transmitting end 20b are arranged on the ranging sonar element. Specifically, the ranging sonar element can measure the distance. Through a plurality of ranging sonar elements, the underwater space environment can be measured, or the concave and convex conditions of a specified area can be measured.

[0040] In some embodiments, the ranging sonar element uses a Tritech model pa200 or pa500 ranging sonar.

[0041] In some embodiments, the data acquisition module 30 includes a single chip microcomputer or other processing chip capable of sending and receiving data.

[0042] In some embodiments, the sonar unit 20 is provided with a first TTL serial port at the transmitting end 20b. The data acquisition module 30 is provided with a second TTL serial port at the input end 30b. The first TTL serial port and the second TTL serial port are signal-connected, so that the sonar data can be stably transmitted between the transmitting end 20b of the sonar unit 20 and the input end 30b of the data acquisition module 30.

[0043] In some embodiments, in combination Figure 1 As shown, the unidirectional conducting element 40 includes a diode D1. The anode of the diode D1 serves as the first terminal 40a, and the cathode of the diode D1 serves as the second terminal 40b. Specifically, since the input terminal 30b of the data acquisition module 30 is connected to the positive electrode V+ of the power supply through the resistor R1, when the transmitting terminal 20b of the sonar unit 20 is at a high level, the anode and cathode of the diode D1 are both at a high level, so that the diode D1 does not have a conduction condition and remains in a cut-off state. When the transmitting terminal 20b of the sonar unit 20 is at a low level, a large potential difference is formed between the anode and cathode of the diode D1, so that the diode D1 is turned on. After being turned on, the anode of the diode D1 maintains a low potential, and the input terminal 30b of the data acquisition module 30 is in a low level state.

[0044] In some embodiments, in combination Figure 2 As shown, the unidirectional conducting element 40 includes a PNP type BJT tube T1. The emitter of the PNP type BJT tube T1 serves as the first terminal 40a, and the base of the PNP type BJT tube T1 serves as the second terminal 40b. Specifically, the collector of the PNP type BJT tube T1 is grounded. When the transmitting terminal 20b of the sonar unit 20 is at a high level, the emitter and the collector of the PNP type BJT tube T1 are in a cut-off state. When the transmitting terminal 20b of the sonar unit 20 is at a low level, the emitter and the collector of the PNP type BJT tube T1 are connected, and the input terminal 30b of the data acquisition module 30 is in a low level state due to grounding.

[0045] The above is only a specific implementation of the present invention, and the protection scope is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention.

Claims

1. A sonar data acquisition device, characterized in that: include: A plurality of sonar units; each sonar unit has a receiving end and a transmitting end; A data acquisition module having a distribution end and an input end; The distribution end of the data acquisition module forms a signal connection with the receiving end of each sonar unit respectively so as to transmit broadcast information; a resistor element is electrically connected between the input end of the data acquisition module and the positive electrode of the power supply; the transmitting end of the sonar unit can send out sonar data in the form of serial data when the receiving end receives matching broadcast information, and maintain a high level when the receiving end receives non-matching broadcast information; and A unidirectional conductive element is arranged in a one-to-one correspondence with the sonar unit; the unidirectional conductive element includes a first end and a second end; the first end of each of the unidirectional conductive elements is electrically connected to the input end of the data acquisition module; the second end of the unidirectional conductive element is electrically connected to the corresponding transmitting end of the sonar unit; the unidirectional conductive element is in a conducting state when the potential of the first end is greater than the potential of the second end; the unidirectional conductive element is in a cut-off state when the potential of the first end is not greater than the potential of the second end.

2. The sonar data acquisition device according to claim 1, characterized in that: The unidirectional conductive element includes a diode; the anode of the diode serves as the first end, and the cathode of the diode serves as the second end.

3. The sonar data acquisition device according to claim 1, characterized in that: The unidirectional conducting element comprises a PNP type BJT tube; the emitter of the PNP type BJT tube serves as the first terminal, and the base of the PNP type BJT tube serves as the second terminal.

4. The sonar data acquisition device according to claim 1, characterized in that: The sonar unit is provided with a first TTL serial port at the transmitting end; the data acquisition module is provided with a second TTL serial port at the input end; and the first TTL serial port is signal-connected to the second TTL serial port.

5. The sonar data acquisition device according to claim 1, characterized in that: The sonar unit comprises a ranging sonar element; the ranging sonar element is connected to the distribution end signal of the data acquisition module; the ranging sonar element can send out sonar data in the form of serial data.

6. An underwater robot, characterized in that: It comprises the sonar data acquisition device as described in any one of claims 1 to 5.

7. The underwater robot according to claim 6, characterized in that: It also includes a cabin and a propeller installed on the cabin; the data acquisition module is installed on the cabin, and the data acquisition module and the propeller at least form a signal transmission cooperation that can trigger the propeller to start or stop.

8. The underwater robot according to claim 6, characterized in that: It also includes an electrical cable and an onshore remote control device; the data acquisition module is electrically connected to the onshore remote control device through the electrical cable.

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