CN102420975A - Anti-swaying device and method of sea-wrecking searching system - Google Patents
Anti-swaying device and method of sea-wrecking searching system Download PDFInfo
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- CN102420975A CN102420975A CN2011103403960A CN201110340396A CN102420975A CN 102420975 A CN102420975 A CN 102420975A CN 2011103403960 A CN2011103403960 A CN 2011103403960A CN 201110340396 A CN201110340396 A CN 201110340396A CN 102420975 A CN102420975 A CN 102420975A
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Abstract
The invention discloses an anti-swaying device and method of a sea-wrecking searching system. The anti-swaying device comprises a balancing and stabilizing platform and control systems, wherein one control system is respectively connected to the balancing and stabilizing platform in the transverse axis and the longitudinal axis directions; and two directional axes (X and Y) are rotated by the balancing and stabilizing platform to stable positions where the gravity center of the platform points to gravitational acceleration, under the control of alternating-current servomotor control systems. The anti-swaying device and method of the sea-wrecking searching system have the beneficial effects that: with the adoption of drive control of a double-axis servomotor, a stable balancing and stabilizing platform is provided, and under the circumstance of harsher sea-wrecking environment, turbulence caused by ship motion can be isolated to eliminate shaking, so as to provide stable image output.
Description
Technical field
The present invention relates to the perils of the sea and search and rescue the field, specially refer to the anti-devices and methods therefor that shakes of perils of the sea search and rescue system.
Background technology
In the search and rescue system of the perils of the sea, search and rescue the collection that platform is mainly used in the naval target image information.Because it all is to be under the dynamic environment to collect image information with searching and rescuing target that the hysteresis quality on the image processing mathematical method, the maritime search and rescue information of camera transmission are difficult in background environment.In addition owing to use television monitoring equipment for the land mostly, be moved to exist on the ships and light boats The Cloud Terrace rotate unsmooth, pointing accuracy is poor, inapplicable under the Ship Swaying state, many major defects such as anti-marine salt mist environment not, is difficult to satisfy user's instructions for use.Under environment comparison condition of severe, carry out often in the search and rescue ship search and rescue process at sea, the dynamic characteristic of searching and rescuing ship makes the platform of placing camera be in an unsure state all the time.
Application number is that 201020108446 patent application document discloses a kind of boat-carrying search evidence obtaining integration apparatus that makes up multiple photoelectric sensor, comprises gyro-stabilized platform, photoelectric sensing apparatus, electric driver element, indicative control unit; Gyro-stabilized platform is two axle construction that comprise orientation seat and pitching bag; The pitching bag be arranged on the orientation seat above, can horizontally rotate around the azimuth axis in the orientation seat; Photoelectric sensing apparatus comprises search lamp, visible light camera and thermal infrared imager, and the search lamp is installed in pitching frame one side, and visible light camera and thermal infrared imager are installed in the pitching frame opposite side, and photoelectric sensing apparatus is around the pitch axis pitching running of pitching frame; Gyro-stabilized platform dispose gyroscopic apparatus and be arranged on the cabin in electric driver element, show control unit electricity and be connected respectively.
Summary of the invention
The object of the present invention is to provide the anti-devices and methods therefor that shakes of a kind of perils of the sea search and rescue system,, thereby realize the object of the invention through the employing special structural design.
The technical problem that the present invention solved can adopt following technical scheme to realize:
Perils of the sea search and rescue system is anti-to shake device, it is characterized in that comprise balance and stability platform and control system, the X direction of said balance and stability platform and y direction are connected with a control system respectively;
Said balance and stability platform comprises rotating disk, interior ring and outer shroud; On the said rotating disk camera is installed; Interior ring connects first servomotor through the inner axle of y direction; Outer shroud connects second servomotor through the outer annulate shaft of X direction, said first servomotor and the built-in absolute type encoder of second servomotor;
Said control device comprises level controller on, and an end of last level controller connects gyroscope, and said gyroscope is installed on the balance and stability platform, and the other end of last level controller connects absolute type encoder.
In one embodiment of the invention, said balance and stability platform adopts the two closed-loop controls of separate twin shaft.
In one embodiment of the invention, the slewing area of said interior ring and outer shroud is less than 45 degree, and the slewing area of camera is the 0-360 degree.
In one embodiment of the invention, said camera is mounted on the rotating disk through anchor clamps, and said rotating disk connects stepping motor through the platform main shaft.
In one embodiment of the invention; The bottom of said balance and stability platform is equipped with a systems stabilisation; Said systems stabilisation comprises iron balance piece and the plumbous balance weight and the balance box of fixed connection; Be contained with damping oil in the balance box, be provided with an impeller in the damping oil, impeller links to each other with the iron balance piece through joint pin.
A kind of perils of the sea search and rescue system is anti-to shake method, it is characterized in that the step of said method is following:
1) is installed on the angle of the real-time measuring table actual rotation of gyroscope of balance and stability platform transverse axis and y direction, feeds back to level controlling system through A/D converter then;
2) the corner dateout of two servomotors detecting in real time of the built-in absolute type encoder of two servomotors and feed back to level controller;
3) go up level controller through computing gyroscope and servomotor outer corner difference; Export to control signal once more to servomotor; The position of accurate adjustment balance and stability platform makes the center of gravity direction of balance and stability platform point to the acceleration of gravity direction of the earth all the time.
Beneficial effect of the present invention is: adopt the control of twin shaft driven by servomotor; A stable balance and stability platform is provided, has compared under the condition of severe, also can isolate the disturbance that ship motion causes at perils of the sea environment; Eliminate shake, thereby stable image output is provided.
Description of drawings
Fig. 1 is the anti-vertical view that shakes device of the perils of the sea of the present invention search and rescue system.
Fig. 2 is the anti-electrical equipment sketch map that shakes device of the perils of the sea of the present invention search and rescue system.
Fig. 3 is the anti-structural representation that shakes device of the perils of the sea of the present invention search and rescue system.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect and be easy to understand and understand, below in conjunction with embodiment, further set forth the present invention.
Like Fig. 1, Fig. 2 and shown in Figure 3, the perils of the sea of the present invention search and rescue system is anti-to shake device, comprises balance and stability platform and control system, and the X direction of said balance and stability platform and y direction are connected with a control system respectively;
Said balance and stability platform adopts the two closed-loop controls of separate twin shaft, comprises rotating disk 4, interior ring 2 and outer shroud 1, on the said rotating disk 4 camera is installed; Interior ring 2 connects first servomotors through the inner axles 3 of y direction; Outer shroud connects second servomotor through the outer annulate shaft 5 of X direction, and the slewing area of said interior ring 2 and outer shroud 1 is less than 45 degree, and said rotating disk 4 is through platform main shaft 6 connection stepping motors 7; Rotate thereby drive camera, the slewing area of camera is the 0-360 degree; First servomotor and the built-in absolute type encoder of second servomotor;
Said control device comprises level controller on, and an end of last level controller connects gyroscope, and said gyroscope is installed on the balance and stability platform, and the other end of last level controller connects absolute type encoder.
The bottom of said balance and stability platform is equipped with a systems stabilisation; Said systems stabilisation comprises the iron balance piece 9 and plumbous balance weight 8 and balance box 10 of fixed connection; Be contained with damping oil 11 in the balance box 10; Be provided with an impeller 12 in the damping oil 11, impeller 12 links to each other with iron balance piece 9 through joint pin.
A kind of perils of the sea search and rescue system is anti-to shake method, and the step of said method is following:
1) is installed on the angle of the real-time measuring table actual rotation of gyroscope of balance and stability platform transverse axis and y direction, feeds back to level controlling system through A/D converter then;
2) the corner dateout of two servomotors detecting in real time of the built-in absolute type encoder of two servomotors and feed back to level controller;
3) go up level controller through computing gyroscope and servomotor outer corner difference; Export to control signal once more to servomotor; The position of accurate adjustment balance and stability platform makes the center of gravity direction of balance and stability platform point to the acceleration of gravity direction of the earth all the time.
More than show and described basic principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the specification just explains principle of the present invention; Under the prerequisite that does not break away from spirit and scope of the invention, the present invention also has various changes and modifications, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection range to be defined by appending claims and equivalent thereof.
Claims (6)
1. perils of the sea search and rescue system is anti-shakes device, it is characterized in that comprise balance and stability platform and control system, the X direction of said balance and stability platform and y direction are connected with a control system respectively;
Said balance and stability platform comprises rotating disk, interior ring and outer shroud; On the said rotating disk camera is installed; Interior ring connects first servomotor through the inner axle of y direction; Outer shroud connects second servomotor through the outer annulate shaft of X direction, said first servomotor and the built-in absolute type encoder of second servomotor;
Said control device comprises level controller on, and an end of last level controller connects gyroscope, and said gyroscope is installed on the balance and stability platform, and the other end of last level controller connects absolute type encoder.
2. according to claim 1 resisting shaken perils of the sea search and rescue system, it is characterized in that, said balance and stability platform adopts the two closed-loop controls of separate twin shaft.
3. according to claim 1 resisting shaken perils of the sea search and rescue system, it is characterized in that, the slewing area of said interior ring and outer shroud is less than 45 degree, and the slewing area of camera is the 0-360 degree.
4. according to claim 1 resisting shaken perils of the sea search and rescue system, it is characterized in that said camera is mounted on the rotating disk through anchor clamps, and said rotating disk connects stepping motor through the platform main shaft.
5. the anti-perils of the sea search and rescue system that shakes according to claim 1; It is characterized in that; The bottom of said balance and stability platform is equipped with a systems stabilisation, and said systems stabilisation comprises iron balance piece and the plumbous balance weight and the balance box of fixed connection, is contained with damping oil in the balance box; Be provided with an impeller in the damping oil, impeller links to each other with the iron balance piece through joint pin.
6. a perils of the sea search and rescue system is anti-shakes method, it is characterized in that the step of said method is following:
1) is installed on the angle of the real-time measuring table actual rotation of gyroscope of balance and stability platform transverse axis and y direction, feeds back to level controlling system through A/D converter then;
2) the corner dateout of two servomotors detecting in real time of the built-in absolute type encoder of two servomotors and feed back to level controller;
3) go up level controller through computing gyroscope and servomotor outer corner difference; Export to control signal once more to servomotor; The position of accurate adjustment balance and stability platform makes the center of gravity direction of balance and stability platform point to the acceleration of gravity direction of the earth all the time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103403960A CN102420975A (en) | 2011-11-01 | 2011-11-01 | Anti-swaying device and method of sea-wrecking searching system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103403960A CN102420975A (en) | 2011-11-01 | 2011-11-01 | Anti-swaying device and method of sea-wrecking searching system |
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| Publication Number | Publication Date |
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| CN102420975A true CN102420975A (en) | 2012-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011103403960A Pending CN102420975A (en) | 2011-11-01 | 2011-11-01 | Anti-swaying device and method of sea-wrecking searching system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106155105A (en) * | 2015-04-08 | 2016-11-23 | 优利科技有限公司 | Control device and the clouds terrace system of The Cloud Terrace |
| CN108372911A (en) * | 2018-03-01 | 2018-08-07 | 福州大学 | Ensure the servo-control system of ship navigation platform stable |
| CN114040549A (en) * | 2021-11-19 | 2022-02-11 | 中国直升机设计研究所 | Helicopter search lamp follow-up stability control system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2413266Y (en) * | 2000-02-17 | 2001-01-03 | 大连方舟科贸有限公司 | Multi-purpose horizontal stable platform |
| JP2001041395A (en) * | 1999-06-11 | 2001-02-13 | Wescam Inc | Stabilized platform device for payload |
| CN201362348Y (en) * | 2009-03-06 | 2009-12-16 | 上海海事大学 | Marine horizontal platform |
-
2011
- 2011-11-01 CN CN2011103403960A patent/CN102420975A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001041395A (en) * | 1999-06-11 | 2001-02-13 | Wescam Inc | Stabilized platform device for payload |
| CN2413266Y (en) * | 2000-02-17 | 2001-01-03 | 大连方舟科贸有限公司 | Multi-purpose horizontal stable platform |
| CN201362348Y (en) * | 2009-03-06 | 2009-12-16 | 上海海事大学 | Marine horizontal platform |
Non-Patent Citations (1)
| Title |
|---|
| 韩梦嘉等: "《基于XPC环境的两轴稳定平台控制策略研究》", 《中国机械工程学会流体传动与控制分会第六届全国流体传动与控制学术会议论文集》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106155105A (en) * | 2015-04-08 | 2016-11-23 | 优利科技有限公司 | Control device and the clouds terrace system of The Cloud Terrace |
| CN108372911A (en) * | 2018-03-01 | 2018-08-07 | 福州大学 | Ensure the servo-control system of ship navigation platform stable |
| CN114040549A (en) * | 2021-11-19 | 2022-02-11 | 中国直升机设计研究所 | Helicopter search lamp follow-up stability control system |
| CN114040549B (en) * | 2021-11-19 | 2023-11-28 | 中国直升机设计研究所 | Helicopter search lamp follow-up stable control system |
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Application publication date: 20120418 |