The invention belongs to the technical field of underwater robots, and discloses a flow field sensing device and method for an underwater wave propulsion robot, and the device comprises a pressure sensing module which is disposed at the head of the underwater wave propulsion robot, and an IIC multichannel expansion board and a data processing board which are disposed in a cabin of the underwater wave propulsion robot. The pressure sensing module comprises a pressure sensor and a pressure sensor shell, and can improve the sampling rate and acquisition real-time performance of underwater pressure signal acquisition; the IIC multi-channel expansion board can realize communication between the data processing board and a plurality of pressure sensors with the same IIC communication address, resources can be saved, multi-group polling acquisition of pressure data is realized, and the rate is higher than that of single-group polling acquisition; besides, the number of the pressure sensors is correspondingly increased or decreased, flexibility and expandability are high, and the technical problems that an existing pressure sensor needs to occupy a single-chip microcomputer or occupy different pins of the single-chip microcomputer, so that resource consumption is caused, and the data reading rate is low due to the fact that a single-group polling pressure sensor is adopted are solved.
本发明属于水下机器人技术领域,公开了一种水下波动推进机器人流场感知装置及方法,该装置包括安装在水下波动推进机器人头部的压力感知模块和安装在水下波动推进机器人舱体内的IIC多通道扩展板和数据处理板,压力感知模块包括压力传感器和压力传感器壳体,可提高水下压力信号采集的采样速率和采集实时性;IIC多通道扩展板可实现数据处理板与多个IIC通信地址相同的压力传感器之间的通信,能够节约资源,实现压力数据的多组轮询采集,相较于单组轮询采集速率更快;此外,压力传感器的数量进行相应的增加或者减少,灵活性和可扩展性强,解决现有压力传感器都需要占用单片机或占用单片机的不同引脚所造成的资源耗费,以及单组轮询压力传感器导致的数据读取速率低的技术问题。
Underwater fluctuation propulsion robot flow field sensing device and method
一种水下波动推进机器人流场感知装置及方法
2024-09-20
Patent
Electronic Resource
Chinese
IPC: | G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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