CN108387903A - Undersea ranging device - Google Patents

Abstract

The application discloses an underwater distance measuring device, which includes a waterproof casing, the waterproof casing has a sealed cavity, and an infrared distance measuring sensor is installed in the sealed cavity. In the underwater ranging device provided by the present application, the infrared ranging sensor can be operated underwater by installing a waterproof casing on the infrared ranging sensor. When the infrared ranging sensor is used to measure the distance underwater, the infrared ranging sensor is suitable for small underwater robots and underwater automation equipment due to its relatively small volume, weight and total power consumption. At the same time, the improvement in structure is small, and it will not have a great impact on the gravity and fluid characteristics of the equipment itself.

Description

underwater ranging device

technical field

The present disclosure generally relates to the technical field of underwater operations, in particular to underwater ranging technology, and in particular to underwater ranging devices.

Background technique

At present, most common underwater distance measuring devices are ultrasonic ranging devices or green-blue laser ranging devices. Among them, the ranging principle of the green-blue laser ranging is the triangular ranging method, and the principle of the triangular ranging method is different from that of the ultrasonic ranging method. When in use, the ultrasonic rangefinder needs to be driven by the driving circuit to drive the transducer to emit ultrasonic waves when generating ultrasonic waves, and due to the large loss of underwater sound wave energy, it is necessary to increase the drive circuit to increase the greater energy in order to generate sound waves at a certain distance. The green and blue laser distance measuring device also needs to consume a huge amount of energy because it needs to generate laser light. In addition, because the ultrasonic rangefinder includes a front-end transducer, and the green-blue laser rangefinder includes a front-end optical system, the front-end transducer and optical system are usually large in size and weight, which limits the range of ultrasonic rangefinders or green-blue laser rangefinders. Laser ranging equipment is used on small underwater robotic equipment.

With the development of technology, infrared ranging sensors are widely used due to their small size and low energy consumption, but their design and use environments are water and land, which limits the use of infrared ranging sensors in underwater ranging .

Contents of the invention

In view of the above defects or deficiencies in the prior art, it is desired to provide an underwater distance measuring device.

The present application provides an underwater distance measuring device, which includes a waterproof housing with a sealed cavity, and an infrared distance measuring sensor is installed in the sealed cavity.

In the underwater ranging device provided by the present application, the infrared ranging sensor can be operated underwater by installing a waterproof casing on the infrared ranging sensor. When the infrared ranging sensor is used to measure the distance underwater, the infrared ranging sensor is suitable for small underwater robots and underwater automation equipment due to its relatively small volume, weight and total power consumption. At the same time, the improvement in structure is small, and it will not have a great impact on the gravity and fluid characteristics of the equipment itself.

Description of drawings

Other characteristics, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

FIG. 1 is a perspective view of a waterproof case provided by an embodiment of the present invention;

Fig. 2 is a perspective view from another perspective of the waterproof casing provided by the embodiment of the present invention.

Detailed ways

The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for ease of description, only parts related to the invention are shown in the drawings.

It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

Please refer to Figs. 1-2 , this embodiment provides an underwater distance measuring device, which includes a waterproof housing 1 having a sealed chamber 2 inside which is installed an infrared distance measuring sensor.

In the underwater ranging device provided by the present application, the waterproof casing 1 is installed on the infrared ranging sensor, so that the infrared ranging sensor can work underwater. When the infrared ranging sensor is used to measure the distance underwater, the infrared ranging sensor is suitable for small underwater robots and underwater automation equipment due to its relatively small volume, weight and total power consumption. At the same time, the improvement in structure is small, and it will not have a great impact on the gravity and fluid characteristics of the equipment itself.

Preferably, the shape of the sealed cavity 2 matches the shape of the infrared ranging sensor to improve the fit between the infrared ranging sensor and the sealed cavity 2, thereby improving the installation accuracy of the infrared ranging sensor in the sealed cavity 2 and avoiding the occurrence of infrared Occurrence of the shaking situation of the ranging sensor in the sealed chamber 2. Further preferably, the shape of the waterproof case 1 matches the shape of the infrared distance measuring sensor, thereby reducing the volume and weight of the waterproof case 1 .

Preferably, the waterproof housing 1 includes a main body 11 and a sealing cover 13 , the main body 11 has an opening 14 for placing an infrared distance measuring sensor, and the sealing cover 13 is connected with the opening 14 to form a sealed cavity 2 .

In this embodiment, the infrared ranging sensor is installed into the main body 11 through the opening 14 . The opening portion 14 is mated with the sealing cover plate 13 to realize the sealing of the opening portion 14 to form the above-mentioned sealing cavity 2 . The size, shape and position of the opening 14 can be adaptively adjusted according to the type or model of the infrared distance measuring sensor.

Preferably, the sealing cover 13 is detachably fixedly connected to the opening 14, so as to facilitate the taking or replacement of the infrared distance measuring sensor. The detachable fixed connection is such as but not limited to screw connection, and a sealing ring may also be provided at the connection to increase the sealing between the two.

Preferably, the main body 11 includes an infrared glass part 12 for transmitting the infrared signal sent by the infrared distance measuring sensor.

In this embodiment, the probe of the infrared ranging sensor is set towards the infrared glass part 12 , and the infrared signal emitted by the outer ranging sensor can pass through the infrared glass part 12 . Infrared glass has excellent optical transparency to infrared rays, which avoids the absorption or obstruction of infrared rays emitted by infrared ranging sensors, thereby improving the ranging accuracy. Of course, in other embodiments, it is not necessary to use infrared glass, as long as it can transmit infrared rays, for example, the waterproof casing 1 is a transparent structure.

Preferably, the material of the part of the waterproof housing 1 that is different from the infrared glass part 12 is hard plastic.

In this embodiment, when the waterproof casing 1 is made of hard plastic, the pressure resistance of the waterproof casing 1 can be improved, and further protect the infrared ranging sensor.

Preferably, when the hard plastic is acrylic, it can ensure that the sensor is not affected by pressure within a working water depth range of 10m, which improves the working range of the underwater distance measuring device.

Preferably, the infrared glass part 12 and the cover plate are respectively located at opposite ends of the casing, so that the infrared distance measuring sensor can be installed into the waterproof casing 1 . At the same time, it can also ensure that the structural strength of the two side walls between the infrared glass part 12 and the cover plate of the waterproof housing 1 is close to or the same, thereby improving the overall structural stability of the waterproof housing 1 .

Preferably, a connection part is further provided in the main body 11, and the connection part is fixedly connected with the infrared distance measuring sensor.

Preferably, the underwater ranging includes a processing module, the infrared ranging sensor processes the measured distance information into an analog voltage value output, and the processing module receives the analog voltage value output by the infrared ranging sensor and calculates the distance value according to a preset functional relationship , where the functional relationship is:

Y=ax ³ +bx ² +cx+d, where Y is the distance value in cm; x is the analog voltage value in V; a, b, c, and d are all constants.

In this embodiment, the above functional relationship is formed based on the construction of the infrared ranging sensor under the condition of underwater operation. Specifically: according to the principle of triangulation ranging, the infrared beam is emitted by the infrared emitter at a certain angle, and when the beam encounters an obstacle, it is reflected according to the principle of light reflection. When the infrared beam is reflected to the optical displacement sensor of the infrared distance measuring sensor, an offset value will be obtained. Using the triangular relationship, after determining the emission angle, offset distance, and central moment, the distance between the object and the sensor can be obtained through the geometric relationship. calculated. In this embodiment, curve fitting design is performed according to one or more sets of actual test data in the water environment to obtain the above functional relationship. Based on the above functional relationship, the underwater ranging accuracy of the infrared ranging sensor can reach the underwater ranging accuracy. Wherein, the processing module can be a single-chip microcomputer or an ARM chip, etc., and the values of the constants a, b, c, and d vary according to the type of the infrared distance measuring sensor and/or the water quality of the water area.

In addition, when replacing different types of infrared ranging sensors in this embodiment, only the structure of the waterproof housing needs to be improved, and the correction of the distance deviation can be optimized and adjusted through the functional relationship in the processing module, which improves the versatility and practicability.

In the following, the infrared distance measuring sensor will be taken as an example of the Sharp GP2Y distance measuring sensor to illustrate the technical solution of this application. Please refer to Figures 1-2. The shape of the waterproof case 1 in this embodiment matches the shape of the Sharp GP2Y distance measuring sensor. Of course, the waterproof housing 1 also has a sealed cavity 2 matching the shape of the Sharp GP2Y distance measuring sensor.

The waterproof casing 1 includes a main body 11 and a sealing cover 13. One end of the main body 11 is provided with an infrared glass part 12, and the other end is provided with an opening 14. The sealing cover on the opening 14 is connected with a sealing cover 13 to seal the opening 14. A sealed cavity 2 is formed. Wherein, the sealing cover plate 13 is detachably fixedly connected to the opening portion 14, so as to facilitate the taking or replacement of the infrared distance measuring sensor.

The material of the part of the waterproof housing 1 that is different from the infrared glass part 12 is hard plastic, more preferably acrylic.

The main body 11 includes a first main body part 111, the first main body part 111 is in the shape of a cuboid, and the first sealed cavity 2 part is arranged inside the first main body part 111; the main body 11 also includes a second main body part arranged on the first main body part 111 112. The second main body 112 is in the shape of a cuboid, and the second main body 112 is provided with a second sealed cavity 2 connected to the first sealed cavity 2; the first sealed cavity 2 and the second sealed cavity 2 are jointly formed Seal chamber 2.

In this embodiment, the main body 11 includes a first main body portion 111 and a second main body portion 112 , and the second main body portion 112 is disposed on the first main body portion 111 and connected to the first main body portion 111 . The first main body 111 is in the shape of a cuboid, and a first sealed cavity 2 is formed inside. The first sealed cavity 2 is mainly used for placing optical receivers, infrared detectors and other components in the infrared ranging sensor. The second main body part 112 is provided with a second sealed cavity 2 , and the second sealed cavity 2 communicates with the first sealed cavity 2 to form the sealed cavity 2 together. Wherein, the wiring components of the infrared sensor and the like can be placed in the second sealed cavity 2 .

Preferably, the first main body part 111 and the second main body part 112 are integrally formed, which is convenient for production and processing, and at the same time improves the connection sealing performance and structural stability between the two.

Preferably, the infrared glass part 12 is located on one side of the first main body part 111, and the first opening part 113 is provided on the side opposite to the infrared glass part 12 on the first main body part 111; The first opening 113 communicates with the second opening 114 , and the first opening 113 and the second opening 114 jointly form the opening 14 .

In order to facilitate the installation of the infrared distance sensor into the housing, the first main body 111 is provided with a first opening 113, the second main body 112 is provided with a second opening 114, and the second opening 114 is connected to the first opening. 113 are arranged on the same side and communicated with each other to form the opening 14 together.

Preferably, each surface of the first body part 111 is connected by an arc surface, and each surface of the second body part 112 is also connected by an arc surface. The junction of the first body part 111 and the second body part 112 It is also connected by an arc surface to reduce the resistance of the shell in water.

The underwater distance measuring device includes a processing module. The GP2Y distance measurement sensor processes the collected distance information into an analog voltage value and sends it to the processing module. The processing module receives the analog voltage value sent by the GP2Y distance measurement sensor and calculates the distance according to the preset functional relationship. value, where the functional relationship is:

Y＝-7.50424541x ³ +32.87472661x ² +-51.81011843x+69.36627567

Among them, Y is the measured distance value, the unit is cm; x is the analog voltage value, the unit is V. The accuracy of the distance value obtained according to the functional relationship can reach the accuracy of the GP2Y distance measurement sensor when it is used for distance measurement on water.

It should be understood that in the description of the present invention, unless otherwise specified, "plurality" means two or more.

The above description is only a preferred embodiment of the present application and an illustration of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solution formed by the specific combination of the above-mentioned technical features, but should also cover the technical solutions made by the above-mentioned technical features without departing from the inventive concept. Other technical solutions formed by any combination of or equivalent features thereof. For example, a technical solution formed by replacing the above-mentioned features with technical features with similar functions disclosed in (but not limited to) this application.

Claims (10)

1. a kind of undersea ranging device, which is characterized in that including waterproof shell, there is seal chamber in the waterproof shell, it is described Infrared distance sensor is installed in seal chamber.

2. undersea ranging device according to claim 1, which is characterized in that the shape of the seal chamber and the infrared survey It is matched away from sensor shape.

3. undersea ranging device according to claim 1, which is characterized in that the waterproof shell includes main body and sealing Cover board has the opening portion for being put into the infrared distance sensor, the seal cover board and the opening in the main body Portion is connected to form the seal chamber.

4. undersea ranging device according to claim 3, which is characterized in that the seal cover board and the opening portion are removable It is fixedly connected with unloading.

5. undersea ranging device according to claim 3, which is characterized in that include infrared glass portion in the main body, use In the infrared signal sent out through the infrared distance sensor.

6. undersea ranging device according to claim 5, which is characterized in that different from the infrared glass on the waterproof shell The material of the part in glass portion is rigid plastics.

7. undersea ranging device according to claim 5, which is characterized in that the main body includes the first main part, described First main part is rectangular-shape, and first annular seal space portion is equipped in first main part；

The main body further includes the second main part being set on first main part, and second main part is cuboid Shape, second main part is interior to be equipped with the second sealing cavity portion being connected to the first annular seal space portion；

The first annular seal space portion seals cavity portion with described second and the seal chamber is collectively formed.

8. undersea ranging device according to claim 7, which is characterized in that the infrared glass portion is located at described first and leads On the one side in body portion, the side opposite with the infrared glass portion is equipped with the first opening portion on first main part；

Second main part is equipped with the second opening portion for being connected to first opening portion, first opening portion with it is described The opening portion is collectively formed in second opening portion.

9. undersea ranging device according to any one of claims 1 to 8, which is characterized in that described including processing module Processing module receives the analog voltage of the infrared distance sensor output and calculates distance value according to preset functional relation, The wherein described functional relation is：

Y=ax³+bx²+ cx+d, wherein Y are distance value；X is analog voltage；

A, b, c, d are all constant.

10. undersea ranging device according to claim 9, which is characterized in that a is that -7.50424541, b is 32.87472661 c is -51.81011843, d 69.36627567.