CN112610844B

CN112610844B - Tripod head structure is stabilized to buoy antenna

Info

Publication number: CN112610844B
Application number: CN202011292979.6A
Authority: CN
Inventors: 崔振东; 牟春晓; 杨锐荣; 王飞; 迟浩坤
Original assignee: Zhejiang Ocean University ZJOU; Yantai University
Current assignee: Zhejiang Ocean University ZJOU; Yantai University
Priority date: 2020-11-18
Filing date: 2020-11-18
Publication date: 2022-08-30
Anticipated expiration: 2040-11-18
Also published as: CN112610844A

Abstract

A buoy antenna stabilizing pan-tilt structure comprises a monitoring buoy (10), a buoy device (12), a support column (14), a pan-tilt structure (16), an imaging device (18), a plurality of energy collecting/generating devices (20) and an antenna assembly (22); the system also comprises a data processing device, one or more communication devices, a battery, a positioning device, a buoy device (12) which can be partially or completely placed on the buoy device, wherein the buoy device (12) can be placed in a water body and is anchored at the bottom of a preset position through a tether (32) and a tether anchor (34); the camera supporting cloud platform comprises a plurality of supports capable of rotating mutually, the antenna stabilizing cloud platform is provided with a connecting rod assembly, the antenna cloud platform can be driven by the cloud platform of the imaging equipment synchronously through the connecting rod assembly, the connecting rod assembly is approximately a parallelogram connecting rod driving mechanism, the position of the cloud platform of the imaging equipment can be synchronously obtained, and therefore synchronous movement of the antenna platform is driven, and relative stability of the antenna platform is guaranteed.

Description

Tripod head structure is stabilized to buoy antenna

Technical Field

The invention relates to the field of observation of river and ocean environments, in particular to an antenna stabilizing pan-tilt structure on an observation device platform.

Background

The river and ocean parameter observation technology is an important technical support for ocean resource development and ocean equity guarantee, and has very important significance for river and sea construction in China, utilization of river and sea resources and sustainable development. The buoy is a main means for realizing long-term continuous observation of river and sea environment and river and sea interface meteorological parameters, becomes an essential observation system for river and sea business observation and main equipment for offshore marine observation, and the antenna on the observation platform is an important device for transmitting data.

The buoy works in a marine environment, and is necessarily influenced by the marine environment such as sea waves, ocean currents, wind and the like, so that the buoy generates attitude changes such as pitching, tilting and rotating. Because partial buoys (such as wave buoys, sea-air flux buoys and the like) need to be stabilized in a certain range during the working process, the key problem to be solved when the buoys are designed and deployed is to ensure that certain buoys keep stable in posture under the working sea condition. The existing buoy attitude measurement scheme is mainly that an attitude self-recording recorder is added in a buoy body, and the movement attitude of the buoy is recorded through an attitude sensor with high price in the attitude self-recording recorder while the buoy body moves. However, the above measurement scheme not only has a high cost, but also changes the gravity center distribution of the buoy itself, and is not suitable for rapidly and accurately acquiring the real-time posture of the buoy.

Document 1 discloses a water-gas integrated online monitoring system and method, including a buoy unit, an anchoring unit, and a data management center; the buoy unit is used for detecting multiple items of monitoring index information of water and gas and transmitting the multiple items of monitoring index information to the data management center; the buoy unit comprises a buoy body, a power management module, a protection module, a sensor module and a wireless communication module; the buoy body is used for floating on the water surface; the data management center is used for receiving, processing and storing the data transmitted by the buoy unit; automatically updating, displaying and storing a database interface; the unattended, continuous and online water-gas integrated monitoring is realized.

Document 2 discloses a river and lake water quality information remote monitoring buoy, and belongs to the technical field of water quality monitoring. The buoy comprises a wind speed and direction sensor, a rainfall sensor, a light intensity sensor, a beacon light, a solar cell panel, a network cloud deck camera, a radar reflector, a battery box, a buoy body, a control room bin main cover, a water quality sensor sealing cover, a water quality sensor, a stabilizing hammer, a chain or rope and a diamond anchor. The invention realizes the real-time acquisition of water quality information, meteorological information and geographical position information and the real-time video monitoring of the network pan-tilt camera and the wireless remote transmission to the upper monitoring system; the upper monitoring system adopts an optimized analytic hierarchy process to obtain the relevant index weight, and evaluates the water eutrophication degree, so that the evaluation effect is good; the solar energy battery board is adopted for power supply, the power consumption is lower, the long-term operation is reliable, and the solar energy battery has the characteristics of self-anti-collision performance, lower maintenance and maintenance cost and the like.

Document 1: CN 109186677A;

document 2: CN 204507186U.

Disclosure of Invention

The invention mainly solves the technical problems that: in the process of the work of the attached meter, due to the action of wind and waves, each part on the buoy shakes along with the buoy, so that seawater easily enters each part, and for the buoy antenna device, due to the influence of transmission signals, generally, the buoy antenna is not provided with facilities such as a protective cover, and is more easily corroded by the seawater, and therefore, the key problem of prolonging the service life of the buoy antenna device is to keep the posture of the buoy antenna stable. In addition, in the prior art, a multidirectional hinge rod is usually adopted, and the stability of the holder is provided in an electromechanical control mode, so that the vibration environment is complex in the working condition environment of the ocean, and the required structure is complex.

Solution to the problem: the invention provides a stable tripod head structure of a buoy antenna, which is mainly used for keeping the structure of the tripod head stable through the combined action of a connecting rod mechanism and a damping element, and is simple in structure and convenient to work, the intervention of electrical equipment is reduced, and the service life of the equipment is prolonged.

In particular, the present invention discloses a buoy antenna stabilizing pan/tilt head structure comprising a buoy device, such as a floating drum or other suitable device, for supporting a column, a pan/tilt head structure, an imaging device, a plurality of energy harvesting/generating devices and antenna assemblies, and an antenna pan/tilt head stabilizing structure. The antenna stabilizing pan-tilt head provided by the invention is provided with the connecting rod assembly, and the antenna pan-tilt head can be synchronously driven by the pan-tilt head of the imaging equipment through the connecting rod assembly, so that the need of arranging a plurality of sets of driving devices is avoided. The antenna holder stabilizing structure is simple in structure and good in stability.

The camera supporting platform comprises a plurality of supports capable of rotating mutually, and if the first concave supports are mounted on the supporting platform, each first concave support is provided with a first bottom plate and two first side plates, the two first side plates are perpendicular to the first bottom plate, and a notch space is formed between each two first side plates and the first bottom plate. The first concave bracket is embedded on the surface of the camera supporting platform, and the upper surface of a first bottom plate of the first concave bracket is flush with the surface of the camera supporting platform; the electronic three-axis pan-tilt further comprises a frame-shaped support, the frame-shaped support is square along the axial direction of the floating cylinder, and the frame-shaped support is installed in the notch space of the first concave support. The first concave support is provided with a first motor and a support hole for accommodating the shaft of the first motor to pass through, and the frame-shaped support is provided with a first fixing hole for fixing the shaft of the first motor at a position corresponding to the support hole. The first fixing hole is fixed with a shaft of the first motor through means of pins, keys and the like, and a shell of the first motor is fixed on a side plate of the first concave support.

Furthermore, the camera supporting cloud platform also comprises a second concave support, the second concave support has the same structure with the first concave support, and is provided with a second bottom plate and second side plates positioned on two sides of the second bottom plate. The two second side plates of the second concave bracket are mounted on the outer side of the re-frame-shaped bracket, and the second concave bracket is provided with a notch space, and the opening of the notch space of the second concave bracket faces downwards. The second bottom plate of the second concave bracket and the first bottom plate of the first concave bracket are arranged in a 90-degree crossed mode. The second concave support is provided with a support hole for accommodating the shaft of the second motor to pass through, and a second fixing hole for fixing the shaft of the second motor is arranged at a position on the frame-shaped support corresponding to the support hole. The second fixing hole is fixed with a shaft of a second motor through means of pins, keys and the like, and a shell of the second motor is fixed on a side plate of the second concave support.

Wherein, the frame-shaped support is provided with a first pin for installing the connecting rod, wherein the first pin is arranged on a side plate of the frame-shaped support on the first motor side. The number of the first pins is two, and the two first pins are arranged on the side plate of the frame-shaped support and are symmetrically arranged relative to the axis of the first motor.

The antenna stabilizing pan-tilt head provided by the invention is provided with the connecting rod assembly, the antenna pan-tilt head can be synchronously driven by the pan-tilt head of the imaging equipment through the connecting rod assembly, and the connecting rod assembly is actually a parallelogram connecting rod driving mechanism, so that the position of the pan-tilt head of the imaging equipment can be synchronously obtained, the synchronous movement of the antenna platform is driven, and the relative stability of the antenna platform is ensured. Two first driving pull rods are rotatably arranged on the two first pins and penetrate through the surface of the buoy device to enter the inside of the buoy device. And two extending frames extend along the radial direction of the motor on the bottom plate of the second concave support, and second pins for mounting the connecting rod are arranged on the two extending frames. The number of the second pins is two, and the two second pins are arranged on the extension frame and are symmetrical relative to the axis of the second motor. Two second driving pull rods are rotatably arranged on the two second pins and penetrate through the surface of the buoy device to enter the inside of the buoy device.

Two pairs of intermediate rods are respectively connected to the first driving pull rod and the second driving pull rod, wherein each pair of the two pairs of intermediate rods are rigidly connected together in a 90-degree (right-angle state), two ends of each pair of intermediate rods are hinged to the first driving pull rod and the second driving pull rod through spherical joints, and the two pairs of intermediate rods are parallel. And a poke rod extends outwards along a right angle at the fixed connection point of the pair of intermediate rods. Preferably, the rigid connecting parts of the two pairs of intermediate rods are hinged through a connecting rod, so that the connecting rod assembly structure is more stable.

Further, the antenna assembly comprises an antenna and an antenna base for supporting the antenna, wherein the antenna base is hemispherical. A ball socket for accommodating the antenna base is arranged on the surface of the float bowl device, wherein the spherical surface of the ball socket is attached to the surface of the antenna base, and the ball socket is of an annular structure which penetrates up and down. The bottom of the antenna base is provided with an adjusting rod in the direction coaxial with the antenna, the lower end of the adjusting rod is provided with two spherical hinges, and the two spherical hinges are matched with the spherical sockets on the poke rod. The poke rods fixed by the two pairs of intermediate rods are vertically distributed in space.

Drawings

FIG. 1 is a schematic diagram of the principal structure of the present invention;

FIG. 2 is a layout of the major installations on the surface of the spar installation of the present invention, with only the major components shown;

fig. 3 is a top view of a pan and tilt head structure of the image forming apparatus of the present invention;

FIG. 4 is an axial view of the pan/tilt head structure of the imaging apparatus of the present invention;

FIGS. 5 (a) and (b) are schematic views of a connecting-rod assembly according to the present invention;

fig. 6 (a) and (b) are partial sectional views of the antenna assembly of the present invention.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the embodiments of the present invention are described below with the aid of the accompanying drawings; it is to be expressly understood that the following drawings are illustrative of some embodiments of the invention and are not intended as a definition of the limits of the invention.

Referring to fig. 1 and 2, an embodiment of the monitoring buoy 10 of the present invention includes: a buoy device 12, such as a floating drum or other suitable device, is used to support the column 14, the pan and tilt head structure 16, the imaging device 18, the plurality of energy collection/generation devices 20, and the antenna assembly 22. The imaging device 18 may optionally be disposed in a transparent dome, sphere, cylinder, or other suitable protective structure. Also, the present invention optionally includes a data processing device, wherein the data processing device includes a computer, and one or more of a communication device, a battery, a positioning device, may be partially or fully disposed on buoy device 12. The buoy device 12 may be placed in a body of water and anchored at the bottom at predetermined locations, for example, using tethers 32 and tie anchors 34. The monitoring buoy 10 allows the surface of a predetermined body of water to be observed and monitored remotely and in real time using video images.

As mentioned above, the float assembly 12 may be a waterproof reinforced plastic drum, steel drum, or other suitable device, or a combination thereof. The top of the pontoon assemblies 12 are provided with a watertight hatch or panel which provides access to the interior of the flotation apparatus 12. The pontoon arrangement 12 may further comprise a vent 11 above the water line for allowing gas that may accumulate inside the pontoon arrangement 12 to be released. Such gases may include, for example, gases generated by a battery. The buoy assembly 12 forms a floating base to which the monitoring buoy 10 and other components may be attached. The support column 14 is a hollow structure extending vertically upward from the top of the pontoon unit 12. Wiring or electrical components of the associated device, such as cables for the imaging device 18, may be routed through the hollow structure of the support column. Wherein the support columns 14 may be lengths of standard PVC piping or any other vertically extending structure. The support columns 14 may be attached to the spar arrangement 12 using nuts and bolts, brackets, welding, epoxy, or any other suitable fastening mechanism. The support column 14 is a structure to which the system 10 and other marine components may be attached, including a pan and tilt head structure 16, an imaging device 18, a protective structure, and a plurality of energy harvesting/generating devices 20.

As mentioned above, the protective structure may be a transparent, weather-resistant dome, sphere, cylinder, or the like. The pan and tilt structure 16 and the imaging device 18 may be disposed in a protective structure. The pan and tilt head structure 16 may be made of plastic or metal (e.g., stainless steel), and may include, for example, a square outer frame member and a square inner frame member in a symmetrical, parting relationship. Circular or other suitably shaped frames may also be used. The frame supports the tilt frame and allows rotation on a pair of aligned pivot axes. The inner frame may be supported by the outer frame on another pair of aligned pivots. The inner frame may be allowed to rotate in the same direction as the outer frame. Thus, the pan and tilt head structure 16 and the additional imaging device 18 may be allowed to react to wind and/or current induced buoy tilt, thereby keeping the imaging device 18 level in potentially hostile and often changing environmental conditions. The pan and tilt structure 16 may optionally be equipped with one or more dampers. Any pan and tilt head structure 16 that allows the imaging device 18 to rotate along at least two axes of rotation may be used.

The imaging device 18 is preferably a stand-alone, waterproof, battery-powered, digital camera with image storage capability. The imaging device 18 is also preferably capable of communicating with a computer. In addition, the imaging device 18 is a standard camera-type digital camera, enclosed in a waterproof housing, with a visible window made of acrylic, polycarbonate, optical quality glass, or the like. The imaging device 18 preferably includes a lens for viewing and monitoring the surface of a large predetermined body of water. Alternatively, the imaging device 18 may be an Infrared (IR), thermal induction, or other suitable type of imaging device for observing and monitoring the surface of a large predetermined body of water at night or under harsh environmental conditions. The imaging device 18 may be attached to the pan and tilt head structure 16 using brackets, fasteners, or suitable mounting devices.

For example, the plurality of energy collection/generation devices 20 may include a plurality of solar panels for powering the monitoring buoy 10 and other electronic components. Typically, a solar panel is composed of a plurality of solar cells, each of which is composed of a flat semicircular photovoltaic cell. These photovoltaic cells, for example, silicon, are encapsulated in a transparent silicone potting compound, joined together, and covered with a glass or transparent plastic sheet. Alternatively, the plurality of energy collection/generation devices 20 may comprise one or more wave-powered generation devices. The wave-actuated power plants may each include a base and a gate to accommodate the pressure exerted by the waves. A push rod is coupled to each gate to operatively couple each gate to the generator. A plurality of energy harvesting/generating devices 20 may be movably or fixedly attached to the support column 14 for use, for example, with adjustable or rigid brackets. A plurality of energy harvesting/generating devices may also be connected directly to the buoy device 12.

Referring now to fig. 2, the camera support platform provides a connection mechanism for stably securing the camera to the buoy and is an adjustable support base or tripod securely attached to the top of the buoy. The camera support base is preferably sized and shaped according to the desired camera lens height and weight of the support and stabilization camera package. The camera support pan/tilt head 16 is an electronic three-axis stabilized pan/tilt head that is stably mounted on top of the camera support platform 13. The camera support platform 16 is preferably autonomously controlled.

The camera support platform 16 includes a first concave bracket 41 mounted on the support platform, the first concave bracket 41 has a first bottom plate and two first side plates perpendicular to the first bottom plate, and a notch space is formed between the two first side plates and the first bottom plate. The first concave bracket 41 is embedded on the surface of the camera supporting platform 3, and the upper surface of the first bottom plate of the first concave bracket 41 is flush with the surface of the camera supporting platform 13; the electronic three-axis pan-tilt further comprises a frame-shaped support 42, wherein the frame-shaped support 42 is square along the axial direction of the buoy, and the frame-shaped support 42 is installed in the notch space of the first concave support. The first concave bracket 41 is provided with a first motor 44 and has a support hole for receiving a shaft of the first motor 44 therethrough, and the frame bracket 42 is provided with a first fixing hole for fixing the shaft of the first motor 44 at a position corresponding to the support hole. The first fixing hole is fixed to a shaft of the first motor 44 by means of a pin, a key, or the like, and a housing of the first motor 44 is fixed to a side plate of the first concave bracket 41.

The camera support head 4 further comprises a second concave bracket 43, and the second concave bracket 43 has the same structure as the first concave bracket 41, and has a second bottom plate and second side plates located at both sides of the second bottom plate. The two second side plates of the second concave bracket 43 are mounted on the outer side of the re-frame-shaped bracket 42, and wherein the second concave bracket has a recess space with its opening facing downward. The second bottom plate of the second concave bracket is arranged to cross the first bottom plate of the first concave bracket 41 at 90 degrees. The second concave bracket 41 has a support hole for receiving the shaft of the second motor 45 therethrough, and the frame bracket 42 has a second fixing hole for fixing the shaft of the second motor 45 at a position corresponding to the support hole. The second fixing hole is fixed to a shaft of the second motor 45 by means of a pin, a key, or the like, and a housing of the second motor 45 is fixed to a side plate of the second concave bracket 43.

As further shown in fig. 3, the frame bracket 42 has a first pin 46 for mounting a connecting rod, wherein the first pin 46 is arranged on a side plate of the frame bracket 42 on the first motor side. The first pins 46 are two, and the two first pins 46 are arranged symmetrically with respect to the axis of the first motor 44 on the side plate of the frame bracket 42.

Similarly, referring to fig. 3, two extending frames 47 extend from the bottom plate of the second concave bracket 41 along the radial direction of the motor, and a second pin 48 for mounting a connecting rod is arranged on the two extending frames 47. The two second pins 48 are provided, and the two second pins 48 are provided on the extension bracket 47 and are arranged symmetrically with respect to the axis of the second motor 45.

Referring to fig. 4 and 5, the antenna stabilizing pan/tilt head of the present invention has a link assembly, through which the antenna pan/tilt head can be synchronously driven by the pan/tilt head of the imaging device 18, and two first active rods 50 are rotatably disposed on the two first pins 46, and the two first active rods 50 penetrate through the surface of the buoy device 12 and enter the interior of the buoy device 12. Referring to fig. 4 and 5, two second active tie rods 52 are rotatably disposed on the two second pins 48, and the two second active tie rods 52 penetrate through the surface of the pontoon device 12 and into the interior of the pontoon device 12.

Referring to fig. 6, as shown in fig. 6 (a), two pairs of intermediate rods 54 are respectively connected to the first active tie 50 and the second active tie 52, wherein each of the two pairs of intermediate rods 54 is rigidly connected together at 90 degrees (in a right angle state), both ends of each pair of intermediate rods 54 are hinged to the first active tie 50 and the second active tie 52 through a spherical joint, and the two pairs of intermediate rods 54 are parallel to each other. A tap lever 56 is fixed to extend outward at a right angle at the fixed connection point of the pair of intermediate levers 54. Preferably, the rigid connections between the two pairs of intermediate rods 54 are hinged by a connecting rod 58, so as to make the assembly structure more stable.

Further, the antenna assembly 22 includes an antenna 24 and an antenna base 26 supporting the antenna 24, the antenna base having a hemispherical shape. A ball socket for accommodating the antenna base 26 is arranged on the surface 15 of the buoy device 12, wherein the spherical surface of the ball socket is in contact with the surface of the antenna base 26, and the ball socket is of a vertically-penetrating annular structure. At the bottom of the antenna base 26, in a direction coaxial with the antenna, there is provided an adjustment lever 62, at the lower end of the adjustment lever 62 there are provided two spherical hinges 66, 68, said two spherical hinges 66, 68 cooperating with the spherical sockets on the tap lever 56. Referring again to fig. 6 (b), the two pairs of intermediate rods 54 have fixed tap levers 56 vertically spaced apart.

The principle and the implementation mode of the invention are explained by applying the specific embodiments, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. This summary should not be construed to limit the present invention.

Claims

1. A buoy antenna stabilizing pan-tilt structure comprises a monitoring buoy (10), a buoy device (12), a support column (14), a pan-tilt structure (16), an imaging device (18), a plurality of energy collection/generation devices (20) and an antenna assembly (22); the system also comprises a data processing device, one or more communication devices, a battery, a positioning device, a part or all of which are arranged on the buoy device (12), wherein the buoy device (12) is placed in a water body and is anchored at the bottom of a preset position through a tether (32) and a tether anchor (34);

the method is characterized in that: the camera supporting cloud platform comprises a plurality of supports capable of rotating mutually, the antenna stabilizing cloud platform is provided with a connecting rod assembly, the antenna cloud platform can be synchronously driven by a cloud platform of the imaging equipment through the connecting rod assembly, the connecting rod assembly is approximately a parallelogram connecting rod driving mechanism, and the position of the cloud platform of the imaging equipment can be synchronously obtained, so that the synchronous movement of the antenna platform is driven, and the relative stability of the antenna platform is ensured;

the holder structure (16) comprises a first concave support (41) arranged on the supporting platform, the first concave support (41) is provided with a first bottom plate and two first side plates, the two first side plates are perpendicular to the first bottom plate, and a notch space is formed between the two first side plates and the first bottom plate; the first concave bracket (41) is embedded on the surface of the camera supporting platform (13), and the upper surface of the first bottom plate of the first concave bracket (41) is flush with the surface of the camera supporting platform (13); the electronic three-axis pan-tilt further comprises a frame-shaped support (42), the frame-shaped support (42) is square along the axial direction of the buoy, the frame-shaped support (42) is installed in a notch space of the first concave support, the first concave support (41) is provided with a first motor (44) and is provided with a support hole for accommodating a shaft of the first motor (44) to penetrate through, and a first fixing hole for fixing the shaft of the first motor (44) is formed in the position, corresponding to the support hole, of the frame-shaped support (42); the first fixing hole is fixed with a shaft of a first motor (44) through a pin, and a shell of the first motor (44) is fixed on a side plate of the first concave bracket (41);

the camera supporting cloud platform (4) also comprises a second concave bracket (43), the second concave bracket (43) has the same structure with the first concave bracket (41), and is provided with a second bottom plate and second side plates positioned at two sides of the second bottom plate; two second side plates of a second concave bracket (43) are arranged on the outer side of the re-frame-shaped bracket (42), and the second concave bracket is provided with a notch space with an opening facing downwards; the second bottom plate of the second concave bracket and the first bottom plate of the first concave bracket (41) are arranged in a 90-degree crossed manner; a support hole for accommodating the shaft of the second motor (45) to pass through is formed in the second concave support (43), and a second fixing hole for fixing the shaft of the second motor (45) is formed in the position, corresponding to the support hole, of the frame-shaped support (42); the second fixing hole is fixed with a shaft of a second motor (45) through a pin, and a shell of the second motor (45) is fixed on a side plate of a second concave bracket (43).

2. The stabilizing head structure of a buoy antenna as claimed in claim 1, wherein: the frame-shaped bracket (42) is provided with a first pin (46) for installing the connecting rod, wherein the first pin (46) is arranged on a side plate of the frame-shaped bracket (42) on the first motor side; the number of the first pins (46) is two, and the two first pins (46) are arranged on a side plate of the frame-shaped bracket (42) symmetrically relative to the axis of the first motor (44).

3. The stabilizing head structure of a buoy antenna as claimed in claim 2, wherein: two extending frames (47) extend along the radial direction of the motor on the bottom plate of the second concave bracket (43), and second pins (48) for mounting connecting rods are arranged on the two extending frames (47); the number of the second pins (48) is two, and the two second pins (48) are arranged on the extension frame (47) symmetrically relative to the axis of the second motor (45).

4. A buoy antenna stabilizing head structure as claimed in claim 3, wherein: two first active pull rods (50) are rotatably arranged on the two first pins (46), and the two first active pull rods (50) penetrate through the surface of the buoy device (12) and enter the inside of the buoy device (12); two second active pull rods (52) are rotatably arranged on the two second pins (48), and the two second active pull rods (52) penetrate through the surface of the buoy device (12) and enter the inside of the buoy device (12).

5. The stabilizing head structure of a buoy antenna as claimed in claim 4, wherein: two pairs of intermediate rods (54) are respectively connected to the first active pull rod (50) and the second active pull rod (52), wherein each pair of the two pairs of intermediate rods (54) are rigidly connected together at 90 degrees, two ends of each intermediate rod (54) are hinged to the first active pull rod (50) and the second active pull rod (52) through spherical joints, and the two pairs of intermediate rods (54) are parallel; a poke rod (56) extends outwards and is fixed at the fixed connection point of the pair of intermediate rods (54) along a right angle.

6. The gimbal structure for stabilizing antenna of claim 5, wherein: the rigid connecting parts of the two pairs of intermediate rods (54) are hinged through a connecting rod (58); the poke rods (56) fixed by the two pairs of intermediate rods (54) are vertically distributed in space.

7. A buoy antenna stabilizing head structure as claimed in any one of claims 1 to 6, wherein: the antenna assembly (22) comprises an antenna (24) and an antenna base (26) for supporting the antenna (24), wherein the antenna base is hemispherical, a ball socket for accommodating the antenna base (26) is arranged on the surface (15) of the buoy device (12), the spherical surface of the ball socket is attached to the surface of the antenna base (26), and the ball socket is of a vertically-through annular structure.

8. The stabilizing head structure of a buoy antenna as claimed in claim 6, wherein: an adjusting rod (62) is arranged at the bottom of the antenna base (26) in the direction coaxial with the antenna, two spherical hinges (66, 68) are arranged at the lower end of the adjusting rod (62), and the two spherical hinges (66, 68) are matched with the spherical sockets on the poke rod (56).