CN117169917A - Laser radar device for intelligent and unmanned ship application - Google Patents
Laser radar device for intelligent and unmanned ship application Download PDFInfo
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- CN117169917A CN117169917A CN202311130480.9A CN202311130480A CN117169917A CN 117169917 A CN117169917 A CN 117169917A CN 202311130480 A CN202311130480 A CN 202311130480A CN 117169917 A CN117169917 A CN 117169917A
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- 238000009434 installation Methods 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000013016 damping Methods 0.000 claims description 12
- 230000005284 excitation Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 8
- 230000001276 controlling effect Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The application discloses a laser radar device for intelligent and unmanned ship application, which relates to the technical field of radars and comprises rotatable parts and fixed parts, wherein the rotatable parts and the fixed parts are arranged at two ends of an inner space of a device shell, the rotatable parts rotate for 360 degrees relative to the fixed parts, a laser mechanism is arranged in the rotatable parts, and an attitude sensor and an electromagnetic vibration reduction mechanism are integrated in the fixed parts, so that the laser radar detection precision of a ship under the conditions of rolling, pitching and vibration can be effectively improved. On the one hand, when the device measured by the attitude sensor is not zero in the trim and trim angles of the device or the ship installation surface, the laser mechanism positioned at the upper part can suspend laser emission and reception. On the other hand, when the ship vibrates, the electromagnetic vibration reduction mechanism reduces the axial vibration of the upper laser mechanism caused by the vibration of the mounting surface according to the vibration active control principle.
Description
Technical Field
The application relates to the technical field of radars, in particular to a laser radar device for intelligent and unmanned ship application.
Background
Along with the development of technology and the improvement of technology, the intelligent and unmanned trend of marine equipment is increasingly strong. The intelligent situation awareness is indispensable for autonomous navigation, autonomous obstacle avoidance, autonomous operation and the like of the supporting platform; in order to make up the defect that machine vision is easy to be interfered by environment, and the defects that a navigation radar has a blind area in a short distance, is low in resolution, low in precision and the like, the laser radar becomes an important compensation means.
The laser radar is a radar system for detecting the position, speed and other characteristics of a target by emitting laser beams, and obtains relevant information of the target, such as parameters of the distance, azimuth, altitude, speed, attitude, even shape and the like of the target by emitting detection information, comparing a received signal (target echo) reflected from the target with the emission signal, and performing proper processing.
At present, the laser radar is mainly used for aviation mapping and autopilot, and when the laser radar is used in the field of ships, an important problem is that due to influences of wind, waves, currents, surges, vibration of mechanical equipment and the like, the laser radar can deviate from an initial coordinate system, and the deviation can greatly interfere with accuracy of detection data.
Disclosure of Invention
Aiming at the problems and the technical requirements, the inventor provides a laser radar device for intelligent and unmanned ship application, which can avoid the generation of low-precision laser radar detection data and the axial offset of vibration of a mounting surface, and can effectively improve the accuracy and precision of the detection data. The technical scheme of the application is as follows:
a laser radar device for intelligent and unmanned ship application comprises a rotatable part and a fixed part which are arranged at two ends of an inner space of a device shell, wherein the rotatable part rotates for 360 degrees relative to the fixed part, and a laser mechanism is arranged in the rotatable part and is used for emitting laser beams to realize 360-degree detection; the fixed part is fixed on the ship installation surface at the end, and is provided with an attitude sensor and an electromagnetic vibration damping mechanism, wherein the attitude sensor is arranged on one side of a shell connected with the ship installation surface and is used for monitoring the transverse inclination and longitudinal inclination angles of the device or the ship installation surface in real time, the laser mechanism pauses working when the angle is not zero or is larger than a set value, and the electromagnetic vibration damping mechanism is used for reducing the axial vibration of the rotatable part when the ship installation surface vibrates.
The device further comprises a motor, wherein the rotatable part and the fixed part are axially installed through the motor, and the motor is used for driving the rotatable part to rotate by 360 degrees.
The electromagnetic vibration reduction mechanism comprises a vibration measuring sensor, a vibration control chip and an electromagnetic assembly which are sequentially connected, wherein the vibration measuring sensor is arranged on one side of a shell connected with a ship installation surface and used for monitoring the vibration condition of the ship installation surface in real time, the vibration control chip is used for processing vibration data fed back by the vibration measuring sensor according to the interference principle of waves and outputting a control instruction to the electromagnetic assembly, the electromagnetic assembly supports a rotatable part through a motor, and the electromagnetic assembly is used for generating axial electromagnetic force with controllable direction and size based on the control instruction so as to indirectly control the rotatable part to do reverse motion of vibration with the ship installation surface, so that the rotatable part is kept in a stable state.
The electromagnetic assembly comprises two first permanent magnets and second permanent magnets with the same polarity and an excitation coil, wherein the first permanent magnets and the second permanent magnets are opposite to each other, the first permanent magnet is fixedly connected with a motor rotor, the second permanent magnet is arranged on one side of a shell connected with a ship mounting surface, the excitation coil is wound on the second permanent magnet, the excitation coil is connected with a vibration control chip, a control instruction is current with controllable phase and magnitude to drive the excitation coil, and generated axial electromagnetic force acts on the first permanent magnet to enable the first permanent magnet to drive a rotatable part to axially move.
The electromagnetic vibration damping mechanism further comprises a power amplifier, and the vibration control chip is connected with the electromagnetic assembly through the power amplifier.
The laser mechanism comprises a main control chip, a laser generator and a laser transmitting and receiving assembly which are connected with the main control chip, wherein the laser generator is connected with the laser transmitting and receiving assembly; the main control chip is used for controlling the laser generator and processing the emitted and received laser beams to obtain the related information of the target, and is also connected with the attitude sensor and used for suspending the laser generation, the laser emission and the laser beam reception when the transverse inclination angle and the longitudinal inclination angle are not zero or are larger than a set value; the main control chip is also used for controlling the start and stop of the motor and regulating the rotating speed.
The motor comprises a rotor, a stator and a linear bearing, wherein one end of the linear bearing is arranged on the rotatable portion, the other end of the linear bearing is arranged on the fixed portion, the stator is arranged on the outer side of the linear bearing in a motor installation space reserved between the rotatable portion and the fixed portion, the rotor is inserted into the linear bearing, one end of the rotor is fixedly connected with the rotatable portion, the other end of the rotor is fixedly connected with an electromagnetic assembly in an electromagnetic vibration reduction mechanism, the rotor horizontally rotates and axially moves under the constraint of the linear bearing, and the rotatable portion is driven to rotate by the rotor and axially moves under the constraint of the linear bearing.
The device further comprises a power supply, wherein the power supply is used for providing required voltage for the laser mechanism, the attitude sensor and the electromagnetic vibration reduction mechanism.
The beneficial technical effects of the application are as follows:
the rotatable part and the fixed part of the device are axially installed through the motor, so that the device is simple and compact in structure and is oriented to the application characteristics of marine scenes of ships, the attitude sensor and the electromagnetic vibration reduction mechanism are integrated in the laser radar, the working state of the laser mechanism is controlled by introducing attitude information, the vibration information of the installation surface and the intervention of vibration active control are also introduced, the rotatable part can still be maintained in a stable state when the installation surface of the ship vibrates, the vibration influence is weakened, the reliability and the precision of detection data of the laser radar under the conditions of rolling, pitching and vibrating of the ship are effectively improved, the workload and the complexity of subsequent data processing are reduced, and the precision of overall target detection and identification of situation perception is improved.
Drawings
Fig. 1 is a schematic structural diagram of a laser radar device for intelligent and unmanned ship applications provided by the application.
Detailed Description
The following describes the embodiments of the present application further with reference to the drawings.
Referring to fig. 1, the present embodiment provides a laser radar device for intelligent and unmanned ship applications, wherein a housing 1 of the device is a visible whole external part of the laser radar, and an internal part is three, and comprises a rotatable part 2 located at an upper end of an internal space, a fixed part 3 located at a lower end of the internal space, and a motor installation space reserved between the rotatable part 2 and the fixed part 3, wherein an end of the fixed part 3 is fixed on a ship installation surface 4, and the rotatable part 2 faces to a target. The rotatable part 2 and the fixed part 3 are axially mounted by a motor for driving the rotatable part 2 to horizontally rotate (rotation range of 0-360 degrees) relative to the fixed part 3. The rotatable part 2 is provided with a laser mechanism, the fixed part 3 is provided with an attitude sensor 5 and an electromagnetic vibration damping mechanism, and the composition and principle of each functional component are described in detail below.
The attitude sensor 5 is mounted on the side of the housing connected to the ship mounting surface 4, and is used for monitoring the trim and trim angles of the device itself or the ship mounting surface 4 in real time, and transmitting the trim and trim angles to the laser mechanism.
The laser mechanism comprises a main control chip 6, a laser generator 7 and a laser transmitting and receiving assembly 8 which are connected with the main control chip, wherein the laser generator 7 is connected with the laser transmitting and receiving assembly 8. Wherein:
the main control chip 6 is used for controlling the laser generator 7, and processing the laser beams emitted to and returned from the target to obtain the related information of the target, including the information of the distance, azimuth, speed, attitude, even shape and size of the target. In addition, the main control chip 6 is also connected with the attitude sensor 5 to receive the sensor collected device or the trim and trim angles of the ship installation surface 4, and the operation is suspended when the angle is not zero or larger than a set value, specifically including suspending the laser generation, the laser emission and the laser beam reception, wherein the set value can be given according to the requirement on the laser radar detection precision.
The laser generator 7 is used for generating a laser beam, the laser transmitting and receiving assembly 8 is used for transmitting and receiving the laser beam, and the laser transmitting and receiving assembly are matched to realize the transmitting and receiving of the laser beam, so that 360-degree detection of the external environment is completed. In this embodiment, the laser beam is preferably a line laser, and full scanning of the target is achieved through 360 degrees of rotation.
The motor comprises a rotor 9, a stator 10 and a linear bearing 11, wherein one end of the linear bearing 11 is arranged on the rotatable part 2, the other end of the linear bearing 11 is arranged on the fixed part 3, the stator 10 is arranged on the outer side of the linear bearing 11 in a motor installation space, the rotor 9 is inserted into the linear bearing 11, one end of the stator is fixedly connected with the rotatable part 2, the other end of the stator is fixedly connected with an electromagnetic assembly in an electromagnetic vibration damping mechanism, the rotor 9 horizontally rotates and axially moves under the constraint of the linear bearing 11, and the rotatable part 2 is driven to rotate by the rotor 9 and axially moves under the constraint of the linear bearing 11. The stator 10 and the rotor 9 of the motor form a complete motor, and are started, stopped, operated at a certain rotating speed and the like under the control of the main control chip 6.
The electromagnetic vibration damping mechanism comprises a vibration measuring sensor 12, a vibration control chip 13, a power amplifier 14 and an electromagnetic assembly which are connected in sequence. Wherein:
the vibration measuring sensor 12 is mounted on the side of the housing that is connected to the ship-mounted surface 4 for monitoring the vibration of the ship-mounted surface 4 in real time, and in this embodiment the vibration measuring sensor 12 is implemented based on an accelerometer. The vibration control chip 13 receives vibration data collected by the vibration measuring sensor 12, calculates and outputs a control instruction to the power amplifier 14 according to a vibration active control principle (namely, a wave interference principle), wherein the control instruction is current with controllable phase and magnitude, and the current is amplified by the power amplifier 14 and then is supplied to the electromagnetic assembly. The electromagnetic assembly supports the rotatable part 2 through a motor and is used for generating axial electromagnetic force with controllable direction and magnitude based on a control instruction so as to indirectly control the rotatable part 2 to do reverse motion vibrating with a ship installation surface, so that the rotatable part 2 is kept in a stable state.
Specifically, the electromagnetic assembly includes two first permanent magnets 15 and second permanent magnets 16 with the same polarity, and an exciting coil 17, the first permanent magnets 15 and the second permanent magnets 16 are opposite to each other, the first permanent magnets 15 are fixedly connected with the motor rotor 9, and the motor and the rotatable part 2 at the upper end are supported according to the principle of like-pole repulsion. The second permanent magnet 16 is installed on one side of the shell connected with the ship installation surface, an exciting coil 17 is wound on the second permanent magnet, the exciting coil 17 is connected with a vibration control chip 13 through a power amplifier 14, the phase and magnitude of the axial electromagnetic force generated by the current driving exciting coil 17 are controlled by the current direction in the coil to act on the first permanent magnet 15, and the direction of the axial electromagnetic force is controlled by the current direction in the coil, so that suction force and repulsive force can be generated, the first permanent magnet 15 is driven to drive the rotatable part 2 to slightly move axially, and axial vibration which is upwards transmitted to the rotatable part 2 by the ship installation surface is weakened or even offset, so that the laser mechanism emits and receives stable laser.
The device further comprises a power supply 18, wherein the power supply 18 is used for providing required voltages for the laser mechanism, the attitude sensor 5 and the electric equipment in the electromagnetic vibration damping mechanism. The present application is not limited to the mounting position of the power source 18, and may be provided in the rotatable portion 2 and the fixed portion 3, respectively, or may be fixed to any one of them. In the present embodiment, the power supply 18 is provided in the fixing portion 3.
The working principle of the laser radar device for intelligent and unmanned ship application is as follows:
the attitude sensor 5 for measuring three-axis attitude information and the electromagnetic vibration reduction mechanism are introduced into the laser radar, the upper rotatable part 2 of the laser radar is supported by repulsive force generated by permanent magnets with the same polarity in the electromagnetic vibration reduction mechanism, after the laser radar starts to work, the device itself or the ship mounting surface is monitored in real time for the trim angle and the trim angle, if the trim angle and the trim angle are not zero or larger than a set value, the laser mechanism is stopped from transmitting and receiving laser, namely, the data with errors are stopped from being received; when the vibration sensor 12 detects the vibration of the ship, the vibration control chip 13 controls the electromagnetic assembly to generate corresponding axial electromagnetic force according to the vibration active control principle (namely the interference principle of the wave), so that the vibration of the upper laser emitting part caused by the vibration of the mounting surface is reduced, and the laser radar detection precision of the ship under the conditions of rolling, pitching and vibration can be effectively improved.
The method for processing the vibration data output control command according to the vibration active control principle, that is, the interference principle of the wave, is a technique well known in the art, and the detailed procedure for generating the control command will not be described in detail.
The above is only a preferred embodiment of the present application, and the present application is not limited to the above examples. It is to be understood that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and concepts of the present application are deemed to be included within the scope of the present application.
Claims (8)
1. The laser radar device for intelligent and unmanned ship application is characterized by comprising rotatable parts and fixed parts, wherein the rotatable parts and the fixed parts are arranged at two ends of an inner space of a device shell, the rotatable parts rotate for 360 degrees relative to the fixed parts, and a laser mechanism is arranged in the rotatable parts and is used for emitting laser beams to realize 360-degree detection; the fixed part is fixed on the ship installation surface at the end, an attitude sensor and an electromagnetic vibration damping mechanism are arranged in the fixed part, the attitude sensor is arranged on one side of a shell connected with the ship installation surface and used for monitoring the transverse inclination and the longitudinal inclination angles of the device or the ship installation surface in real time, the laser mechanism pauses working when the angle is not zero or larger than a set value, and the electromagnetic vibration damping mechanism is used for reducing the axial vibration of the rotatable part when the ship installation surface vibrates.
2. The intelligent and unmanned ship-oriented lidar apparatus of claim 1, further comprising a motor, wherein the rotatable portion and the stationary portion are axially mounted by the motor, and wherein the motor is configured to drive 360 degree rotation of the rotatable portion.
3. The laser radar device for intelligent and unmanned ship applications according to claim 2, wherein the electromagnetic vibration reduction mechanism comprises a vibration measuring sensor, a vibration control chip and an electromagnetic assembly which are sequentially connected, wherein the vibration measuring sensor is installed on one side of a shell connected with the ship installation surface and is used for monitoring vibration conditions of the ship installation surface in real time, the vibration control chip is used for processing vibration data fed back by the vibration measuring sensor according to a wave interference principle and outputting a control instruction to the electromagnetic assembly, the electromagnetic assembly supports the rotatable part through a motor, and the electromagnetic assembly is used for indirectly controlling the rotatable part to do reverse motion of vibration with the ship installation surface based on the axial electromagnetic force with controllable direction and magnitude of the control instruction, so that the rotatable part is kept in a stable state.
4. A lidar device for intelligent and unmanned ship applications according to claim 3, wherein the electromagnetic assembly comprises two first and second permanent magnets of the same polarity, and an excitation coil, the first and second permanent magnets are opposite to each other, the first permanent magnet is fixedly connected to a motor rotor, the second permanent magnet is mounted on a side of a housing connected to the ship mounting surface, the excitation coil is wound on the second permanent magnet, the excitation coil is connected to the vibration control chip, the control command is a current with controllable phase and magnitude to drive the excitation coil, and the generated axial electromagnetic force acts on the first permanent magnet to make the first permanent magnet drive the rotatable portion to axially move.
5. The intelligent and unmanned ship-oriented lidar apparatus of claim 3, wherein the electromagnetic vibration-damping mechanism further comprises a power amplifier, and wherein the vibration control chip is connected to the electromagnetic assembly through the power amplifier.
6. The intelligent and unmanned ship-oriented laser radar apparatus of claim 2, wherein the laser mechanism comprises a main control chip, and a laser generator, a laser transmitting and receiving assembly, which are connected with the main control chip, wherein the laser generator is connected with the laser transmitting and receiving assembly; the main control chip is used for controlling the laser generator and processing the emitted and received laser beams to obtain the related information of the target, and is also connected with the attitude sensor and used for suspending the generation of laser and the emission and reception of the laser beams when the trim angle and the trim angle are not zero or larger than a set value; the main control chip is also used for controlling the start and stop of the motor and regulating the rotating speed.
7. The lidar device for intelligent and unmanned ship applications according to claim 2, wherein the motor comprises a rotor, a stator and a linear bearing, one end of the linear bearing is disposed at the rotatable portion, the other end of the linear bearing is disposed at the fixed portion, the stator is disposed outside the linear bearing in a motor installation space reserved between the rotatable portion and the fixed portion, the rotor is inserted into the linear bearing, one end of the rotor is fixedly connected with the rotatable portion, the other end of the rotor is fixedly connected with an electromagnetic component in the electromagnetic vibration damping mechanism, the rotor horizontally rotates and axially moves under the constraint of the linear bearing, and the rotatable portion is driven to rotate by the rotor and axially moves under the constraint of the linear bearing.
8. The intelligent and unmanned ship-oriented lidar apparatus according to any of claims 1 to 7, further comprising a power supply for providing the laser mechanism, the attitude sensor and the electromagnetic vibration damping mechanism with the required voltages.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311130480.9A CN117169917A (en) | 2023-09-04 | 2023-09-04 | Laser radar device for intelligent and unmanned ship application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311130480.9A CN117169917A (en) | 2023-09-04 | 2023-09-04 | Laser radar device for intelligent and unmanned ship application |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117169917A true CN117169917A (en) | 2023-12-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311130480.9A Pending CN117169917A (en) | 2023-09-04 | 2023-09-04 | Laser radar device for intelligent and unmanned ship application |
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| Country | Link |
|---|---|
| CN (1) | CN117169917A (en) |
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- 2023-09-04 CN CN202311130480.9A patent/CN117169917A/en active Pending
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