CN105841869B - Wave glider floating body load-bearing monitor device and force calculation method - Google Patents
Wave glider floating body load-bearing monitor device and force calculation method Download PDFInfo
- Publication number
- CN105841869B CN105841869B CN201610416349.2A CN201610416349A CN105841869B CN 105841869 B CN105841869 B CN 105841869B CN 201610416349 A CN201610416349 A CN 201610416349A CN 105841869 B CN105841869 B CN 105841869B
- Authority
- CN
- China
- Prior art keywords
- fixed ring
- floating body
- annulus
- wave glider
- lashing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
A kind of wave glider floating body load-bearing monitor device of present invention offer and force calculation method, device includes upper fixed ring, lower fixed ring and three pressure sensors, upper fixed ring is made of upper annulus and the lower annulus with cone-shaped inner surface, lower fixed ring is made of lower annulus and the upper annulus with conical outer surface, and be symmetrical arranged on the cone-shaped inner surface of upper fixed ring and the conical outer surface of lower fixed ring there are three screw hole, each pressure sensor is mounted on by the double-threaded screw of two end sets in corresponding a pair of of screw hole.The present invention can be used not only for the stress data acquisition of floating body part, it can be additionally used in the lashing other end to study the stressing conditions of underwater gliding body, and the configuration of the present invention is simple is reliable, it is small to calculate error, power consumption is low, and important reference data can be provided for the motion control of wave glider.
Description
Technical field
The present invention relates to a kind of load-bearing monitor device more particularly to a kind of wave glider floating body load-bearing monitor device and by
Power computational methods.
Background technology
The green resource needed for a large amount of human developments is contained in ocean.The mankind have been devoted to explore exploitation marine resources.
Diversified marine monitoring equipment is come into being.Buoy, subsurface buoy, ROV, AUV, preventing seabed base, underwater glider etc. respectively have excellent
Gesture, disadvantage are also apparent.Wave glider (Unmanned Wave Glider, UWG) is independently observed as a kind of novel ocean
Platform has great advantage compared with other equipment tool.Its operation cost is low, and observation scope is wide, and carrying ability is strong, and data transmission is fast, continues
ETS estimated time of sailing is long, is applicable in severe sea condition.Currently, UWG is widely used to a variety of seas such as biological investigation, weather forecast, environmental monitoring
Foreign scientific investigation activity.In recent years, UWG the relevant technologies become domestic and international research hotspot.
Wave glider be one kind using wave energy as navigating power, using solar energy as sensor, control system, communication
The novel sea vehicle of system energy can realize the unmanned probing operation of ultra-long time, tremendous range, have from master ga(u)ge
It draws, destination tracking, the virtually functions such as anchoring.The main composition of wave glider includes：Surface floating body, underwater gliding body and lashing
Three parts.Wherein, floating body part is equipped with control system, energy resource system, sensing system, navigation system etc.；Glide body portion
Sensing system, steering engine, tail vane, propeller etc. are installed；The main function of lashing is to connect floating body and glide vehicle and at them
Between transmit information.When wave is lifted water surface hull, due to the connection of lashing, underwater gliding body also rises therewith, in flow
Under the action of, downward deflection occurs for hydrofoil plate, just as wing, when the angle of attack in a certain range when, hydrofoil plate generate rise
The component of power, horizontal direction pushes underwater glider to travel forward, and then water surface hull is pulled to advance；When water surface hull is crossed
Wave crest, under gravity, whole system will move downward, and at this moment hydrofoil plate is flipped up under the action of water, with rising
Process equally has lift generation, and whole system is made to travel forward.Therefore, wave glider ocean wave energy can be converted into
Preceding, the thrust and its conversion regime unrelated with direction of wave travel is purely mechanic.That is, when wave passes through water surface floating
When body, underwater glider tows surface floating body as a towboat in prebriefed pattern.
The implementing hydrodynamic analysis of glide vehicle is more complicated, causes to be difficult to calculate the power that lashing acts on floating body.It is slided by wave
Xiang device floating body load-bearing monitor device can record the power that lashing acts on floating body, and then convenient for carrying out force analysis to floating body.
Invention content
The object of the present invention is to provide a kind of wave glider floating body load-bearing monitor device and force calculation method, Neng Goushi
When measure wave glider lashing and act on floating body bottom power, and provide and stress size and Orientation calculated according to gathered data.
The object of the present invention is achieved like this：Wave glider floating body load-bearing monitor device includes upper fixed ring, lower solid
Determine ring and three pressure sensors, upper fixed ring is made of upper annulus and the lower annulus with cone-shaped inner surface, lower fixed ring by
Lower annulus and upper annulus composition with conical outer surface, and the taper appearance of the cone-shaped inner surface of upper fixed ring and lower fixed ring
It is symmetrical arranged on face there are three screw hole, each pressure sensor is mounted on corresponding by the double-threaded screw of two end sets
In a pair of of screw hole.
The invention also includes some such structure features：
1. the end face of the upper annulus of fixed ring is under the bottom of the floating body part of wave glider, lower fixed ring on
One end of annulus and lashing connects, and the other end of lashing is connect with the underwater gliding body of wave glider.
2. the end face of the upper annulus of fixed ring is mounted on underwater gliding body on, the lower annulus of lower fixed ring and the one of lashing
End connection, the other end of lashing are connect with the floating body of wave glider.
3. data string hole position is provided in fixed ring, the DOL Data Output Line of three pressure sensors passes through data string hole position
It is connected in the A/D acquisition modules of the embedded board in wave glider.
4. a kind of force calculation method of wave glider floating body load-bearing monitor device, the lower annulus of (1) following fixed ring
The center of circle be that coordinate origin establishes coordinate system O-XYZ, one in three pressure sensors is located at XOZ planes, and pressure biography
Sensor and OX axis and OZ axis are at 45 °, and stress is F1；Other two pressure sensor space array is distributed, i.e. three pressure sensings
Angle between projection of the device on the faces XOY is 120 °, and the stress of other two pressure sensor is F2 and F3 respectively；
(2) space-load of monitoring device is denoted as [Fx, Fy, Fz], and has：
In formula：F1, F2, F3 are obtained by the data of collected three pressure sensors of A/D acquisition modules.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention be one be installed on wave glider floating body (or
Underwater gliding body) and lashing coupled position device for measuring force, pressure data is transferred to embeded processor, calculate floating body (or
Underwater gliding body) in the stressing conditions of three dimensions, it is applied to wave glider upper float load-bearing monitor, is wave glider road
Diameter is planned and control decision provides reference information.Specifically the present invention is characterized by：(1) wave glider floating body stress is supervised
Survey device installation site：The structure of wave glider is different from traditional above water craft and underwater hiding-machine, cause traditional ship or
The research computational methods of latent device cannot be directly used to wave glider, and wave glider is divided into two large divisions by the present invention：Floating body
Part, propeller part (including lashing and underwater gliding body), the real-time stress of survey calculation floating body of the present invention part.This masterpiece
It can be analogous to the boat bottom that an external force acts on traditional ship used in floating body part.Traditional in this way ship's manoeuverability, movement
The technologies such as control are used equally for wave glider.(2) wave glider floating body load-bearing monitor device composition mechanism：The present invention is by upper
Lower fixed ring and several pressure sensors composition can be used not only for the stress data acquisition of floating body part, it may also be used for lashing is another
The stressing conditions of underwater gliding body are studied in one end.(3) force calculation method of wave glider floating body load-bearing monitor device：It is embedding
Enter formula processor by A/D modules while acquiring the data of the several pressure sensors of this device, according to the space of pressure sensor
Distribution, the knowledge such as application space geometry and mechanics, be calculated floating body part three dimensions stress size and Orientation.
Description of the drawings
Fig. 1 is the structural schematic diagram when present invention is mounted on floating body bottom；
Fig. 2 (a), Fig. 2 (b), Fig. 2 (c), Fig. 2 (d) are front view, side view, vertical view, the stereogram of the present invention respectively；
Fig. 3 is the location resolution figure of the present invention spatially；
Fig. 4 is the structural schematic diagram of the upper fixed ring of the present invention；
Fig. 5 is the structural schematic diagram of the lower fixed ring of the present invention；
Fig. 6 is the foundation figure of the coordinate system of the present invention.
Specific implementation mode
Present invention is further described in detail with specific implementation mode below in conjunction with the accompanying drawings.
The principle of the present invention is：First, unrestrained glider floating body load-bearing monitor device 1 is arranged in floating body according to erection sequence
On bottom or underwater gliding body；Then, sensing data output line is connected to the A/D acquisition modules of embedded board；Most
Afterwards, A/D data are acquired by self-editing application program, calculates floating body stress.
In conjunction with Fig. 1 to Fig. 5,2, three pressure sensors 3 of fixed ring, lower fixed ring 4 and double-threaded screw 5 in the present invention, on
The installation screw 6 of lower fixed ring, lower fixed ring internal thread 7, lower fixed ring internal thread 7 is for fixing lashing.Specific installation relation
It is：One, six double-threaded screws 5 are screwed to respectively in the mounting hole 6 of upper and lower fixed ring；Two, use pressure sensor 3 as connection
Part by rotation, while connecting fixed ring 2 and 4 up and down；Three, data line is arranged, and passes through 2 reserved data string holes of upper fixed ring
Position；Four, floating body bottom is fixed to by the screw hole position of upper fixed ring with screw；Five, the A/D moulds of embeded processor are connected to
Block；Six, lashing and the present invention are locked by screw thread (or other general fixed forms).
The force calculation method of the present invention is related with the spatial distribution of pressure sensor and establishment of coordinate system, specifically includes：
One, coordinate system is established：One of pressure sensor is located at XOZ planes, and at 45 ° with OX axis and OZ axis, stress
It is denoted as F1；Other two pressure sensor space array is distributed, i.e. three pressure sensors at 120 ° on the faces XOY, remember by stress
Make F2 and F3.
Two, computational methods：The space-load of the device is denoted as [Fx, Fy, Fz], related to force analysis according to space geometry
Theory then has
Similar, the present invention can use multiple pressure sensors, the arrangement of diversified forms be carried out in three dimensions, with phase
Same computational theory obtains space-load.The present apparatus can be installed to the link position of lashing and glide vehicle, to measure glide vehicle
Space-load situation.
General description is carried out so that the whole device of the present invention is arranged in upper float and lashing junction as an example：Upper fixed ring is used
In connecting firmly upper float and pressure sensor；Pressure sensor is for measuring pressure (drawing) power, and three pressure sensors are according to certain several
What rule is fixed between fixed ring and lower fixed ring；Lower fixed ring is for connecting firmly lashing and pressure sensor.It is slided in wave
In Xiang device motion process, each pressure sensor is under the action of lashing, output pressure signal.This signal first passes through wave gliding
Device A/D resume modules, after by control processor pressure data is calculated.Multiple pressure datas are sat in three dimensions O-XYZ
Mark system is lower to be merged by force resolution, calculates the component in each reference axis of XYZ.The configuration of the present invention is simple is reliable, calculates and misses
Difference is small, and power consumption is low, and important reference data can be provided for the motion control of wave glider.
Claims (1)
1. a kind of force calculation method of wave glider floating body load-bearing monitor device, it is characterised in that：Including wave glider
Floating body load-bearing monitor device, wave glider floating body load-bearing monitor device include that upper fixed ring, lower fixed ring and three pressure pass
Sensor, upper fixed ring are made of upper annulus and the lower annulus with cone-shaped inner surface, and lower fixed ring is by lower annulus and has taper
The upper annulus of outer surface forms, and is symmetrically arranged on the cone-shaped inner surface of upper fixed ring and the conical outer surface of lower fixed ring
Three screw holes, each pressure sensor are mounted on by the double-threaded screw of two end sets in corresponding a pair of of screw hole；It is upper solid
The end face of the upper annulus of ring is determined mounted on the bottom of the floating body part of wave glider, the lower annulus of lower fixed ring and the one of lashing
End connection, the other end of lashing are connect with the underwater gliding body of wave glider；The end face of the upper annulus of upper fixed ring is mounted on
On underwater gliding body, the lower annulus of lower fixed ring and one end of lashing connect, the floating body of the other end and wave glider of lashing
Connection；Data string hole position is provided in upper fixed ring, the DOL Data Output Line of three pressure sensors is located at wave by data string hole
The A/D acquisition modules of embedded board in unrestrained glider connect；
(1) center of circle of the lower annulus of following fixed ring is that coordinate origin establishes coordinate system O-XYZ, one in three pressure sensors
It is a to be located at XOZ planes, and the pressure sensor and OX axis and OZ axis are at 45 °, stress is F1；Other two pressure sensor space
Array distribution, i.e. angle between projection of three pressure sensors on the faces XOY is 120 °, and other two pressure sensor
Stress be F2 and F3 respectively；
(2) space-load of monitoring device is denoted as [Fx, Fy, Fz], and has：
In formula：F1, F2, F3 are obtained by the data of collected three pressure sensors of A/D acquisition modules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610416349.2A CN105841869B (en) | 2016-06-12 | 2016-06-12 | Wave glider floating body load-bearing monitor device and force calculation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610416349.2A CN105841869B (en) | 2016-06-12 | 2016-06-12 | Wave glider floating body load-bearing monitor device and force calculation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105841869A CN105841869A (en) | 2016-08-10 |
| CN105841869B true CN105841869B (en) | 2018-08-17 |
Family
ID=56575971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610416349.2A Active CN105841869B (en) | 2016-06-12 | 2016-06-12 | Wave glider floating body load-bearing monitor device and force calculation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105841869B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108363400B (en) * | 2018-01-29 | 2020-12-22 | 哈尔滨工程大学 | Under-actuated AUV three-dimensional control area stabilization control method based on virtual anchoring |
| CN111380640B (en) * | 2020-04-23 | 2021-08-10 | 中国船舶科学研究中心 | Combined measuring device capable of switching bending moment and connecting load |
| CN116027671B (en) * | 2023-03-28 | 2023-07-14 | 中国海洋大学 | Anchoring method and system of wave glider |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4566336A (en) * | 1983-06-27 | 1986-01-28 | Canadian Patents & Development Ltd. Societe Canadienne Des Brevets Et D'exploitation Limited | Navigational aid alerting system |
| JP2014163815A (en) * | 2013-02-26 | 2014-09-08 | Seiko Epson Corp | Force detection device, and robot |
| CN203519230U (en) * | 2013-10-08 | 2014-04-02 | 中国矿业大学 | Coal-rock mass stress directional monitoring device |
| CN203688121U (en) * | 2013-12-30 | 2014-07-02 | 中国矿业大学 | Device for measuring soil body lateral stress |
| CN104155043B (en) * | 2014-08-07 | 2016-08-24 | 上海交通大学 | A kind of dynamic positioning system external environment force measuring method |
-
2016
- 2016-06-12 CN CN201610416349.2A patent/CN105841869B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105841869A (en) | 2016-08-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101375351B1 (en) | static and dynamic positioning system and method using real time environment monitering | |
| EP2837553B1 (en) | System for static and dynamic positioning or controlling motion of marine structure | |
| KR101321710B1 (en) | static and dynamic positioning system and method using real time mooring line monitering | |
| CN107576314A (en) | Float type depopulated zone rivers and lakes automatic monitoring system | |
| CN105841869B (en) | Wave glider floating body load-bearing monitor device and force calculation method | |
| CN105857527B (en) | Laser radar surveys wind buoyage on three body combined type seas | |
| CN207791067U (en) | A kind of buoy convenient for obtaining seafloor data monitors system | |
| CN108357634B (en) | Anchor-free automatic reset deep-open sea fixed-point observation buoy and method | |
| KR101375352B1 (en) | static and dynamic positioning system and method using real time 6-dof monitering | |
| CN207060333U (en) | A kind of novel float | |
| CN103438870A (en) | Method and device for dynamically monitoring microtopography and landforms near seabed | |
| CN101782455A (en) | Test device for ocean platform mooring auxiliary power positioning model | |
| CN109883841B (en) | Beach shallow sea sediment intensity in-situ test system | |
| CN109781382B (en) | Cable subsurface buoy ocean internal wave monitoring system based on vector sensor | |
| CN207780253U (en) | A kind of water-system control system of list buoy towing cable form monitoring | |
| KR101375364B1 (en) | static and dynamic positioning system and method using real time topside monitering | |
| CN104155043B (en) | A kind of dynamic positioning system external environment force measuring method | |
| CN108919324A (en) | A kind of localization method of underwater glider | |
| KR101375362B1 (en) | static and dynamic positioning system and method using real time sub-sea monitering | |
| Tahar et al. | Vortex induced motion (VIM) performance of the multi column floater (MCF)–Drilling and production unit | |
| KR101375354B1 (en) | static and dynamic positioning system and method using real time tank monitering | |
| CN203616093U (en) | Novel floating offshore multifunctional test platform | |
| CN203975153U (en) | Dynamic positioning formula oceanographic buoy | |
| CN206900620U (en) | A kind of binary AUV loading device equipped systems based on underwater detection target | |
| CN205445584U (en) | Deep water well drilling marine riser dynamics parameter measuring system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |