CN117434518A - Self-stabilizing device of offshore laser radar - Google Patents
Self-stabilizing device of offshore laser radar Download PDFInfo
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- CN117434518A CN117434518A CN202210832321.2A CN202210832321A CN117434518A CN 117434518 A CN117434518 A CN 117434518A CN 202210832321 A CN202210832321 A CN 202210832321A CN 117434518 A CN117434518 A CN 117434518A
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- self
- stabilizing
- stabilizing ring
- shaft
- offshore
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- 238000005265 energy consumption Methods 0.000 abstract description 5
- 238000005260 corrosion Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000919 ceramic Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Abstract
The invention relates to an offshore laser radar self-stabilizing device, which comprises an inner self-stabilizing ring and an outer self-stabilizing ring which are concentrically arranged, wherein the inner self-stabilizing ring is rotationally connected with the outer self-stabilizing ring through a first shaft which is arranged along the diameter direction, the inner space which is surrounded by the inner self-stabilizing ring is internally connected with a laser radar, the outer self-stabilizing ring is rotationally connected with a bracket through a second shaft which is arranged along the diameter direction, the first shaft and the second shaft are vertically crossed in the same plane, and the bottom of the inner self-stabilizing ring is connected with a balancing weight. The axes around which the two groups of self-stabilizing rings rotate are crossed in the same plane, so that the self-stabilizing device forms simple harmonic vibration within a certain swinging angle range of the self-stabilizing rings, disturbance of the radar caused by sea surface environment is reduced, the whole device has no energy consumption, and a non-self-stabilizing system is formed.
Description
Technical Field
The invention relates to the technical field of offshore radars, in particular to an offshore laser radar self-stabilizing device.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The periodic motion of the sea lidar is limited by sea waves and is usually stabilized by adopting a self-stabilizing device, so that reliable work of the sea lidar is ensured, most of the self-stabilizing device is an active system, namely the self-stabilizing device which consumes energy to control the radar to be in a stable state is needed, the self-stabilizing device also needs to measure the attitude of the radar so as to ensure the reliability, the electric load of a radar platform is increased, the capacity of a matched electric power system of the radar is increased, and meanwhile, the acquisition equipment of the radar platform is increased, and the communication load and the overall cost are increased.
Disclosure of Invention
In order to solve the technical problems in the background technology, the invention provides the self-stabilizing device of the marine laser radar, the radar is arranged in the inner self-stabilizing ring, the inner self-stabilizing ring and the outer self-stabilizing ring are concentric and are rotationally connected along the axis in the diameter direction, meanwhile, the outer self-stabilizing ring is rotationally connected with the bracket along the axis in the diameter direction, the axes around which the two groups of self-stabilizing rings rotate are crisscrossed in the same plane, and the balancing weights arranged at the bottom of the inner self-stabilizing ring are matched to adjust the relative position of the radar, so that the self-stabilizing device forms simple harmonic vibration in a certain swinging angle range of the self-stabilizing ring, thereby reducing large-angle disturbance of the radar caused by sea environment, the whole device has no energy consumption, and forms an non-self-stabilizing system.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides a self-stabilizing device for an offshore laser radar, which comprises an inner self-stabilizing ring and an outer self-stabilizing ring which are concentrically arranged, wherein the inner self-stabilizing ring is rotationally connected with the outer self-stabilizing ring through a first shaft which is arranged along the diameter direction, the laser radar is connected in an annular space which is surrounded by the inner self-stabilizing ring, the outer self-stabilizing ring is rotationally connected with a bracket through a second shaft which is arranged along the diameter direction, the first shaft and the second shaft are vertically crossed in the same plane, and the bottom of the inner self-stabilizing ring is connected with a balancing weight.
The two opposite side surfaces of the laser radar are connected in an annular space surrounded by the inner self-stabilizing ring through radar support columns,
the two ends of the radar support column are connected with the circumferential inner surface of the inner self-stabilizing ring to form a first connection position.
The inner self-stabilizing ring rotates around a first shaft, the first shaft is arranged along the diameter direction of the inner self-stabilizing ring and is rotationally connected with the outer self-stabilizing ring at a second connecting position, and the second connecting position is positioned in an annular space formed by the inner self-stabilizing ring and the outer self-stabilizing ring.
The outer self-stabilizing ring rotates around a second shaft, the second shaft is arranged along the diameter direction of the outer self-stabilizing ring and is rotationally connected with the support at a third connecting position, and the third connecting position is positioned in an annular space formed by the outer self-stabilizing ring and the support.
The second shaft is located on an axial extension of the radar support column.
The first connecting part is fixedly connected, and the second connecting part and the third connecting part are rotationally connected.
The brackets have uniformly arranged bracket attachment points for securing the brackets to the desired platform.
The bottom of the inner self-stabilizing ring is connected with a connecting rod, the connecting rod is perpendicular to the plane where the inner self-stabilizing ring is located, the tail end of the connecting rod is provided with a sliding block which is arranged along the direction perpendicular to the plane where the inner self-stabilizing ring is located, and the sliding block is respectively connected with a locking mechanism and a balancing weight.
Compared with the prior art, the above technical scheme has the following beneficial effects:
1. the radar is arranged in the inner self-stabilizing ring, the inner self-stabilizing ring and the outer self-stabilizing ring are concentrically arranged and are rotationally connected along the axis in the diameter direction, meanwhile, the outer self-stabilizing ring is rotationally connected with the support along the axis in the diameter direction, and the axes around which the two groups of self-stabilizing rings rotate are crossed in the same plane, so that the self-stabilizing device forms simple harmonic vibration in a certain swinging angle range of the self-stabilizing ring, disturbance of the radar caused by sea surface environment is reduced, the whole device has no energy consumption, and a self-stabilizing system is formed.
2. The balancing weight installed at the bottom of the inner self-stabilizing ring adjusts the relative position with the radar through the sliding block to adjust the mass center position of the inner self-stabilizing ring, so that the whole device can cope with a certain range of swinging angles in a limited device size, and simple harmonic vibration conditions are formed, and the device can cope with large-angle disturbance in the stable process without self-stabilizing.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic diagram of a self-stabilizing device for an offshore lidar in a top view according to one or more embodiments of the present invention;
FIG. 2 is a schematic top view of a stand in an offshore lidar self-stabilizing device in accordance with one or more embodiments of the present invention;
FIG. 3 is a schematic side view of a stand in an offshore lidar self-stabilizing device in accordance with one or more embodiments of the present invention;
FIG. 4 is a schematic diagram of a marine lidar self-stabilizing device in an axial side view, according to one or more embodiments of the present invention;
FIG. 5 is a schematic diagram of the principle of the self-stabilizing ring in the self-stabilizing device of the offshore lidar according to one or more embodiments of the present invention;
in the figure: 1: offshore laser radar; 2: an internal self-stabilizing ring; 3: an outer self-stabilizing ring; 4: a bracket; 5: a bracket connection point; 6: a radar support column; 7: a first connection; 8: a second junction; 9: and a third connection.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
As described in the background art, the self-stabilizing device of the offshore laser radar needs to measure the attitude of the radar in order to ensure the reliability, which increases the power load of the radar platform, increases the capacity of the matched power system of the radar, and increases the acquisition equipment of the radar platform, and increases the communication burden and the overall cost.
Therefore, the following embodiment provides a self-stabilizing device of the marine laser radar, the radar is arranged in an inner self-stabilizing ring, the inner self-stabilizing ring and an outer self-stabilizing ring are concentric and are rotationally connected along a shaft in the diameter direction, the shaft in the diameter direction of the outer self-stabilizing ring is rotationally connected with a bracket, the shafts around which the two groups of self-stabilizing rings rotate are crossed in the same plane, and the relative positions of the self-stabilizing rings and the radar are adjusted by matching with a balancing weight arranged at the bottom of the inner self-stabilizing ring, so that the self-stabilizing device forms simple harmonic vibration within a certain swinging angle range of the self-stabilizing ring, thereby reducing large-angle disturbance of the radar caused by the influence of sea environment, the whole device has no energy consumption, and forms a non-self-stabilizing system; meanwhile, the passive system runs autonomously without additional equipment for measuring the attitude of the radar, so that the cost is further reduced.
Embodiment one:
the utility model provides an offshore laser radar is from steady device, includes concentric arrangement and rotates the interior from steady ring and outer from steady ring of being connected around the first axle of diameter direction, and the annular space internal connection laser radar that interior from steady ring encloses, outer from steady second axle and the support rotation of encircleing diameter direction are connected, and first axle and second axle are perpendicular crossing in the coplanar, and the balancing weight is connected from steady ring bottom in.
As shown in fig. 1-5, the inner self-stabilizing ring 2 and the outer self-stabilizing ring 3 are concentrically arranged and rotatably connected around a first axis in the diameter direction, in this embodiment, the connection point of the inner self-stabilizing ring 2 and the outer self-stabilizing ring 3 is located at a second connection point 8, and the first axis passes through the second connection point 8 to form the "central axis of rotation of the inner frame" in fig. 5.
Opposite side surfaces of the laser radar (the offshore laser radar 1) are connected in an annular space surrounded by the inner self-stabilizing ring 2 through radar support columns 6, in this embodiment, the radar support columns 6 of the laser radar are "shafts rigidly connected with the radar" in fig. 5, penetrate the laser radar and are connected with the circumferential inner surface of the inner self-stabilizing ring 2 at two ends, and are the first connection parts 7 in fig. 1 at two ends, and the connection parts of the laser radar and the inner self-stabilizing ring 2 are the areas.
The outer self-stabilizing ring 3 is rotatably connected to the support 4 about a second axis arranged in the diametrical direction, which is located on an axial extension of the "axis rigidly connected to the radar", in this embodiment the connection point of the outer self-stabilizing ring 3 to the support 4 is the third connection 9.
The first connecting part 7 is fixedly connected, so that the synchronous movement of the inner self-stabilizing ring 2 and the laser radar is ensured; the second connecting part 8 and the third connecting part 9 are in rotary connection, and are provided with bearing seats and corresponding ceramic bearings, so that corrosion of the offshore environment to the connecting parts is avoided on the basis of realizing rotation, and flexible and reliable rotary movement is ensured.
The support 4 has evenly arranged support connection points 5 for fixing the support 4 to a desired platform, which may be for example an offshore fixed platform or an offshore floating platform.
The bottom of the inner self-stabilizing ring 2 is connected with a connecting rod, the connecting rod is perpendicular to the plane where the inner self-stabilizing ring 2 is located, the tail end of the connecting rod is provided with a sliding block which is arranged along the direction perpendicular to the plane where the inner self-stabilizing ring 2 is located, and the sliding block is respectively connected with a locking mechanism and a balancing weight.
As shown in FIG. 5, when the radar is disturbed by an external factor (such as wave fluctuation) at a small angle in the spatial position, the inner self-stabilizing ring 2 forms an initial displacement along with the radar in the phi angle direction, thereby forming a shape due to gravity and inertiaForming a simple harmonic vibration; while the outer self-stabilizing ring 3 will be at w 2 An initial displacement is formed in the direction, and a simple harmonic vibration is also formed.
The first shaft and the second shaft which are respectively surrounded by the two simple harmonic vibrations are orthogonal at 90 degrees on the same plane, and do not interfere with each other. Due to damping, the amplitudes of the two simple harmonic vibrations are gradually reduced, so that the laser radar achieves the purpose of self-stabilization.
When the radar generates a large-angle disturbance on the space position due to external factors, a system without adding the balancing weight cannot generate simple harmonic vibration, so that a connecting rod and a sliding block are added below the radar, the relative position of the balancing weight and the radar is changed to adjust the centroid position of the inner self-stabilizing ring 2, namely the size of Deltax, so that the whole device can cope with a certain range of swinging angles in a limited device size, and a condition of simple harmonic vibration is formed, so that the device is free from self-stabilization.
Δx is the distance from the bottom surface of the lower part of the radar to the counterweight, in this embodiment, if the radar height is l, the weight is M, and the counterweight weight is M, Δx is at least ml/2M, and Δx=ml/M is generally taken.
For example, according to the simulation analysis of the self-stabilizing device, the design input is more than 30 degrees, the swing exceeding 5 degrees is a compound pendulum, the simple harmonic motion cannot be simplified, the balancing weight adjusting design is added, the self-stabilizing device and the radar head are integrally installed, and the stability under the condition of large-angle inclination is improved.
In the embodiment, the bearing of the self-stabilizing device adopts a ceramic bearing and waterproof protection structure, and the main structure adopts a corrosion-resistant material and is sprayed with marine anti-corrosion paint to realize salt fog and rust protection.
In this embodiment, the overall dimension is not greater than 800 mm, and dynamic inclination of + -40 degrees can be stabilized to within + -10 degrees.
The radar is arranged in the inner self-stabilizing ring, the inner self-stabilizing ring and the outer self-stabilizing ring are concentric and are rotationally connected along the axis in the diameter direction, meanwhile, the outer self-stabilizing ring is rotationally connected with the support along the axis in the diameter direction, and the axes around which the two groups of self-stabilizing rings rotate are crossed in the same plane, so that the self-stabilizing device forms simple harmonic vibration within a certain swinging angle range of the self-stabilizing ring, disturbance of the radar caused by sea surface environment is reduced, the whole device has no energy consumption, and a self-stabilizing system is formed.
The balancing weight installed at the bottom of the inner self-stabilizing ring adjusts the relative position with the radar through the sliding block to adjust the mass center position of the inner self-stabilizing ring, so that the whole device can cope with a certain range of swinging angles in a limited device size, and simple harmonic vibration conditions are formed, and the device can cope with large-angle disturbance in the stable process without self-stabilizing.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An offshore laser radar self-stabilizing device, which is characterized in that: the self-stabilizing ring comprises an inner self-stabilizing ring and an outer self-stabilizing ring which are concentrically arranged, wherein the inner self-stabilizing ring is rotationally connected with the outer self-stabilizing ring through a first shaft which is arranged along the diameter direction, the inner space of an annular space which is surrounded by the inner self-stabilizing ring is internally connected with a laser radar, the outer self-stabilizing ring is rotationally connected with a bracket through a second shaft which is arranged along the diameter direction, the first shaft and the second shaft are vertically crossed in the same plane, and the bottom of the inner self-stabilizing ring is connected with a balancing weight.
2. An offshore lidar self-stabilizing device as claimed in claim 1, wherein: the two opposite side surfaces of the laser radar are connected in an annular space surrounded by the inner self-stabilizing ring through radar support columns.
3. An offshore lidar self-stabilizing device as claimed in claim 2, wherein: two ends of the radar support column are connected with the circumferential inner surface of the inner self-stabilizing ring to form a first connection position.
4. An offshore lidar self-stabilizing device as claimed in claim 1, wherein: the inner self-stabilizing ring rotates around a first shaft, the first shaft is arranged along the diameter direction of the inner self-stabilizing ring and is rotationally connected with the outer self-stabilizing ring at a second connecting position, and the second connecting position is positioned in an annular space formed by the inner self-stabilizing ring and the outer self-stabilizing ring.
5. An offshore lidar self-stabilizing device as claimed in claim 1, wherein: the outer self-stabilizing ring rotates around a second shaft, the second shaft is arranged along the diameter direction of the outer self-stabilizing ring and is rotationally connected with the support at a third connecting position, and the third connecting position is positioned in an annular space formed by the outer self-stabilizing ring and the support.
6. An offshore lidar self-stabilizing device as claimed in claim 5, wherein: the second shaft is located on an axial extension of the radar support column.
7. An offshore lidar self-stabilizing device as claimed in claim 5, wherein: the brackets have uniformly arranged bracket attachment points for securing the brackets to a desired platform.
8. An offshore lidar self-stabilizing device as claimed in claim 1, wherein: the bottom of the inner self-stabilizing ring is connected with a connecting rod, and the connecting rod is perpendicular to the plane where the inner self-stabilizing ring is located.
9. An offshore lidar self-stabilizing device as claimed in claim 8, wherein: the tail end of the connecting rod is provided with a sliding block which is arranged along the direction perpendicular to the plane where the inner self-stabilizing ring is located, and the sliding block is respectively connected with the locking mechanism and the balancing weight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210832321.2A CN117434518A (en) | 2022-07-15 | 2022-07-15 | Self-stabilizing device of offshore laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210832321.2A CN117434518A (en) | 2022-07-15 | 2022-07-15 | Self-stabilizing device of offshore laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117434518A true CN117434518A (en) | 2024-01-23 |
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ID=89546777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210832321.2A Pending CN117434518A (en) | 2022-07-15 | 2022-07-15 | Self-stabilizing device of offshore laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117434518A (en) |
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2022
- 2022-07-15 CN CN202210832321.2A patent/CN117434518A/en active Pending
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