Underwater velocimeter and underwater vehicle
By designing an underwater speed gauge with multiple acoustic transponders, the problem of poor longitudinal running speed measurement in the prior art is solved, and high-precision detection of the longitudinal motion speed of the underwater vehicle is achieved.
Patent Information
- Application Number
- CN202421421570.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-20
- Publication Date
- 2025-03-28
- Estimated Expiration
- 2034-06-20
AI Technical Summary
Existing underwater speed gauges do not perform well in measuring longitudinal running speeds, making it difficult to effectively detect the longitudinal movement speed of the robot body.
An underwater speedometer is designed, using at least three acoustic transponders, with the end faces of the transmitting end facing differently to avoid excessive overlap of detection areas and ensure that the detection surface is consistent with the advance direction of the robot body.
It realizes high-precision detection of the longitudinal motion speed of the robot body, provides high-precision speed information and distance information, and enhances the speed measurement ability of underwater vehicles.
Smart Images
Figure CN222689767U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of underwater vehicles, in particular to an underwater speed meter and an underwater vehicle. Background Art
[0002] When an underwater vehicle is moving underwater, it is necessary to obtain the speed of the vehicle relative to the seabed. At present, there are two main methods for underwater measurement: optical detection and acoustic detection. However, underwater, the propagation attenuation of light waves is very large, and the propagation and measurement distance is limited. In contrast, sound waves have better propagation performance in water. After encountering underwater targets, the reflection coefficient of sound waves is large, which is conducive to obtaining object information.
[0003] The underwater speed meter provided by the prior art is installed at the bottom of the robot body, and uses a method of emitting sound waves downward to measure the horizontal running speed of the robot body; therefore, the underwater speed meter provided by the prior art performs poorly in measuring the longitudinal running speed. Utility Model Content
[0004] The main purpose of the utility model is to provide an underwater speed meter and an underwater vehicle to enhance the detection capability of the longitudinal motion speed of a robot body.
[0005] To achieve the above-mentioned purpose, the utility model proposes an underwater speed meter, comprising: a shell and at least three acoustic wave transponders, the shell having a receiving space, the at least three acoustic wave transponders being arranged in the receiving space, the transmitting ends of the at least three acoustic wave transponders being exposed on the front side of the shell, the end faces of the transmitting ends of at least two adjacent acoustic wave transponders among the at least three acoustic wave transponders facing a first direction, and the end face of the transmitting end of at least another acoustic wave transponder facing a second direction, the first direction being different from the second direction.
[0006] Optionally, the at least three acoustic wave transponders include a first acoustic wave transponder, a second acoustic wave transponder and a third acoustic wave transponder, the second acoustic wave transponder is arranged adjacent to the first acoustic wave transponder and the third acoustic wave transponder respectively, the end face of the transmitting end of one of the first acoustic wave transponder and the third acoustic wave transponder is oriented in the first direction with the end face of the transmitting end of the second acoustic wave transponder, and the end face of the transmitting end of the other of the first acoustic wave transponder and the third acoustic wave transponder is oriented in the second direction.
[0007] Optionally, the at least three acoustic wave transponders include a first acoustic wave transponder, a second acoustic wave transponder, a third acoustic wave transponder and a fourth acoustic wave transponder, and the end face center points of the transmitting ends of at least three of the first acoustic wave transponder, the second acoustic wave transponder, the third acoustic wave transponder and the fourth acoustic wave transponder are arranged in a collinear manner.
[0008] Optionally, the first acoustic wave transponder, the second acoustic wave transponder, the third acoustic wave transponder and the fourth acoustic wave transponder are arranged adjacent to each other in sequence; the end surface center point of the transmitting end of the first acoustic wave transponder, the end surface center point of the transmitting end of the second acoustic wave transponder, the end surface center point of the transmitting end of the third acoustic wave transponder and the end surface center point of the transmitting end of the fourth acoustic wave transponder are arranged in a collinear manner.
[0009] Optionally, the end faces of the first sonic wave transponder, the second sonic wave transponder, the third sonic wave transponder and the fourth sonic wave transponder are oriented in three directions; the end faces of the transmitting ends of two adjacent ones of the first sonic wave transponder, the second sonic wave transponder, the third sonic wave transponder and the fourth sonic wave transponder are oriented in the first direction, the end face of the transmitting end of one of the other two of the first sonic wave transponder, the second sonic wave transponder, the third sonic wave transponder and the fourth sonic wave transponder is oriented in the second direction, and the end face of the transmitting end of the other one of the other two of the first sonic wave transponder, the second sonic wave transponder, the third sonic wave transponder and the fourth sonic wave transponder is oriented in a third direction, and the third direction is different from the first direction and the second direction, respectively.
[0010] Optionally, the end face of the transmitting end of the first acoustic wave transponder faces the first direction, the end face of the transmitting end of the second acoustic wave transponder faces the second direction, and the end face of the transmitting end of the fourth acoustic wave transponder faces the third direction.
[0011] Optionally, the end face of the transmitting end of the second acoustic wave transponder is oriented in the first direction, the end face of the transmitting end of the third acoustic wave transponder is oriented in the second direction, and the end face of the transmitting end of the fourth acoustic wave transponder is oriented in the third direction.
[0012] Optionally, the end face of the transmitting end of the third acoustic wave transponder faces the first direction as does the end face of the transmitting end of the fourth acoustic wave transponder, the end face of the transmitting end of the first acoustic wave transponder faces the second direction, and the end face of the transmitting end of the second acoustic wave transponder faces the third direction.
[0013] Optionally, the end face center point of the transmitting end of the first acoustic wave transponder, the end face center point of the transmitting end of the second acoustic wave transponder, the end face center point of the transmitting end of the third acoustic wave transponder and the end face center point of the transmitting end of the fourth acoustic wave transponder are arranged in a triangle.
[0014] The utility model also provides an underwater vehicle, comprising:
[0015] An underwater speedometer as described above; and
[0016] The robot body, the underwater speedometer is fixedly or movably mounted on the body of the robot body, the front orientation of the underwater speedometer is consistent with the front orientation of the robot body; the robot body dynamically adjusts the posture of the robot body according to the data measured by the underwater speedometer.
[0017] The underwater speed meter provided by the technical solution of the utility model, firstly, can complete the detection of the speed of the robot body by at least three acoustic wave transponders; secondly, the design that the end faces of the transmitting ends of at least two adjacent acoustic wave transponders among the at least three acoustic wave transponders are oriented in the first direction, and the end face of the transmitting end of at least another acoustic wave transponder is oriented in the second direction, effectively avoids the problem of excessive overlap of the detection area; and because the ends of the three acoustic wave transponders are exposed on the front side of the shell, the sound waves emitted by the acoustic wave transponders are not directly diffused and propagated toward the bottom direction in the underwater environment, but diffused and propagated along the horizontal or nearly horizontal direction, so that the overall detection surface is consistent with the forward direction of the robot body in the underwater environment, further meets the measurement of the longitudinal speed of the robot body underwater, and provides high-precision speed information and distance information for the robot body. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.
[0019] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of an underwater speed meter provided by the present application;
[0020] Figure 2 yes Figure 1 A schematic diagram of the arrangement of the first acoustic wave transponder, the second acoustic wave transponder and the third acoustic wave transponder in one embodiment;
[0021] Figure 3 yes Figure 1 A schematic diagram of the arrangement of the first acoustic wave transponder, the second acoustic wave transponder and the third acoustic wave transponder in another embodiment;
[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of another embodiment of the underwater speed meter provided by the present application;
[0023] Figure 5 yes Figure 4 A schematic diagram of the arrangement of the first acoustic wave transponder, the second acoustic wave transponder, the third acoustic wave transponder and the fourth acoustic wave transponder in one embodiment;
[0024] Figure 6 yes Figure 4 A schematic diagram of the arrangement of the first acoustic wave transponder, the second acoustic wave transponder, the third acoustic wave transponder and the fourth acoustic wave transponder in another embodiment;
[0025] Figure 7 yes Figure 4 A schematic diagram of the arrangement of the first acoustic wave transponder, the second acoustic wave transponder, the third acoustic wave transponder and the fourth acoustic wave transponder in another embodiment;
[0026] Figure 8 It is a front structural schematic diagram of an underwater vehicle implementation scheme provided by the present application. DETAILED DESCRIPTION
[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments 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.
[0028] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.
[0029] In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.
[0030] The utility model provides an underwater speedometer, which can be mounted on a robot body to enhance the ability to detect the longitudinal movement speed of the robot body. The robot body can be an autonomous robot body 300 (AUV), a remote-controlled robot body 300 (ROV), an unmanned underwater vehicle (USV), a coastal gliding device, a towing navigation device, a diver's console, a deep submersible, etc.
[0031] Please refer to Figure 1 , Figure 1 2 is a three-dimensional structural diagram of an embodiment of an underwater speed meter 200 provided by the present application. The underwater speed meter 200 includes a housing 210 and at least three acoustic transponders (231, 232, 233). The underwater speed meter 200 shown in the figure is provided with three acoustic transponders, the purpose of which is to show the minimum number of acoustic transponders. It can be understood that the number of acoustic transponders provided on the underwater speed meter 200 provided in other embodiments can also be four, five or other numbers. The housing 210 has a receiving space (not shown in the figure), and the internal receiving space of the housing 210 is sufficient to accommodate a data processing module (not shown in the figure) and a power module (not shown in the figure), so as to ensure that the overall structure is compact and the functions are complete.
[0032] The at least three acoustic wave transponders are arranged in the accommodating space of the shell 210, and the transmitting ends of the at least three acoustic wave transponders are exposed on the front side 211 of the shell 210. The acoustic wave transponder usually includes a transmitter and a receiver. The transmitter generates an acoustic wave signal and transmits it into the water; the receiver receives the echo signal of the target in the water. The end face of the transmitting end here can be the end face of the transmitter that transmits the acoustic wave signal, or it can be the end face shared by the transmitter and the receiver, that is, the transmitting signal can be both sent from the end face and received from the end face.
[0033] It should be noted that the “front” can be understood as the side that the underwater speed meter 200 faces when in working condition; it can also be understood as the side that the user can directly observe when the underwater speed meter 200 is in normal working condition and reflects the detection function; it can also be understood as the side that moves in the positive direction of the underwater propulsion device when the underwater speed meter 200 cooperates with any underwater propulsion device with movement capability. Specifically, if the housing 210 of the underwater speed meter 200 presents a structure that clearly has a top surface, a bottom surface, a front surface, a rear surface, and a side surface, the “front” of the underwater speed meter 200 when in normal working condition should not be understood as the top surface or the bottom surface of the underwater speed meter 200. When the shell 210 of the underwater speedometer 200 cannot directly distinguish the top surface, bottom surface, back surface and side surface, such as using an arc-shaped integrated transition between at least two surfaces such as top surface + side surface or top surface + back surface or bottom surface + side surface or bottom surface + back surface or bottom surface + side surface + top surface, the "front" should be understood as the surface with detection function on the underwater speedometer 200. In addition, the "front" can be presented in a plane or an arc surface, or it can be presented as a combination of at least two planes or at least two arc surfaces or at least one plane and at least one arc surface. Specifically, Figure 1 The front side 211 shown in FIG. 1 is a combined type.
[0034] In practical applications, the underwater speedometer 200 is usually mounted on the robot body, so the front 211 of the shell 210 can be understood as the side facing the underwater speedometer 200 in the working state, and can also be understood as the surface where the transmitting end of the acoustic wave transponder is located; compared with the sound waves sent by the traditional speedometer to the bottom of the underwater environment, which tend to be more vertical, the front 211 mainly presents a state of facing the horizontal direction, and the sound waves sent outward by the acoustic wave generator are also relatively more inclined to the horizontal direction. And because the ends of at least three acoustic wave transponders are exposed on the front 211 of the shell 210, the main detection surface of the underwater speedometer 200 is consistent with the forward direction of the robot body in the underwater environment, and can fully meet the measurement of the longitudinal speed of the robot body underwater, and provide high-precision speed information and distance information for the robot body. In addition, the shape of the shell 210 of the underwater speed meter 220 can be changed depending on the application scenario. When the underwater speed meter 200 is specifically installed on the robot body, the outer shape of the shell 210 can be designed to be as streamlined as possible to effectively reduce underwater resistance, improve navigation efficiency, and reduce interference with the propagation of sound wave signals.
[0035] Furthermore, the end faces of the transmitting ends of at least two adjacent acoustic wave transponders among the at least three acoustic wave transponders are oriented in the first direction A, and the end face of the transmitting end of at least another acoustic wave transponder is oriented in the second direction B, and the first direction A is different from the second direction B. Through this arrangement, not only the comprehensiveness of the detection can be maintained, but also the excessive overlap of the detection area can be effectively avoided. In the present application, the concept of adjacent refers to two things that are relatively close in space or plane, and there is no gap between the same things. For example, the second thing is set between the first thing and the third thing. When the center points of the planes of the three things are connected respectively, if the overall connection is presented as a straight line, then the second thing is in an adjacent relationship with the first thing and the third thing respectively; but due to the existence of a gap between the second thing, the first thing and the third thing do not constitute an adjacent relationship.
[0036] For example, the at least three acoustic wave transponders include a first acoustic wave transponder 231, a second acoustic wave transponder 232, and a third acoustic wave transponder 233. The second acoustic wave transponder 232 is disposed adjacent to the first acoustic wave transponder 231 and the third acoustic wave transponder 233, respectively. The end face of the transmitting end of one of the first acoustic wave transponder 231 and the third acoustic wave transponder 233 faces the same direction as the end face of the transmitting end of the second acoustic wave transponder 232, and the end face of the transmitting end of the other of the first acoustic wave transponder 231 and the third acoustic wave transponder 233 faces the second direction B. Figure 1 In the example, the end face direction of the transmitting end of the second acoustic wave transponder 232 and the end face direction of the transmitting end of the third acoustic wave transponder 233 are the first direction A, and the end face direction of the transmitting end of the first acoustic wave transponder 231 is the second direction B.
[0037] It can be understood that the end face of the transmitting end of the second acoustic wave transponder 232 is oriented in the first direction A, which means that the plane where the end face of the transmitting end of the second acoustic wave transponder 232 is located is parallel to the plane where the end face of the transmitting end of the third acoustic wave transponder 233 is located, for example, the two are coplanar, and the end face of the transmitting end of the first acoustic wave transponder 231 is oriented in the second direction B, which means that the plane where the end face of the transmitting end of the first acoustic wave transponder 231 is located is parallel to the plane where the end face of the transmitting end of the second acoustic wave transponder 232 ... The plane where the end face of the transmitting end of the transmitter 232 and the plane where the end face of the transmitting end of the third acoustic transponder 233 intersect at an angle, and the angle can be set according to actual needs, and there is no limitation on this. By setting this tilt angle, not only can the coverage of the sound waves emitted by the underwater speed meter 200 be fully ensured to avoid excessive overlap of the detection area, but also the detection of the target to be detected located on the front 211 of the underwater speed meter 200 can be completed according to the echo situation, and multiple types of detection information data including distance, speed, etc. can be obtained. It can also effectively capture the fluctuation of water flow and provide effective reference information for the attitude adjustment of the underwater vehicle, such as dynamically adjusting the attitude of the underwater vehicle through the detection information provided by the underwater speed meter 200, so as to achieve the underwater vehicle in a hovering state at a specific position in a flowing underwater environment.
[0038] Please also read Figure 2 and Figure 3 , Figure 2 yes Figure 1 FIG. 2 is a schematic diagram showing an arrangement of the first acoustic wave transponder 231, the second acoustic wave transponder 232 and the third acoustic wave transponder 233 in an embodiment of the present invention. Figure 3 yes Figure 1 FIG. 2 is a schematic diagram of the arrangement of the first acoustic wave transponder 231 , the second acoustic wave transponder 232 and the third acoustic wave transponder 233 in another embodiment.
[0039] In such Figure 2 In one embodiment shown, the center point of the end face of the transmitting end of the first acoustic transponder 231, the center point of the end face of the transmitting end of the second acoustic transponder 232, and the center point of the end face of the transmitting end of the third acoustic transponder 233 are arranged in a collinear manner. Collinear arrangement means that the center points of the end faces of the transmitting ends of the three acoustic transponders are all on the same straight line, and the line connecting the center points of the end faces of the transmitting ends of the three acoustic transponders is a straight line. The collinear arrangement can be displayed in the form of three acoustic transponders arranged in a straight line, three acoustic transponders arranged vertically, or three acoustic transponders arranged diagonally. This layout method not only facilitates quick installation and maintenance, but also reduces the potential failure rate caused by complex design.
[0040] In such Figure 3In another embodiment shown, the lines connecting the center points of the end faces of the transmitting end of the first acoustic transponder 231, the center points of the end faces of the transmitting end of the second acoustic transponder 232, and the center points of the end faces of the transmitting end of the third acoustic transponder 233 are arranged in a triangle. The triangular arrangement of acoustic transponders can provide an almost all-round detection field of view for the underwater speedometer 200, ensuring that no matter what posture the vehicle is in, at least one acoustic transponder can receive sufficient echo signals, thereby maintaining a stable speed measurement capability in a complex environment. The triangular layout can accurately calculate the three-dimensional position and speed of the vehicle through the principle of multilateral measurement, using the time difference between the sound waves reaching different modules. This method can effectively reduce the impact of the measurement error of a single acoustic transponder on the overall result and improve the accuracy of positioning and speed measurement. In this embodiment, for the situation where the three acoustic wave transponders are arranged in a triangle, the first acoustic wave transponder 231 and the second acoustic wave transponder 232 and the third acoustic wave transponder 233 can all form an adjacent relationship, and the second acoustic wave transponder 232 and the third acoustic wave transponder 233 can also form an adjacent relationship.
[0041] Further reading Figure 1 Optionally, the underwater speedometer 200 is also provided with a laser emitter for providing a reference size. Since a single laser emitter cannot provide a reference size, the number of laser emitters provided on the underwater speedometer 200 should be at least two, and each laser emitter is also arranged in parallel in the receiving space of the shell 210. The lasers emitted by any two laser emitters should be parallel. The display form of the laser emitter on the underwater speedometer 200 can be that the emitting end of the laser emitter is exposed on the front side 211, or that an opening is provided on the front side 211 to allow the laser emitted by the laser emitter to pass through. It should be noted that a module or device having at least two laser emitting units and having the function of providing a reference size is also within the protection scope of this embodiment.
[0042] For example Figure 1 As shown, the underwater speed meter 200 is equipped with a first laser emitter 221 and a second laser emitter 222. The first laser emitter 221 is arranged on the other side of the first acoustic transponder 231 away from the second acoustic transponder 232; the second laser emitter 222 is arranged on the other side of the third acoustic transponder 233 away from the second acoustic transponder 232.
[0043] Understandably, Figure 1The number and position of the laser emitters are only used as examples. In actual products, as long as the lasers emitted by at least two laser emitters are parallel, the position of each laser emitter in the actual product is not limited. It can be set on the front or at any position of the shell. For example, two laser emitters can be installed on the side wall, top or bottom of the shell of the underwater speedometer through a bracket or in an embedded form. When the underwater speedometer is used in conjunction with the robot body for collaborative operation, at least two laser emitters can also be set on the robot body. Therefore, the number and position of the laser emitters can be set according to actual needs and are not limited.
[0044] Optionally, a mounting structure 260 is further provided on the bottom surface of the shell 210 of the underwater speed meter 200, and the underwater speed meter 200 can be fixedly or movably mounted on the body of the robot body through the mounting structure 260; in other embodiments, the mounting structure 260 can also be set at any position on the top surface, back surface and side surface of the shell 210.
[0045] Please also read Figure 4 and Figure 5 , Figure 4 is a schematic diagram of the three-dimensional structure of another embodiment of the underwater speed meter 300 provided by the present application. Figure 5 yes Figure 4 Schematic diagram of the arrangement of an embodiment of the first acoustic wave transponder 331, the second acoustic wave transponder 332, the third acoustic wave transponder 333 and the fourth acoustic wave transponder 334, wherein the at least three acoustic wave transponders in this embodiment include the first acoustic wave transponder 331, the second acoustic wave transponder 332, the third acoustic wave transponder 333 and the fourth acoustic wave transponder 334 which are arranged adjacent to each other in sequence.
[0046] The end face center points of at least three transmitting ends of the first acoustic wave transponder 331 , the second acoustic wave transponder 332 , the third acoustic wave transponder 333 and the fourth acoustic wave transponder 334 are arranged in a collinear manner. Figure 5In the example, the end surface center point of the transmitting end of the first acoustic wave transponder 331, the end surface center point of the transmitting end of the second acoustic wave transponder 332, the end surface center point of the transmitting end of the third acoustic wave transponder 333 and the end surface center point of the transmitting end of the fourth acoustic wave transponder 334 are arranged in a collinear manner. It can be understood that in other embodiments, only three of the first acoustic wave transponder 331, the second acoustic wave transponder 332, the third acoustic wave transponder 333 and the fourth acoustic wave transponder 334 may be arranged in a collinear manner. The end face center points of the transmitting ends of the individual acoustic wave transponders are arranged in a collinear manner. For example, only the end face center point of the transmitting end of the first acoustic wave transponder 331, the end face center point of the transmitting end of the second acoustic wave transponder 332, and the end face center point of the transmitting end of the third acoustic wave transponder 333 are arranged in a collinear manner. For this type of situation, the lines connecting the end face center points of the transmitting ends of the first acoustic wave transponder 331, the second acoustic wave transponder 332, the third acoustic wave transponder 333, and the fourth acoustic wave transponder 334 are arranged in a triangular shape.
[0047] To ensure the accuracy of measurement, the end faces of the first acoustic wave transponder 331 , the second acoustic wave transponder 332 , the third acoustic wave transponder 333 and the fourth acoustic wave transponder 334 on the underwater speed meter provided in this embodiment can face three directions.
[0048] Please also read Figure 4 , Figure 5 , Figure 6 and Figure 7 , Figure 6 yes Figure 4 FIG. 1 is a schematic diagram showing an arrangement of the first acoustic wave transponder 331, the second acoustic wave transponder 332, the third acoustic wave transponder 333 and the fourth acoustic wave transponder 334 in another embodiment. Figure 7 yes Figure 4 FIG. 4 is a schematic diagram of an arrangement of the first acoustic wave transponder 331 , the second acoustic wave transponder 332 , the third acoustic wave transponder 333 and the fourth acoustic wave transponder 334 in another embodiment.
[0049] Among them, the end faces of the transmitting ends of two adjacent ones of the first acoustic wave transponder 331, the second acoustic wave transponder 332, the third acoustic wave transponder 333 and the fourth acoustic wave transponder 334 are oriented in the first direction A, the end face of the transmitting end of one of the other two of the first acoustic wave transponder 331, the second acoustic wave transponder 332, the third acoustic wave transponder 333 and the fourth acoustic wave transponder 334 is oriented in the second direction B, and the end face of the transmitting end of the other one of the other two of the first acoustic wave transponder 331, the second acoustic wave transponder 332, the third acoustic wave transponder 333 and the fourth acoustic wave transponder 334 is oriented in the third direction C, and the third direction C is different from the first direction A and the second direction B respectively.
[0050] For example, Figure 5As shown, the end face of the transmitting end of the first acoustic wave transponder 331 and the end face of the transmitting end of the second acoustic wave transponder 332 are oriented in the first direction A, the end face of the transmitting end of the third acoustic wave transponder 333 is oriented in the second direction B, and the end face of the transmitting end of the fourth acoustic wave transponder 334 is oriented in the third direction C, that is, in the Figure 5 In the illustrated embodiment, the end face orientation of the transmitting end of the first acoustic wave transponder 331 is the same as the end face orientation of the transmitting end of the second acoustic wave transponder 332, the end face orientation of the transmitting end of the third acoustic wave transponder 333 is different from the end face orientation of the transmitting end of the fourth acoustic wave transponder 334, and are respectively different from the end face orientation of the transmitting end of the first acoustic wave transponder 331.
[0051] For example, Figure 6 As shown, the end face of the transmitting end of the second acoustic wave transponder 332 and the end face of the transmitting end of the third acoustic wave transponder 333 are oriented in the first direction A, the end face of the transmitting end of the first acoustic wave transponder 331 is oriented in the second direction B, and the end face of the transmitting end of the fourth acoustic wave transponder 334 is oriented in the third direction C, that is, in the Figure 6 In the illustrated embodiment, the end face orientation of the transmitting end of the second acoustic wave transponder 332 is the same as the end face orientation of the transmitting end of the third acoustic wave transponder 333, the end face orientation of the transmitting end of the first acoustic wave transponder 331 is different from the end face orientation of the transmitting end of the fourth acoustic wave transponder 334, and are respectively different from the end face orientation of the transmitting end of the second acoustic wave transponder 332.
[0052] For example, Figure 7 As shown, the end face of the transmitting end of the third acoustic wave transponder 333 and the end face of the transmitting end of the fourth acoustic wave transponder 334 are oriented in the first direction A, the end face of the transmitting end of the first acoustic wave transponder 331 is oriented in the second direction B, and the end face of the transmitting end of the second acoustic wave transponder 332 is oriented in the third direction C, that is, in the Figure 7 In the illustrated embodiment, the end face orientation of the transmitting end of the third acoustic wave transponder 333 is the same as the end face orientation of the transmitting end of the fourth acoustic wave transponder 334, the end face orientation of the transmitting end of the first acoustic wave transponder 331 is different from the end face orientation of the transmitting end of the second acoustic wave transponder 332, and are respectively different from the end face orientation of the transmitting end of the third acoustic wave transponder 333.
[0053] In this embodiment, various arrangements of the first acoustic wave transponder 331, the second acoustic wave transponder 332, the third acoustic wave transponder 333 and the fourth acoustic wave transponder 334 can provide an almost all-round detection field of view for the underwater speed meter 300, ensuring that no matter what posture the vehicle is in, at least one acoustic wave transponder can receive sufficient echo signals, thereby maintaining a stable speed measurement capability in a complex environment.
[0054] See also Figure 8 , Figure 8 1 is a front structural schematic diagram of an embodiment of an underwater vehicle 100 provided in the present application. The underwater vehicle 100 includes a robot body 500 and an underwater speed meter in any of the above embodiments. Figure 8 The underwater speed meter 200 is taken as an example.
[0055] Among them, the underwater speedometer 200 is fixedly or movably installed on the body of the robot body 500, and the front orientation of the underwater speedometer 200 is consistent with the front orientation of the robot body 500; the robot body 500 dynamically adjusts the posture of the robot body 500 according to the data measured by the underwater speedometer 200.
[0056] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the concept of the utility model, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.
Claims
1. An underwater speed meter, characterized in that: include: A shell and at least three acoustic wave transponders, wherein the shell has a receiving space, the at least three acoustic wave transponders are arranged in the receiving space, the transmitting ends of the at least three acoustic wave transponders are all exposed on the front side of the shell, the end faces of the transmitting ends of at least two adjacent acoustic wave transponders among the at least three acoustic wave transponders are oriented in a first direction, and the end face of the transmitting end of at least another acoustic wave transponder is oriented in a second direction, and the first direction is different from the second direction.
2. The underwater speed meter according to claim 1, characterized in that: The at least three acoustic wave transponders include a first acoustic wave transponder, a second acoustic wave transponder and a third acoustic wave transponder. The second acoustic wave transponder is arranged adjacent to the first acoustic wave transponder and the third acoustic wave transponder respectively. The end face of the transmitting end of one of the first acoustic wave transponder and the third acoustic wave transponder faces the first direction as does the end face of the transmitting end of the second acoustic wave transponder. The end face of the transmitting end of the other of the first acoustic wave transponder and the third acoustic wave transponder faces the second direction.
3. The underwater speed meter according to claim 1, characterized in that: The at least three acoustic wave transponders include a first acoustic wave transponder, a second acoustic wave transponder, a third acoustic wave transponder and a fourth acoustic wave transponder, and the end face center points of the transmitting ends of at least three of the first acoustic wave transponder, the second acoustic wave transponder, the third acoustic wave transponder and the fourth acoustic wave transponder are arranged in a collinear manner.
4. The underwater speed meter according to claim 3, characterized in that: The first acoustic wave transponder, the second acoustic wave transponder, the third acoustic wave transponder and the fourth acoustic wave transponder are arranged adjacent to each other in sequence; the end surface center point of the transmitting end of the first acoustic wave transponder, the end surface center point of the transmitting end of the second acoustic wave transponder, the end surface center point of the transmitting end of the third acoustic wave transponder and the end surface center point of the transmitting end of the fourth acoustic wave transponder are arranged in a collinear manner.
5. The underwater speed meter according to claim 4, characterized in that: The end faces of the first sonic wave transponder, the second sonic wave transponder, the third sonic wave transponder and the fourth sonic wave transponder are oriented in three directions; the end faces of the transmitting ends of two adjacent ones of the first sonic wave transponder, the second sonic wave transponder, the third sonic wave transponder and the fourth sonic wave transponder are oriented in the first direction, the end face of the transmitting end of one of the other two of the first sonic wave transponder, the second sonic wave transponder, the third sonic wave transponder and the fourth sonic wave transponder is oriented in the second direction, and the end face of the transmitting end of the other one of the other two of the first sonic wave transponder, the second sonic wave transponder, the third sonic wave transponder and the fourth sonic wave transponder is oriented in a third direction, and the third direction is different from the first direction and the second direction, respectively.
6. The underwater speed meter according to claim 5, characterized in that: The end face of the transmitting end of the first acoustic wave transponder is oriented in the first direction with the end face of the transmitting end of the second acoustic wave transponder, the end face of the transmitting end of the third acoustic wave transponder is oriented in the second direction, and the end face of the transmitting end of the fourth acoustic wave transponder is oriented in the third direction.
7. The underwater speed meter according to claim 5, characterized in that: The end face of the transmitting end of the second acoustic wave transponder is oriented in the first direction, and the end face of the transmitting end of the third acoustic wave transponder is oriented in the second direction. The end face of the transmitting end of the first acoustic wave transponder is oriented in the third direction.
8. The underwater speed meter according to claim 5, characterized in that: The end face of the transmitting end of the third acoustic wave transponder is oriented in the first direction with the end face of the transmitting end of the fourth acoustic wave transponder, the end face of the transmitting end of the first acoustic wave transponder is oriented in the second direction, and the end face of the transmitting end of the second acoustic wave transponder is oriented in the third direction.
9. The underwater speed meter according to claim 3, characterized in that: The end face center point of the transmitting end of the first acoustic wave transponder, the end face center point of the transmitting end of the second acoustic wave transponder, the end face center point of the transmitting end of the third acoustic wave transponder and the end face center point of the transmitting end of the fourth acoustic wave transponder are arranged in a triangle.
10. An underwater vehicle, characterized in that: include: An underwater speed meter as claimed in any one of claims 1 to 9; and The robot body, the underwater speedometer is fixedly or movably mounted on the body of the robot body, the front orientation of the underwater speedometer is consistent with the front orientation of the robot body; the robot body dynamically adjusts the posture of the robot body according to the data measured by the underwater speedometer.