CN107878702A - A kind of active wave compensating device and method applied to sounding instrument - Google Patents
A kind of active wave compensating device and method applied to sounding instrument Download PDFInfo
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- CN107878702A CN107878702A CN201711103089.4A CN201711103089A CN107878702A CN 107878702 A CN107878702 A CN 107878702A CN 201711103089 A CN201711103089 A CN 201711103089A CN 107878702 A CN107878702 A CN 107878702A
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- sounding instrument
- platform
- compensation
- compensating device
- component
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
Abstract
The invention discloses a kind of active wave compensating device and method applied to sounding instrument, including the first compensating unit, has support component, transmission parts and power part；Second compensating unit, it is connected with first compensating unit, including platform assembly, compensation component, support member and connector；And detection unit, it is connected with the support component.The present invention measures the kinematic parameter for waving and heaving of hull by micro- inertial navigation sensor and is converted into data signal, it is transferred to control system and is handled and calculated the compensation rate waved and heaved, by the signal driving servomotor after handling and servo electric jar motion, the compensation for waving and heaving direction of compensating platform is realized.The present invention can accurately and rapidly compensate by the sounding instrument influenceed with heave movement is waved, allow sounding instrument can under the sea situation of complexity safely and efficiently perform detection task.The present apparatus has the characteristics that compensation range is wide, reliability is high, accurate quick, simple and light.
Description
Technical field
It is particularly a kind of applied to the active wave compensating device of sounding instrument and side the present invention relates to Active Compensation field
Method.
Background technology
The region such as China East China Sea, the Yangtze river basin and river entrance water turbidity, sight are poor, in general navigator
In the case of device cisco unity malfunction, positioning and navigation can be realized using sounding instrument, particularly be navigated in ship into shallow water
During road, other navigation equipments be it is irreplaceable, some water depth ratio situations it is special or have certain rule marine site application survey
Deep instrument distinguishes that position is more reliable.The functions such as underwater exploration, locating fish tracking can also be realized by modernizing multi-functional marine depth sounder, because
This sounding instrument is to be widely used in hydrographic survey, hydroelectric power plant, reservoir area, shallow sea, lake, river course exploration, the reason of environment water area monitoring
Think bathymetric surveying instrument.
Need guarantee vertical vertical when being worked using sounding instrument, and hull caused by stormy waves shakes and causes nothing under natural situation
Method normal work, it is therefore desirable to which a kind of supplementary instrument compensates to be shaken to the external world, to ensure the position and direction of sounding instrument
It is relatively stable.Wave compensating device is generally divided into active and passive type, latter techniques' relative maturity, has reality both at home and abroad at present
Apply on border.And the flexibility of active heave compensation device is good, but its technical difficulty is big, and the country there is no ripe application.It is active
When wave compensation system works, Relative motion of ship signal that controller monitors according to inductor, a size therewith is produced
Active force drive signal identical, in opposite direction, control actuator realize compensation of undulation.Typically using integrated structure design
Strapdown type stable platform, the athletic posture of carrier are detected in real time by inertance element, final to realize in conjunction with Servocontrol device
Stable and tracking function is realized in the motion for isolating carrier.The mechanical structure of stabilized platform generally has two kinds of shapes of serial or parallel connection type
Formula, tandem type stabilized platform are typically to use ring stand formula axle serial mechanism, there is the forms such as two axles, three axles, four axles；Parallel institution is
Upper lower platform is connected with two or more branches, and mechanism has two or more frees degree, and is driven with parallel way
Mechanism be referred to as parallel institution.It is preferable using the compensation integration effect of stabilized platform in parallel in the equipment of Active Compensation, still
Typically all it is applied on large-scale ship, and needs the hydraulic cylinder grown very much, undoubtedly adds cost, reduces the stabilization of system
Property.
Although aforementioned stable platform can solve the problems, such as solve Active Compensation, structure employs substantial amounts of servo-electric
Cylinder causes complex redundancy, cost height and less stable.The characteristics of for sounding instrument and working condition are, it is necessary to a kind of new compensation
While rolling, pitching and heave of the device to ship compensate task respectively, it can guarantee that stability is good, it is simple in construction.
The content of the invention
The purpose of this part is to summarize some aspects of embodiments of the invention and briefly introduce some preferably to implement
Example.It may do a little simplified or be omitted to avoid making our department in this part and the description of the present application summary and denomination of invention
Point, the purpose of specification digest and denomination of invention obscure, and this simplification or omit and cannot be used for limiting the scope of the present invention.
In view of problem present in above-mentioned and/or existing wave compensating device, it is proposed that the present invention.
Therefore, the one of purpose of the present invention is to provide a kind of active wave compensating device applied to sounding instrument, its
It can realize that the rolling to sounding instrument, pitching and heave carry out real-Time Compensation, allow sounding instrument more steadily safely to work and tie
Structure is simple, stability is good.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of active wave applied to sounding instrument
Compensation device, it includes the first compensating unit, and first compensating unit has support component, transmission parts and power part,
The power part is arranged at the top of the support component, and the both ends of the transmission parts are connected with the support component
Connect；Second compensating unit, it is connected with first compensating unit, including platform assembly, compensation component, support member and company
Fitting, the both ends of the compensation component are connected by the connector with the platform assembly, the both ends of the support member
It is connected respectively with the platform assembly.Also include, detection unit, the detection unit is connected with the support component.
As a kind of preferred scheme of the invention active wave compensating device applied to sounding instrument, wherein：The branch
Support component includes platform support and guide rod, and the platform support is fluted body structure, including upper face, lower face and lateral plates.
As a kind of preferred scheme of the invention active wave compensating device applied to sounding instrument, wherein：It is described to lead
Bar has two, and is vertically fixed in the platform support, and both ends are connected with the upper face and the lower face respectively.
As a kind of preferred scheme of the invention active wave compensating device applied to sounding instrument, wherein：It is described dynamic
Power part uses servomotor, and is arranged at the upper end of the upper face.
As a kind of preferred scheme of the invention active wave compensating device applied to sounding instrument, wherein：The biography
Dynamic component uses leading screw, and its outer surface is threaded, and respectively with the upper face and the lower face vertical connection, its upper end
It is connected, is driven by it with the servomotor through the upper face.
As a kind of preferred scheme of the invention active wave compensating device applied to sounding instrument, wherein：It is described flat
Platform component includes upper mounting plate and lower platform.
As a kind of preferred scheme of the invention active wave compensating device applied to sounding instrument, wherein：Under described
Platform processes three holes, is connected respectively with the guide rod and the leading screw；The connection of the lower platform and the guide rod is not
Fixed, the hole inwall being connected with the leading screw is threaded, screw thread and the leading screw matches mutually.
As a kind of preferred scheme of the invention active wave compensating device applied to sounding instrument, wherein：The benefit
Repay component and use servo electric jar, and there are two, its both ends is by the connector and the upper mounting plate and described lower flat
Platform vertical connection.
As a kind of preferred scheme of the invention active wave compensating device applied to sounding instrument, wherein：The branch
Support part part uses support post, and its lower end is vertically fixed on the lower platform, and upper end passes through the connector and the upper mounting plate
It is connected.
As a kind of preferred scheme of the invention active wave compensating device applied to sounding instrument, wherein：The company
Fitting uses Hooke's hinge.
As a kind of preferred scheme of the invention active wave compensating device applied to sounding instrument, wherein：The branch
Column and the servo electric jar are supportted in the platform assembly surface distributed on a diameter of certain circumference.
As a kind of preferred scheme of the invention active wave compensating device applied to sounding instrument, wherein：On described
Perforate is distinguished in the center of platform and the lower platform, and lower opening is more than upper hole, and the center of circle corresponds to vertically, and sounding instrument passes through installation
Bar is arranged in hole.
As a kind of preferred scheme of the invention active wave compensating device applied to sounding instrument, wherein：The survey
Deep instrument includes gps antenna and transducer, and the gps antenna is arranged on the top of the upper mounting plate；The transducer is arranged on institute
State the lower section of lower platform.
As a kind of preferred scheme of the invention active wave compensating device applied to sounding instrument, wherein：The inspection
Survey unit and use micro- inertial navigation sensor, and installed in the upper surface of the lower face.
Wherein another purpose of the invention is to provide a kind of active compensation of undulation method applied to sounding instrument, and it can be real
Now by driving the motion of servomotor and servo electric jar, the compensation for waving and heaving direction of compensating platform is completed.
In order to solve the above technical problems, the invention provides following technical scheme：A kind of active ripple applied to sounding instrument
Unrestrained compensation method, it comprises the following steps：
Step 1：Micro- inertial navigation sensor measurement ship rolling as caused by stormy waves, pitching and the heave attitude data.
Step 2：The attitude data measured is by communicating real-time Transmission to motion controller.
Step 3：Motion controller calculated according to anti-resolving Algorithm rolling, pitching and the heave of ship offset and
By the change of data on these data couplings heave direction.
Step 4：The data calculated are converted into signal instruction and real-time Transmission is to the servomotor and servo electricity
Dynamic cylinder.
Step 5：The servo electric jar compensates to rolling, pitching, and the servomotor drives the leading screw to rising
It is heavy to compensate.
Beneficial effects of the present invention：The present invention measures the kinematic parameter for waving and heaving of hull by micro- inertial navigation sensor
And data signal is converted into, and it is transferred to control system and is handled, control system calculates the compensation rate waved and heaved,
Moved by the signal driving servomotor after handling and servo electric jar, realize the benefit for waving and heaving direction of compensating platform
Repay.Two compensating units enter action edge transmission in a manner of being driven, and can accurately and rapidly compensate and be waved and heave movement
The sounding instrument of influence, allow sounding instrument can under the sea situation of complexity safely and efficiently perform detection task.The present apparatus has compensation
The features such as scope is wide, reliability is high, accurate quick, simple and light.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill of field, without having to pay creative labor, it can also be obtained according to these accompanying drawings other
Accompanying drawing, wherein：
Fig. 1 is that the present invention is applied to described in first and second embodiment of active wave compensating device and method of sounding instrument
Overall structure front view.
Fig. 2 is that the present invention is applied to described in first, second and third embodiment of active wave compensating device and method of sounding instrument
Overall structure side view.
Fig. 3 is platform branch of the present invention described in applied to the active wave compensating device and method first embodiment of sounding instrument
Frame is intended to.
Fig. 4 is compensation of the present invention described in applied to the active wave compensating device and method one embodiment of sounding instrument
Platform figure.
Fig. 5 is that the present invention is applied to described in first and second embodiment of active wave compensating device and method of sounding instrument
Compensating platform top view.
Fig. 6 is the present invention applied to electronic described in the 4th embodiment of active wave compensating device and method of sounding instrument
Systematic schematic diagram.
Fig. 7 is control of the present invention described in applied to the 4th embodiment of active wave compensating device and method of sounding instrument
Schematic diagram.
Fig. 8 is overhead of the present invention described in applied to the 5th embodiment of active wave compensating device and method of sounding instrument
Component mounting position schematic diagram.
Fig. 9 is overhead of the present invention described in applied to the 5th embodiment of active wave compensating device and method of sounding instrument
Component external structural representation.
Figure 10 is top of the present invention described in applied to the 5th embodiment of active wave compensating device and method of sounding instrument
Put component entirety profile.
Figure 11 is that the present invention is applied to consolidating described in the 5th embodiment of active wave compensating device and method of sounding instrument
Fixed pole structural representation.
Figure 12 is rotation of the present invention described in applied to the 5th embodiment of active wave compensating device and method of sounding instrument
Turn part structural representation.
Figure 13 is that the present invention is applied to stretching described in the 5th embodiment of active wave compensating device and method of sounding instrument
Contracting part structural representation.
Figure 14 is top of the present invention described in applied to the 5th embodiment of active wave compensating device and method of sounding instrument
Layering structure schematic diagram.
Figure 15 is biography of the present invention described in applied to the 5th embodiment of active wave compensating device and method of sounding instrument
Laminate structures schematic diagram.
Figure 16 is that the present invention is applied to supporting described in the 5th embodiment of active wave compensating device and method of sounding instrument
Laminate structures schematic diagram.
Figure 17 is top of the present invention described in applied to the 5th embodiment of active wave compensating device and method of sounding instrument
Put component internal organigram.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, with reference to Figure of description pair
The embodiment of the present invention is described in detail.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
It is different from other manner described here using other to implement, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
Secondly, " one embodiment " or " embodiment " referred to herein refers to may be included at least one realization side of the present invention
Special characteristic, structure or characteristic in formula." in one embodiment " that different places occur in this manual not refers both to
Same embodiment, nor the single or selective embodiment mutually exclusive with other embodiment.
Reference picture 1~5, it is first embodiment of the invention, there is provided a kind of active compensation of undulation applied to sounding instrument
Device.Such as Fig. 1, its main body includes the first compensating unit 100, and the first compensating unit 100 includes support component 101, transmission parts
102 and power part 103, power part 103 is arranged at the top of support component 101, the both ends of transmission parts 102 with support
Component 101 is connected.Second compensating unit 200, it is connected with the first compensating unit 100, including platform assembly 201, compensation
Component 202, support member 203 and connector 204, the both ends of compensation component 202 pass through connector 204 and the phase of platform assembly 201
Connection, the both ends of support member 203 are connected with platform assembly 201 respectively.Also include, detection unit 300, detection unit 300
It is connected with support component 101.
Specifically, agent structure of the present invention mainly includes three parts, the compensation of respectively the first compensating unit 100, second
Unit 200 and detection unit 300.Wherein, the first compensating unit 100 mainly includes three parts：Support component 101, pass
Dynamic component 102 and power part 103.Support component 101 includes platform support 101a and guide rod 101b, and platform support 101a is
Fluted body structure, including upper face 101a-1, lower face 101a-2 and lateral plates 101a-3, upper face 101a-1 and lower face
101a-2 is horizontally disposed with, and lateral plates 101a-3 is vertically arranged.Guide rod 101b is vertically fixed in platform support 101a, both ends difference
It is connected with upper face 101a-1 and lower face 101a-2, guide rod 101b amounts to two.
Power part 103 uses servomotor 103a, and is fixedly installed on upper face 101a-1 upper end.Transmission parts
102 use leading screw 102a, and its outer surface is threaded, and respectively with upper face 101a-1 and lower face 101a-2 vertical connections,
Its upper end is connected through upper face 101a-1 with servomotor 103a, is driven by it control.Two in first compensating unit 100
A guide rod 101b and leading screw 102a is with upper face 101a-1 and lower face 101a-2 vertical connections, and spacing is equal.Guide rod
101b connection is non-rotatable for fixation, and leading screw 102a connection is thrust bearing formula, can with servomotor 103a around
Axle center is rotated.
Second compensating unit 200 includes platform assembly 201, compensation component 202, support member 203 and connector 204.It is flat
Platform component 201 includes upper mounting plate 201a01a and lower platform 201b, and lower platform 201b is more than upper mounting plate 201a01a, and is arranged at down
Side.Connector 204 uses Hooke's hinge 204a, and is fixed on the inner side of platform assembly 201.Support member 203 uses support post
203a, its lower end are vertically fixed on above lower platform 201b, and upper end is connected by Hooke's hinge 204a with upper mounting plate 201a01a.
Compensate component 202 and use servo electric jar 202a, and share two, its both ends passes through Hooke's hinge 204a and upper mounting plate
201a01a and lower platform 201b are respectively perpendicular connection.The node being connected with Hooke's hinge 204a can carry out a certain degree of rotation.
The two servo electric jar 202a and a support post 203a of the inner side of platform assembly 201 are in upper mounting plate 201a01a and lower platform
Distributing position above 201b is established on the certain circumference of diameter.Detection unit 300 is using micro- inertial navigation sensor
301, and installed in lower face 101a-2 upper surface, be independently arranged.
In the present embodiment, the first compensating unit 100 and the second compensating unit 200 pass through under the second compensating unit 200
Platform 201b is attached.Specifically, lower platform 201b an edge process three holes, respectively with guide rod 101b and leading screw
102a is connected.Lower platform 201b and two guide rod 101b connection is not fixed, and lower platform 201b can be on guide rod 101b tracks
Slidably, and hole inwall that lower platform 201b is connected with leading screw 102a is threaded, screw thread specification and leading screw 102a surfaces
Screw thread matches mutually, and mutual cuttage, form transmission group, when servomotor 103a is rotated with leading screw 102a, silk
Thick stick 102a also can pass to lower platform 201b and whole second compensating unit 200 by rotating by screw thread, and forms of motion is by revolving
Walk around and turn to linear motion.
Reference picture 1,2 and 5, for second embodiment of the present invention, the embodiment is different from one embodiment：Survey
Deep instrument 400 is installed on the second compensating unit 200.Agent structure of the present invention includes the first compensating unit 100, and the first compensation is single
Member 100 includes support component 101, transmission parts 102 and power part 103, and power part 103 is arranged at support component 101
Top, the both ends of transmission parts 102 are connected with support component 101.Second compensating unit 200, with the first compensating unit 100
Drive connection, including platform assembly 201, compensation component 202, support member 203 and connector 204, the both ends of compensation component 202
It is connected by connector 204 with platform assembly 201, the both ends of support member 203 are connected with platform assembly 201 respectively.Also
Including detection unit 300, detection unit 300 is connected with support component 101.
In the present embodiment, related second compensating unit 200 of whole first compensating unit 100 is arranged on hull, with flat
Platform support 101a lower face 101a-2 is as the contact surface being connected with hull.Sounding instrument 400 is arranged on the second compensating unit 200
Above, it mainly includes gps antenna 402 and transducer 403.Specifically, the upper mounting plate 201a01a of the second compensating unit 200 and
Lower platform 201b has processed a circular hole, and the diameter of lower circular hole is more than upper circular hole, and the home position of two circular holes is mutual
Corresponding, its line is just vertical direction, and mounting rod 401 can be inserted vertically into two circular holes, meanwhile, sounding instrument 400 passes through peace
Bar 401 is filled to be arranged in hole.Gps antenna 402 is arranged on upper mounting plate 201a01a top, transducer by mounting rod 401
403 are arranged on lower platform 201b lower section by mounting rod 401.When carrying out operation, transducer 403 necessarily needs to be placed on water
In, ensure that the drinking water depth of transducer 403 is suitable, meanwhile, the mounting rod 401 that transducer 403 connects needs to ensure perpendicular to water
Plane, this just needs the regulation of active wave compensating device.
Reference picture 2, the overall structure side view of the active compensation device of sounding instrument is applied to for third embodiment of the invention
Figure, what the embodiment was different from second embodiment is：This embodiment mainly solves the first compensating unit 100 and second
The connection of compensating unit 200 and transmission problem, specifically, the present invention is driven by servomotor 103a and servo electric jar 202a
Mode enter action edge transmission.The agent structure of the present invention includes the first compensating unit 100, and the first compensating unit 100 includes branch
Support component 101, transmission parts 102 and power part 103, power part 103 are arranged at the top of support component 101, driving section
The both ends of part 102 are connected with support component 101.Second compensating unit 200, it is connected, wraps with the first compensating unit 100
Platform assembly 201, compensation component 202, support member 203 and connector 204 are included, the both ends of compensation component 202 pass through connector
204 are connected with platform assembly 201, and the both ends of support member 203 are connected with platform assembly 201 respectively.Also include, detection is single
Member 300, detection unit 300 is connected with support component 101.
In the present embodiment, the first compensating unit 100 and the second compensating unit 200 pass through under the second compensating unit 200
Platform 201b is attached.Specifically, lower platform 201b an edge process three holes, respectively with guide rod 101b and leading screw
102a is connected.Lower platform 201b and two guide rod 101b connection is not fixed, natural and without under other restrained conditions, lower platform
201b can be on guide rod 101b tracks slidably, and lower platform 201b and leading screw 102a connection is driven type, and it is connected
Hole inwall be threaded, the screw thread matches mutually on screw thread specification and leading screw 102a surfaces, and mutual cuttage forms transmission
Group.Because guide rod 101b connection is non-rotatable for fixation, and leading screw 102a connection is thrust bearing formula, can be with servo
Motor 103a is rotated around axle center.When servomotor 103a is rotated with leading screw 102a, leading screw 102a will can also turn
Dynamic to pass to lower platform 201b and whole second compensating unit 200 by screw thread, forms of motion is transported by translating rotation for straight line
It is dynamic, so as to control the adjustment up and down of whole second compensating unit 200.
It is as shown in Figure 6,7 the present invention the invention further relates to a kind of method of the active compensation of undulation applied to sounding instrument
The 4th embodiment, it comprises the following steps：
Step 1：Micro- inertial navigation sensor 301 measures the ship rolling as caused by stormy waves, pitching and heave attitude data.
Step 2：The attitude data measured is by communicating real-time Transmission to motion controller.
Step 3：Motion controller calculated according to anti-resolving Algorithm rolling, pitching and the heave of ship offset and
By the change of data on these data couplings heave direction.
Step 4：The data calculated are converted into signal instruction and real-time Transmission is to servomotor 103a and servo electric jar
202a。
Step 5：Servo electric jar 202a compensates to rolling, pitching, and servomotor 103a drives leading screw 102a to rising
It is heavy to compensate.
The second compensating unit 200 is only used for compensating rolling, the pitching of hull in the present invention, therefore only needs very little
Servo electric jar 202a strokes can realizes that to hull rolling, the compensation of pitching the size of such compensation device is smaller, is easy to
Carry and install, and it is highly reliable；And heave direction and then compensated using servomotor 103a and leading screw 102a combination, this
The structure of sample can realize the miniaturization of compensation device with compensation control, while improve reliability；Pass through servo electric jar 202a
With servomotor 103a and leading screw 102a collective effect, the sounding instrument 400 that can be allowed on platform vertical-horizontal all the time
Position, the wide purpose of cost, the raising stability of a system, dependable with function is reduced so as to reach.
The present invention enters action edge by way of servomotor 103a and servo electric jar 202a transmissions and transmitted, and system needs
380V AC power provides power, and power driven system schematic diagram is as shown in fig. 6, two electric cylinder servomotors 14 control two respectively
Individual servo electric jar 202a, servomotor 103a control leading screw 102a；By upper mounting plate 201a wave realization to hull rolling,
The compensation of pitching, the compensation that direction is heaved to hull is realized by leading screw 102a motion.
As shown in fig. 7, the athletic posture data waved of ship, the appearance that will be measured are measured using micro- inertial navigation sensor 301
State data are by communicating real-time Transmission to controller；Controller obtains ship rolling, pitching and the benefit of heave according to anti-resolving Algorithm
Value is repaid, the signal of offset is carried out D/A switch and is transferred to servo-driver by servo amplifier by control system, by servo
The motion of two servo electric jar 202a corresponding to driver control compensates the rolling of ship, pitching；By servo-drive
Servomotor 103a driving leading screws 102a's moves to compensate the heave movement of ship corresponding to device control.
The common motion state of hull is roughly divided into following several：Wave, heave, waving and the compound motion of the above,
Just the present invention explains to the compensation principle of common three kinds of motion states of hull below：
When hull is by rolling or pitching, micro- inertial navigation sensor 301 detects the motion state of hull, leads to
The anti-solution computing of control system is crossed, the data signal after processing realizes the control to servo electric jar 202a by driver
System, be mainly shown as servo electric jar 202a rock and the change of leading screw 102a length, pass through upper mounting plate 201a01a pendulum
It is dynamic to realize the compensation waved to hull.
When hull is by heave movement, micro- inertial navigation sensor 301 detects the motion state of hull, passes through and controls system
The anti-solution computing of system, the data signal after processing pass through control of the driver realization to servomotor 103a, main table
Existing leading screw 102a motion, the compensation heaved to hull is realized by lower platform 201b up and down motion.
When the coupled motions that hull is moved by roll and pitch, micro- inertial navigation sensor 301 detects the motion of hull
State, by the anti-solution computing of control system, the data signal after processing is realized to servo electric jar by driver
202a control, be mainly shown as servo electric jar 202a rock and the change of leading screw 102a length, pass through upper mounting plate
The compensation waved to hull is realized in 201a swing.Simultaneously because coupled motions will produce the change for heaving direction, by processing
Data signal afterwards realizes the control to servomotor 103a by driver, the main motion for showing leading screw 102a, passes through
The compensation to hull heave is realized in lower platform 201b up and down motion.
When coupled motions of the hull by rolling, pitching and heave movement, micro- inertial navigation sensor 301 detects hull
Motion state, by the anti-solution computing of control system, the data signal after processing is realized to servo electricity by driver
Dynamic cylinder 202a and servomotor 103a control, be mainly shown as servo electric jar 202a rock and leading screw 102a length
Change and leading screw 102a motion, the compensation waved to hull is realized by upper mounting plate 201a swing, passes through lower platform
The compensation to hull heave is realized in 201b up and down motion, sounding instrument is compensated by wave effect so as to realize, Neng Goushi
Now steady safe and efficient work.
The common motion state of hull is roughly divided into following several：Wave, heave, waving and the compound motion of the above,
Just the present invention explains to the compensation principle of common three kinds of motion states of hull below：
When hull is by rolling or pitching, micro- inertial navigation sensor 301 detects the motion state of hull, main
If the angle change of rolling or pitching in micro- inertial navigation sensor, by the data of the real-time acquisition angles of control system and lead to
Computing is crossed, the data signal after these data process is handled realizes the control to servo electric jar 202a by driver,
Servo electric jar 202a elongation and shortening are mainly shown as, realizes what hull was waved by upper mounting plate 201a01a swing
Compensation.
When hull is by heave movement, micro- inertial navigation sensor 301 detects the motion state of hull, mainly micro- used
The change of vertical displacement in derivative sensor, by the data of the real-time collection displacement of control system and by computing, by these
Data signal of the data after processing realizes the control to servomotor 103a by driver, main to show leading screw 102a
Motion, pass through lower platform 201b up and down motion realize to hull heave compensation.
When the coupled motions that hull is moved by roll and pitch, micro- inertial navigation sensor 301 detects the motion of hull
State, the angle comprehensive change of roll and pitch in mainly micro- inertial navigation sensor, the real-time collection for passing through control system are horizontal
Shake with the data of pitch angular and by computing, data signal of these data after processing is passed through into driver realization pair
Servo electric jar 202a control, servo electric jar 202a elongation and shortening are mainly shown as, passes through upper mounting plate 201a pendulum
It is dynamic to realize the compensation waved to hull.Simultaneously because coupled motions will produce the change for heaving direction, the number after processing
Word signal realizes the control to servomotor 103a by driver, the main motion for showing leading screw 102a, passes through lower platform
The compensation to hull heave is realized in 201b up and down motion.
When coupled motions of the hull by rolling, pitching and heave movement, micro- inertial navigation sensor 301 detects hull
Motion state, the angle comprehensive change of roll and pitch in mainly micro- inertial navigation sensor, pass through adopting in real time for control system
Collect the data of roll and pitch angle and heave displacement and by computing, by data signal of these data after processing
Control to servo electric jar 202a and servomotor 103a is realized by driver, is mainly shown as servo electric jar 202a's
Elongation and shortening and the change of leading screw 102a length and leading screw 102a motion, pass through upper mounting plate 201a swing realization pair
The compensation that hull waves, the compensation heaved to hull is realized by lower platform 201b up and down motion, so as to realize to sounding instrument
Compensated by wave effect, steady safe and efficient work can be realized.
Reference picture 8~17 is the 5th embodiment of the invention, and the embodiment is different from above-described embodiment：Described
The middle part of two compensating units 200 is provided with overhead component 500, and the middle of overhead component 500, which is run through, vertical passage T.
In the present invention, overhead component 500 is primarily served the upper mounting plate 201a and lower platform of the second compensating unit 200
The effect that 201b is shored, to the dismounting, maintenance and Hooke's hinge 204a or servo electric jar of the second compensating unit 200
202a replacing.Reference picture 8 understands that overhead component 500 is arranged between upper mounting plate 201a and lower platform 201b, further,
Overhead component 500 is fixedly mounted on lower platform 201b upper surface, and positioned at lower platform 201b center, faces flat
Platform 201a and the hole at lower platform 201b centers.Meanwhile overhead component 500 is in contact with upper mounting plate 201a lower surface, but simultaneously
Unlocked connection, is only contacted.
The overall external structure profile of overhead component 500 is generally cylindrical.In longitudinal direction there is vertical inside to lead to
Road T.Passage T internal diameter size is identical with upper mounting plate 201a and lower platform 201b centers hole size, and face normal thereto,
Connection is formed, to install and place mounting rod 401.The agent structure of overhead component 500 includes outer body shell 501, power transmission component
502, pressure transmission part 503 and press part 504.Pressure transmission part 503 and press part 504 are arranged at the inside of outer body shell 501, power transmission component
502 main part is arranged at the outside of outer body shell 501.
Specifically, as illustrated in fig. 9 or 10, power transmission component 502 has manufacture pressure in the present invention, promotes the pressure transmission of inside
Part 503 produces the effect of displacement upwards.Power transmission component 502 includes fix bar 502a, revolving part 502b, extensible member 502c and top pressure
Bar 502d.Fix bar 502a is generally cylindric, and its one end is vertically fixed on lower platform 201b, and the side of the other end is set for one week
It is equipped with the screw thread of a segment length, such as Figure 11.Revolving part 502b outside overall profile is also to be cylindric, but inside has connection
Construction, be the bar 502a and extensible member 502c intermediate connecting part of being connected.Such as Figure 12, revolving part 502b lower end towards
Sunken inside has the cylindrical grooves of certain depth, is the first groove 502b-1, and its inwall has screw thread, and this screw thread is matched with above-mentioned
The screw thread of fix bar 502a upper ends, and revolving part 502b the first groove 502b-1 and fix bar 502a upper end by each other it
Between screw thread be attached.Revolving part 502b upper end also has groove simultaneously, is the second groove 502b-2 but its upper port
Width is less than lower port.Such as Figure 13, extensible member 502c one end, which has, to be matched with the upper second groove 502b-2 of revolving part 502b
The profile of portion's structure, it is first end 502c-1, and first end 502c-1 structure and the second groove 502b-2 internal structure are mutual
Corresponding cooperation, and extensible member 502c is attached by first end 502c-1 and revolving part 502b.Meanwhile extensible member 502c
The other end is the second end 502c-2, and the second end 502c-2 offers the gap F of one fixed width and length, gap F in lateral direction penetrating
Second end 502c-2 to two buses, is divided into by two halves by certain diameter institute in cylindrical cross-section.And in the second end 502c-2
In the range of and offer in gap F transverse direction through hole K, through hole K is circle, because gap F is to the second end 502c-2's
Segmentation, through hole K have two.Such as Figure 14, tip layering 502d global shape is the strip of arc, has certain thickness, and
Thickness is slightly less than gap F width, with ensure tip layering 502d can intercalation in the F of gap.Tip layering 502d one end has
The hole of strip, the through hole K of itself and extensible member 502c upper ends are hinged.The tip layering 502d other end passes through outer body shell 501
On connected entrance L stretch into inside outer body shell 501, contacted with the bottom of pressure transmission part 503.Connected entrance L is long round shape, perpendicular to
Lower platform 201b is set.Further, tip layering 502d partially among position be additionally provided with a circular hole, to outer body shell
Connected entrance L side wall is hinged on 501.
In the present embodiment, overhead component 500 includes pressure transmission part 503, and such as Figure 15, the intermediate body portions of pressure transmission part 503 are divided into
Hollow cylinder, boring part are an above-mentioned passage T part.Two ends of pressure transmission part 503 are bigger convex of external diameter
Go out discoid, equally there is also hollow passage T.Further, the lower surface of the lower end of pressure transmission part 503 is provided with corresponding to top pressure
Bar 502d chute H, chute H width are slightly larger than tip layering 502d thickness, and the tip layering of outer body shell 501 is stretched into one end
502d end is against chute H, to ensure that tip layering 502d end can be in chute H slidably.
It is noted herein that in the present invention, the corresponding chute H of tip layering 502d in each power transmission component 502,
Therefore the quantity of power transmission component 502 is identical with chute H quantity.Meanwhile in actual applications, power transmission component 502 and chute H
Quantity it is unrestricted, can rationally be changed according to the actual requirements.Therefore, the power transmission group shown in the present embodiment respective figure
Part 502 and chute H only for convenience of this example demonstrates that and show, but can not limit the scope of the invention, in reality
During production is used, multiple power transmission components 502 and chute H are used cooperatively also within protection scope of the present invention.
Overhead component 500 also includes press part 504, and such as Figure 16, the intermediate body portion of press part 504 is also hollow cylinder
Shape, inside are similarly a passage T part.The size of the intermediate body portion of press part 504 and the upper end size phase of pressure transmission part 503
Together, and the lower end of press part 504 is connected with pressure transmission part 503, and upper end has that the bigger protrusion of external diameter is discoid, and its size is more than outer
The sectional dimension of body shell 501, and it is erected at the upper end of outer body shell 501.The upper surface of press part 504 can directly and upper mounting plate
201a lower surface is contacted, but is not fixedly connected.It is noted herein that：When the servo electricity of the second compensating unit 200
When dynamic cylinder 202a is arranged to initial shortest length, overhead component 500 just simultaneously with positioned at upper mounting plate 201a and lower platform
201b is contacted.Because the lower end of overhead component 500 is integrally fixed on lower platform 201b, now press part 504 just touches
Upper mounting plate 201a lower surface, it can so ensure that overhead component 500 does not interfere with servo-electric idle when yet
Cylinder 202a's is normal flexible.Further, the screw thread in fix bar 502a and revolving part 502b lower ends the first groove 502b-1
Segment length is equal, and is all higher than servo electric jar 202a and reaches most long entire length, can so ensure that overhead component 500 has
There is bigger use range.
In the present embodiment, pressure transmission part 503 and press part 504 correspond to each other in vertical docking, central passage T mutually.Pressure transmission
The outside of part 503 and press part 504 is coated with outer body shell 501.The generally hollow cylindrical of outer body shell 501, its lower end are fixed
In lower platform 201b upper surface.Upper end frame is provided with press part 504.The position of the centre portion of the outer inner side of body shell 501 has outer
Convex W, it is matched with the Outside Dimensions of the intermediate body portion of pressure transmission part 503.Because the both ends external diameter of pressure transmission part 503 is larger, therefore
The wall thickness of the outer main body of body shell 501 of the evagination W thickness ratios of the outer madial wall of body shell 501 is big.From Figure 10 or 17, pressure transmission part 503 exists
In the case of not working normally, its upper end frame is located at evagination W upper ends, and evagination W length is less than the intermediate host of pressure transmission part 503
Partial length, it can so ensure that vertical direction of the pressure transmission part 503 along evagination W has certain displacement space.
In the present invention, revolving part 502b is rotated, due to the effect of screw thread, extensible member 502c is moved down, and also drives top
Press strip 502d outer end moves down.Because tip layering 502d centre and the side of connected entrance L in outer body shell 501 are cut with scissors
Connect, therefore, the one end of tip layering 502d inside outer body shell 501 is upwarped.And tip layering 502d the inners are against pressure transmission part 503
Chute H in, the tip layering 502d ends that upwarp have the trend for outwards producing displacement in chute H, and promote pressure transmission part 503
Entirety moves up.In the present invention, press part 504 is arranged on the upper end of pressure transmission part 503, and therefore, mobile pressure transmission part 503 pushes away
Dynamic press part 504 so that press part 504 directly produces squeezing action to upper mounting plate 201a, realizes the effect shored.
It should be understood that this application is not limited to details or method illustrating in the following description or being illustrated in figure.
It will also be appreciated that wording and term are only in order at description purpose and are not considered as limitation used by herein.
It is important that, it should be noted that the construction and arrangement of the application shown in multiple different exemplaries is only
It is exemplary.Although several embodiments are only described in detail in this disclosure, the personnel of the displosure content are referred to
It should be easily understood that on the premise of substantially without departing from the novel teachings and advantage of the theme described in this application, many changes
Type is possible (for example, the size of various elements, yardstick, structure, shape and ratio and parameter value are (for example, temperature, pressure
Deng), mounting arrangements, the use of material, the change etc. of color, orientation).Can be by more for example, being shown as integrally formed element
Individual part or element are formed, and the position of element can be squeezed or otherwise change, and the property or number of discrete component
Or position can be altered or changed.Therefore, all such remodeling are intended to be comprised in the scope of the present invention.Can according to for
The embodiment in generation changes or the order or order of resequence any process or method and step.In the claims, any " dress
Put plus function " clause be intended to be covered in it is described herein perform the structure of the function, and be not only structure and be equal
But also it is equivalent structure.Without departing from the scope of the invention, design, operation that can be in exemplary
Other are made in situation and arrangement to replace, retrofit, change and omit.Therefore, the present invention is not restricted to specific embodiment, and
It is to extend to a variety of remodeling still fallen within the scope of the appended claims.
In addition, in order to provide the terse description of exemplary, all spies of actual embodiment can not be described
Sign (that is, with currently consider execution the present invention those incoherent features of optimal mode, or in realize the present invention it is incoherent
Those features).
It should be understood that in the development process of any actual embodiment, can such as in any engineering or design object
Substantial amounts of embodiment is made to determine.Such development effort is probably complicated and time-consuming, but for those benefits
For the those of ordinary skill of the displosure content, it is not necessary to excessive experiment, the development effort will be a design, manufacture and
The routine work of production.
It should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to preferable
The present invention is described in detail embodiment, it will be understood by those within the art that, can be to the technology of the present invention
Scheme is modified or equivalent substitution, and without departing from the spirit and scope of technical solution of the present invention, it all should cover in this hair
Among bright right.
Claims (10)
- A kind of 1. active wave compensating device applied to sounding instrument, it is characterised in that：Including,First compensating unit (100), including support component (101), transmission parts (102) and power part (103), the power Part (103) is arranged at the top of the support component (101), the both ends of the transmission parts (102) with the support group Part (101) is connected；Second compensating unit (200), including platform assembly (201), compensation component (202) and support member (203), the compensation The both ends of component (202) and the support member (203) are connected with the platform assembly (201) respectively, the platform assembly (201) it is connected by the support component (101) and transmission parts (102) with first compensating unit (100)；Detection unit (300), it is arranged at the inner side of first compensating unit (100).
- 2. it is applied to the active wave compensating device of sounding instrument as claimed in claim 1, it is characterised in that：The support component (101) platform support (101a) and guide rod (101b) are included, the platform support (101a) includes upper face (101a-1), lower plate Face (101a-2) and lateral plates (101a-3),The both ends of the guide rod (101b) are connected with the upper face (101a-1) and the lower face (101a-2) respectively.
- 3. it is applied to the active wave compensating device of sounding instrument as claimed in claim 2, it is characterised in that：The transmission parts (102) use leading screw (102a), and respectively with the upper face (101a-1) and the lower face (101a-2) vertical connection, its Upper end is connected through the upper face (101a-1) with the transmission parts (102), is driven by it control.
- 4. it is applied to the active wave compensating device of sounding instrument as claimed in claim 3, it is characterised in that：The platform assembly (201) upper mounting plate (201a) and lower platform (201b) are included,The lower platform (201b) sets three holes, is sheathed on the guide rod (101b) and the leading screw (102a) respectively.
- 5. it is applied to the active wave compensating device of sounding instrument as claimed in claim 4, it is characterised in that：The compensation component (202) there are two, its both ends is by connector (204) and the upper mounting plate (201a) and lower platform (201b) is vertical connects Connect.
- 6. it is applied to the active wave compensating device of sounding instrument as claimed in claim 5, it is characterised in that：The support member (203) lower end is vertically fixed on the lower platform (201b), and upper end passes through the connector (204) and the upper mounting plate (201a) is connected.
- 7. it is applied to the active wave compensating device of sounding instrument as claimed in claim 6, it is characterised in that：The support member (203) with it is described compensation component (202) in the platform assembly (201) surface distributed on a diameter of certain circumference.
- 8. it is applied to the active wave compensating device of sounding instrument as claimed in claim 7, it is characterised in that：The upper mounting plate Perforate is distinguished in the center of (201a) and the lower platform (201b), and the center of circle corresponds to vertically, and sounding instrument (400) passes through mounting rod (401) it is arranged in hole.
- 9. it is applied to the active wave compensating device of sounding instrument as claimed in claim 8, it is characterised in that：The detection unit (300) micro- inertial navigation sensor (301) is used, and installed in the upper surface of the lower face (101a-2).
- 10. a kind of method of active compensation of undulation applied to sounding instrument, it is characterised in that comprise the following steps：Step 1：Micro- inertial navigation sensor (301) measurement ship rolling as caused by stormy waves, pitching and the heave attitude data；Step 2：The attitude data measured is by communicating real-time Transmission to motion controller；Step 3：Motion controller calculates the offset of rolling, pitching and the heave of ship according to anti-resolving Algorithm and by this The change of data on a little data coupling heave directions；Step 4：The data calculated are converted into signal instruction and real-time Transmission is to the power part (103) and the compensation Component (202)；Step 5：The compensation component (202) compensates to rolling, pitching, and the power part (103) drives the leading screw (102a) compensates to heave.
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| CN108820131A (en) * | 2018-08-27 | 2018-11-16 | 中交海洋建设开发有限公司 | Underwater measurement of ship wave active compensation device |
| CN109263825A (en) * | 2018-08-06 | 2019-01-25 | 江苏科技大学 | A kind of active heave compensation device and method applied to cruiseway measurement |
| CN109664280A (en) * | 2018-12-27 | 2019-04-23 | 贵州大学 | A kind of control device and method of Rosa roxburghii Tratt detection system |
| CN110260110A (en) * | 2019-06-27 | 2019-09-20 | 上海海事大学 | A kind of six degree of freedom mixed connection platform for compensation of undulation |
| CN110834698A (en) * | 2019-09-27 | 2020-02-25 | 北京航天控制仪器研究所 | Unmanned water surface measuring system with load measuring stable platform |
| CN111605674A (en) * | 2020-05-22 | 2020-09-01 | 中国船舶重工集团公司第七0四研究所 | Three-degree-of-freedom swing compensation device applied to inland waterway measurement system |
| CN113494660A (en) * | 2020-04-03 | 2021-10-12 | 佛玛系统有限责任公司 | Stabilization device and method for stabilizing a fixing element |
| CN115806025A (en) * | 2023-02-03 | 2023-03-17 | 淄博市水利勘测设计院有限公司 | Overwater dynamic surveying and mapping unmanned ship and application method thereof |
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| CN111605674A (en) * | 2020-05-22 | 2020-09-01 | 中国船舶重工集团公司第七0四研究所 | Three-degree-of-freedom swing compensation device applied to inland waterway measurement system |
| CN115806025A (en) * | 2023-02-03 | 2023-03-17 | 淄博市水利勘测设计院有限公司 | Overwater dynamic surveying and mapping unmanned ship and application method thereof |
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