CN106092508A - A kind of multiple degrees of freedom sea wave simulation device - Google Patents
A kind of multiple degrees of freedom sea wave simulation device Download PDFInfo
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- CN106092508A CN106092508A CN201610643120.2A CN201610643120A CN106092508A CN 106092508 A CN106092508 A CN 106092508A CN 201610643120 A CN201610643120 A CN 201610643120A CN 106092508 A CN106092508 A CN 106092508A
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- attitude
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M10/00—Hydrodynamic testing; Arrangements in or on ship-testing tanks or water tunnels
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Abstract
The invention belongs to marine survey technology field, disclose a kind of multiple degrees of freedom sea wave simulation device, including: canoe, attitude collection module, data transmission module, data reception module and multi-DOF platform；Described attitude collection module is arranged on described canoe, collects the attitude data of described canoe；Described data transmission module is connected with described attitude collection module, obtains the attitude data of described canoe and sends to subordinate equipment；Described data reception module is connected with described data transmission module, for receiving the canoe attitude data that described data transmission module sends；Described multi-DOF platform is connected with described data reception module, obtains canoe attitude data, consistent with the movement locus of canoe for the movement locus making the table top of described many free platforms.The analog that the present invention provides improves reliability and the precision of sea wave simulation.
Description
Technical field
The present invention relates to marine survey technology field, particularly to a kind of multiple degrees of freedom sea wave simulation device.
Background technology
Sea wave simulation technology is commonly utilized in the various aspects of marine exploration.For most of marine settings research staff
Speech, due to limited by development costs, equipped bulky, lack the factors such as test condition and limit, the marine settings developed
Cannot be carried out ocean scene test.In this context, develop and the indoor testing equipment of wave simulated condition can become solution
The optimal path of problem.
Although recent domestic scientific research personnel have developed some sea wave simulation devices, but these devices are all based on sea
The ocean wave motion track that wave parameter measurement, the even sinusoidal wave scheduling theory of theoretical wave waveform generate, What is more by manufacturing
Bigger pond manual simulation wave.Though said method simulates wave motion to a certain extent, but with real ocean wave motion
Track still suffers from bigger error.
Summary of the invention
The present invention provides a kind of multiple degrees of freedom sea wave simulation device, solves to simulate in sea wave simulation device in prior art sea
The technical problem that unrestrained trajectory parameters error is bigger.
For solving above-mentioned technical problem, the invention provides a kind of multiple degrees of freedom sea wave simulation device, including: canoe, appearance
State collection module, data transmission module, data reception module and multi-DOF platform；
Described attitude collection module is arranged on described canoe, collects the attitude data of described canoe；
Described data transmission module is connected with described attitude collection module, obtains the attitude data of described canoe and to subordinate
Equipment sends；
Described data reception module is connected with described data transmission module, for receiving what described data transmission module sent
Canoe attitude data；
Described multi-DOF platform is connected with described data reception module, obtains canoe attitude data, is used for making described many
The movement locus of the table top of free platform is consistent with the track of canoe.
Further, described attitude collection module includes: six attitude transducers；
Described six attitude transducers are arranged on described canoe, collect canoe attitude data.
Further, described data transmission module includes: the first data processing chip and the first wireless module；
Described first data processing chip is connected with described first wireless module；
Described first data processing chip is connected with described six attitude transducers, obtains the attitude data of canoe, and passes through
Described first wireless module is sent out.
Further, described data reception module includes: the second data processing chip and the second wireless module；
Described second data processing chip is connected with described second wireless module, for being obtained by described second wireless module
Take the attitude data of the canoe that described first wireless module sends.
Further, the model of described first data processing chip and described second data processing chip is
P89C51RC2BN/01。
Further, the model of described first wireless module and described second wireless module is y1-100i1.
Further, the distance of described first wireless module and described second wireless module is less than or equal to 1500 meters.
Further, described many free platforms include: six degree of freedom platform.
Further, described attitude transducer gather the rolling of canoe, pitching, yawing, swaying, surging and hang down swing attitude
Data.
Further, the model of described six degree of freedom platform is MPU-6050.
The one or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage:
The multiple degrees of freedom sea wave simulation device provided in the embodiment of the present application, is provided by the little of attitude collection module
Ship, collects canoe attitude data in the environment such as ocean, thus strictly reduces canoe appearance under Sea Conditions really
State data, by data transmission structure, i.e. data transmission module and data reception module is transferred to multi-DOF platform, by it
Table top simulation canoe movement locus, thus efficiently, the high-precision effect realizing wave simulated.
Accompanying drawing explanation
The structural representation of the multiple degrees of freedom sea wave simulation device that Fig. 1 provides for the present invention；
The structural representation of the six degree of freedom platform that Fig. 2 provides for the present invention；
The structural representation of the data transmission module that Fig. 3 provides for the present invention；
The structural representation of the data reception module that Fig. 4 provides for the present invention.
Detailed description of the invention
The embodiment of the present application, by providing a kind of multiple degrees of freedom sea wave simulation device, solves sea wave simulation dress in prior art
Put the technical problem that middle sea wave simulation trajectory parameters error is bigger；Reach to promote wave trace simulation precision and the skill of reliability
Art effect.
In order to be better understood from technique scheme, below in conjunction with Figure of description and specific embodiment to upper
State technical scheme to be described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment is to the application skill
The detailed description of art scheme rather than the restriction to technical scheme, in the case of not conflicting, the embodiment of the present application
And the technical characteristic in embodiment can be mutually combined.
See Fig. 1, a kind of multiple degrees of freedom sea wave simulation device, including: canoe 1, attitude collection module, data transmission module
2, data reception module 3 and multi-DOF platform 4.
Specifically, described attitude collection module is arranged on described canoe 1, collects the attitude data of described canoe 1.
Described data transmission module 2 is connected with described attitude collection module, obtains the attitude data of described canoe downwards
Level equipment sends.
Described data reception module 3 is connected with described data transmission module 2, is used for receiving described data transmission module 2
The canoe attitude data sent.
Described multi-DOF platform 4 is connected with described data reception module 3, obtains canoe attitude data, is used for making described
The movement locus of the table top of many free platforms 4 is consistent with the track of canoe.
The operation principle of described sea wave simulation device is: little ship model is positioned over the waters with wave, when little ship model
Type is produced by wave when waving, and by collecting the attitude data of canoe and returning to multi-DOF platform, can make multiple degrees of freedom
The table top of platform produces identical movement locus, thus produces the effect of wave simulated.
Specifically, described attitude collection module includes: six attitude transducers；Described six attitude transducers are arranged on described
On canoe 1, collect the attitude data of canoe.
Described data transmission module 2 includes: the first data processing chip and the first wireless module；At described first data
Reason chip is connected with described first wireless module；Described first data processing chip is connected with described six attitude transducers, obtains
The attitude data of canoe, and be sent out by described first wireless module.
Similar, described data reception module includes: the second data processing chip and the second wireless module；Described second
Data processing chip is connected with described second wireless module, for obtaining described first wireless mould by described second wireless module
The attitude data of the canoe that block sends.
The distance of described first wireless module and described second wireless module is less than or equal to 1500 meters；Ensure the reliable of communication
Property.
Further, described many free platforms include: six degree of freedom platform；Described attitude transducer gathers the horizontal stroke of canoe
Shake, pitching, yawing, swaying, surging and hang down and the data of six kinds of attitudes such as swing.
The concrete annexation of each chip and equipment is detailed below.
See Fig. 3, the concrete pipe of described first data processing chip U1, six attitude transducer U5 and the first wireless module U6
Foot annexation.
Described first data processing chip U1 model is P89C51RC2BN/01, and described six attitude transducer U5 models are
MPU-6050, described first wireless module U6 model is y1-100i1.
The output data of the first data processing chip U1 Real-time Collection six attitude transducer U5, six attitude transducer U5's is defeated
Going out data to include: the rolling of canoe, pitching, yawing, swaying, surging and hang down and swing six kinematic parameters, the data collected are through the
Sent in the form of an electromagnetic wave by the first wireless module U6 after one data processing chip U1 calculation process.
Wherein, VCC is connected with positive source, and GND is connected with power supply ground, is supplied to system with GND pin by VCC
Electricity, 1,2 pins of the first wireless module U6 are connected with VCC and GND respectively, 3,4 pins of the first wireless module U6 respectively with
11,10 pins of the first data processing chip U1 are connected.1,2 pins of six attitude transducer U5 are connected with VCC and GND respectively
Connecing, 3 pins of six attitude transducer U5 and 21 pins of the first data processing chip U1 are connected, six attitude transducer U5 simultaneously
3 pins also connect with R5 after access 4 pins of VCC, six attitude transducer U5 and 22 pins of the first data processing chip U1
It is connected, after 4 pins of six attitude transducer U5 are also connected with R6, accesses 5,6,8 pins of VCC, six attitude transducer U5 simultaneously
It is connected with 23,24,26 pins of the first data processing chip U1 respectively, 7 pins of six attitude transducer U5 and the first data
25 pins processing chip U1 are connected, and 7 pins of six attitude transducer U5 are also connected with GND simultaneously, and the first data process
The 20 of chip U1,40 pins are connected with GND, VCC respectively.
See Fig. 2 and Fig. 4, described second data processing chip U3 and the annexation of the second wireless module U7.
Described second data processing chip U3 model is P89C51RC2BN/01, and described second wireless module U7 model is
y1-100i1.The data receiver that second wireless module U7 will send over, the real-time data transmission received is given at the second data
Reason chip U3, is sent to the controller of six degree of freedom platform after the data processing operation that the second data processing chip U3 will receive
12, the controller 12 of six degree of freedom platform sends control instruction after the data received being processed so that six degree of freedom platform
The movement locus of table top 11 keeps consistent with little ship model；Thus realize sea wave simulation.
Wherein, VCC is connected with positive source, and GND is connected with power supply ground.1,2 pins of the second wireless module U7 divide
Be not connected with VCC and GND, 3,4 pins of the second wireless module U7 respectively with 11,10 pins of the second data processing chip U3
It is connected.20,40 pins of the second data processing chip U3 are connected with GND, VCC respectively.
The one or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage:
The multiple degrees of freedom sea wave simulation device provided in the embodiment of the present application, is provided by the little of attitude collection module
Ship, collects canoe attitude data in the environment such as ocean, thus strictly reduces canoe appearance under Sea Conditions really
State data, are sent to multi-DOF platform by data transmission structure, by the track of its table top simulation canoe, thus efficiently
, the effect of high-precision wave simulated.
It should be noted last that, above detailed description of the invention only in order to technical scheme to be described and unrestricted,
Although the present invention being described in detail with reference to example, it will be understood by those within the art that, can be to the present invention
Technical scheme modify or equivalent, without deviating from the spirit and scope of technical solution of the present invention, it all should be contained
In the middle of scope of the presently claimed invention.
Claims (10)
1. a multiple degrees of freedom sea wave simulation device, it is characterised in that including: canoe, attitude collection module, data launch mould
Block, data reception module and multi-DOF platform；
Described attitude collection module is arranged on described canoe, collects the attitude data of described canoe；
Described data transmission module is connected with described attitude collection module, obtains the attitude data of described canoe and to subordinate equipment
Send；
Described data reception module is connected with described data transmission module, for receiving the canoe that described data transmission module sends
Attitude data；
Described multi-DOF platform is connected with described data reception module, obtains canoe attitude data, be used for making described the most freely
The movement locus of the table top of platform is consistent with the movement locus of canoe.
2. multiple degrees of freedom sea wave simulation device as claimed in claim 1, it is characterised in that described attitude collection module includes:
Six attitude transducers；
Described six attitude transducers are arranged on described canoe, collect the attitude data of canoe.
3. multiple degrees of freedom sea wave simulation device as claimed in claim 2, it is characterised in that described data transmission module includes:
First data processing chip and the first wireless module；
Described first data processing chip is connected with described first wireless module；
Described first data processing chip is connected with described six attitude transducers, obtains the attitude data of canoe, and by described
First wireless module is sent out.
4. multiple degrees of freedom sea wave simulation device as claimed in claim 3, it is characterised in that described data reception module includes:
Second data processing chip and the second wireless module；
Described second data processing chip is connected with described second wireless module, for obtaining institute by described second wireless module
State the attitude data of the canoe that the first wireless module sends.
5. multiple degrees of freedom sea wave simulation device as claimed in claim 4, it is characterised in that: described first data processing chip and
The model of described second data processing chip is P89C51RC2BN/01.
6. multiple degrees of freedom sea wave simulation device as claimed in claim 4, it is characterised in that: described first wireless module and described
The model of the second wireless module is y1-100i1.
7. multiple degrees of freedom sea wave simulation device as claimed in claim 6, it is characterised in that: described first wireless module and described
The distance of the second wireless module is less than or equal to 1500 meters.
8. the multiple degrees of freedom sea wave simulation device as described in any one of claim 1～7, it is characterised in that freely put down more than described
Platform includes: six degree of freedom platform.
9. multiple degrees of freedom sea wave simulation device as claimed in claim 8, it is characterised in that: described attitude transducer gathers canoe
Rolling, pitching, yawing, swaying, surging and hang down and swing the data of attitude.
10. multiple degrees of freedom sea wave simulation device as claimed in claim 9, it is characterised in that: the type of described six degree of freedom platform
Number it is MPU-6050.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610643120.2A CN106092508A (en) | 2016-08-08 | 2016-08-08 | A kind of multiple degrees of freedom sea wave simulation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610643120.2A CN106092508A (en) | 2016-08-08 | 2016-08-08 | A kind of multiple degrees of freedom sea wave simulation device |
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| Publication Number | Publication Date |
|---|---|
| CN106092508A true CN106092508A (en) | 2016-11-09 |
Family
ID=57455469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610643120.2A Pending CN106092508A (en) | 2016-08-08 | 2016-08-08 | A kind of multiple degrees of freedom sea wave simulation device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109883648A (en) * | 2019-03-05 | 2019-06-14 | 哈尔滨工程大学 | A kind of forced six-freedom motion instrument |
| CN115728033A (en) * | 2022-12-02 | 2023-03-03 | 天津时空经纬信息技术有限公司 | Wave simulation test platform |
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| CN1491852A (en) * | 2003-09-04 | 2004-04-28 | 上海交通大学 | Ship motion simulator |
| CN102452074A (en) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN205879489U (en) * | 2016-08-08 | 2017-01-11 | 中国地质大学（武汉） | Multi freedom wave analogue means |
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2016
- 2016-08-08 CN CN201610643120.2A patent/CN106092508A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1491852A (en) * | 2003-09-04 | 2004-04-28 | 上海交通大学 | Ship motion simulator |
| CN102452074A (en) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109883648A (en) * | 2019-03-05 | 2019-06-14 | 哈尔滨工程大学 | A kind of forced six-freedom motion instrument |
| CN115728033A (en) * | 2022-12-02 | 2023-03-03 | 天津时空经纬信息技术有限公司 | Wave simulation test platform |
| CN115728033B (en) * | 2022-12-02 | 2024-03-15 | 天津时空经纬信息技术有限公司 | Wave simulation test platform |
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Application publication date: 20161109 |