CN201707345U - Numerically controlled scanning laser velocity measurement holder - Google Patents

Abstract

The utility model discloses a numerically controlled scanning laser velocity measurement holder, which comprises a base, a frame body and a laser distance measurement sensor which is arranged in the frame body. The frame body is provided with a transmission window, matched with the laser distance measurement sensor. The utility model is characterized in that the frame body is driven by a rotating driving device and forms a rotation connection structure with the base, a rotating shaft is arranged horizontally, and after the rotation of the emergent rays of the laser distance measurement sensor, the limit value of an angle which is formed relative to a horizontal plane is 0 to plus or minus 90 degrees. The utility model can accurately control the rotating frame body, automatically and continuously scan the outline of a target boat and carry out line monitoring, automatically detect tide level, search a target and follow the target and at the same time calculate the speed and berthing angle of the target.

Description

The numerical control scanning type laser The Cloud Terrace that tests the speed

Technical field

The utility model relates to a kind of laser velocimeter device, is specifically related to a kind of being used for the device that pulls in to shore and the boats and ships of mooring process test the speed, find range.

Background technology

Adopting the parallel monitoring system of pulling in to shore of boats and ships of bank base that the boats and ships process of pulling in to shore is monitored and assist, is that present shipping business can be in order to the pull in to shore important means of accident of minimizing boats and ships.At present in the industry only based on the bank base boats and ships of the fixed laser distance measuring sensor monitoring system (hereinafter referred to as " fixed system ") of pulling in to shore, the ship shell that pulls in to shore that this type of system postulation laser range sensor may shine is a regular planar, then based on two or three laser-bounce point distance measurements, judge the offshore distance of the ship that pulls in to shore, the speed of pulling in to shore, the angle of pulling in to shore and movement tendency.Its monitoring principle can reduce " the some monitoring principle of passive reflection ".Yet such hypothesis, the monitoring that generally is only applicable to mammoth tanker is used.In a lot of marine applications occasions, tested shell is the abnormal shape non-regulation planar, even regular flat also significantly changes up and down because of tidal level and shipping draft change.Greatly limited " fixed system " the bank base boats and ships range of application of monitoring system of pulling in to shore thus in shipping business.

Also have at present employing that laser sensor is installed in the deficiency that mode on the vertical lifting platform remedies fixing " fixed system ", we are called " lift system ".This type systematic is installed in the laser velocimeter device and is positioned on the outer hoistable platform of surveying of harbour, according to coming the ship situation to regulate the height of laser range sensor by the descending operation of platform, to seek the suitable monitoring point on the shell.The VTOL (vertical take off and landing) platform that this type systematic adopted is safeguarded very difficult in the corrosive atmosphere of harbour, and needs complicated manually-operated, is easy to generate error; Its principle is " the some monitoring principle of passive reflection " still, can not adapt to various hull form.

Summary of the invention

The purpose of this utility model provides and a kind ofly is applicable to that most bank base boats and ships pull in to shore to monitor application, not changed by target ship absolute altitude to influence with hull form to realize that the target ship is from the test the speed laser velocimeter The Cloud Terrace of range finding of motion tracking.

For achieving the above object, the technical solution adopted in the utility model is: a kind of numerical control scanning type laser The Cloud Terrace that tests the speed, comprise pedestal, fuselage and be arranged on the interior laser range sensor of fuselage, cooperate with described laser range sensor on the fuselage and offer transmission window, described fuselage is driven by device of rotation driving, and constitute rotation connection structure between described pedestal, rotation axis is horizontally disposed with, and the ultimate value that the emergent ray of described laser range sensor rotates the angle of the relative surface level formation in back is 0 °～± 90 °.

Above, fuselage is the case type structure, and laser range sensor is arranged in the fuselage; to avoid the influence of abominable working environment, transmission window passes through for laser beam and reflection ray, and optical glass can be set thereon; in the protection fuselage, in the device, comprise the transmission of laser beam.After fuselage rotates, the deflection up or down of laser beam exit direction, form angle with surface level, the variation range of this angle is definite according to use occasion, for example, can be that level is to deflecting down 60 °, also can be to upward deflect 30 ° to deflecting down 60 °, can also be that level is to deflecting down 90 °, wherein, the maximum deflection angle of surface level is its limiting angle relatively, generally at 0 °～± 90 °.

In the technique scheme, the rotation connection structure between fuselage and pedestal is, is set with pair of brackets on pedestal, and fuselage is rotationally connected through the support of rotation axis and both sides.

Described device of rotation driving comprises stepper motor (or servomotor) and the speed reduction unit that is arranged on support one side, and the output shaft of stepper motor connects the described rotation axis of driving through speed reduction unit.

One end of described rotation axis is provided with rotary encoder.

In the technique scheme, The Cloud Terrace is exported laser ranging and angle coordinate synchronously when rotating, and can be according to the angle feedback corresponding adjustment The Cloud Terrace of stepper motor (or servomotor) direction.

On the basis of such scheme, also can realize numerical control horizontal scanning function, but still belong among the protection domain of the present utility model by increasing rotation axis and drives structure.

Principle of work of the present utility model is: in use, fuselage of the present utility model drives to rotate up and down with stepper motor (or servomotor) and carries out automatic continuous sweep, distance-angle coordinate according to laser range sensor and encoder feedback is sought target automatically, after capturing target, target is followed the tracks of, calculate the distance of target ship, speed and the angle of pulling in to shore simultaneously in real time.The Cloud Terrace can be realized full automatic working by integrated electric-control system and software program.Cooperate with the utility model, can also cooperate the formation network monitoring system with Surveillance center by network connection (cable network or wireless network) is set.This is suitable for the novel laser range sensor that uses and scrambler is prior art, but is used in combination with stepper motor (or servomotor), and locating the boats and ships that pull in to shore with interactive scan mode is new application.

Because the prior art scheme is compared, and the utility model has the advantages that:

1, The Cloud Terrace has the fuselage that can accurately control rotation because scanning type laser of the present utility model tests the speed, to the automatic continuous sweep of the profile of target ship and carry out " line monitoring ", automatically detect tidal level, automatically seek target, automatically track target calculates the speed of target and the angle of pulling in to shore simultaneously in real time; Proposed " active searching line monitoring principle " thus, successfully solved " fixed system " and reached the problem that " lift system " faced.

2, the utility model is applied widely: applicable to the target ship monitoring of various hull form, the ship absolute altitude changes greatly, the most evil bad occasion of weather conditions also can reliably working.But because both vertical scanning, but therefore also horizontal scanning, has expanded function and scope that laser velocimeter, range finding are used greatly;

Compatible good: compatible existing boats and ships pull in to shore the to drift about fixed monitoring system of pulling in to shore of monitoring that is used for;

Reliability height: the automatic continuous sweep monitoring of unmanned; The position influence that do not make moist is installed

Cost performance is good: but the monitoring of double as tidal level is used on the function, avoids overlapping investment equipment;

Extendability is excellent: custom strategies and parameter according to actual needs.

3, the utility model uses robotization numerical control The Cloud Terrace, the cross section that drives the laser range sensor active scan and follow the trail of tested boats and ships; To record the boats and ships interface profile, judge the offshore distance of boats and ships, the speed of pulling in to shore, the angle of pulling in to shore and movement tendency then.The influence that the monitoring principle of this system is not changed by shell abnormal shape or shell absolute altitude.Native system is installed on the peak level of harbour in addition, and it installs the position influence that also do not make moist.Therefore use the harbour laser velocimeter range measurement system of present principles to be applicable to that most harbours bank base boats and ships pull in to shore to monitor application, thereby realize the parallel Application of Monitoring System of pulling in to shore of bank base boats and ships to whole shipping business.

Description of drawings

Fig. 1 is the structural representation of the utility model embodiment;

Fig. 2 is the left view of Fig. 1;

Fig. 3 is the vertical view of Fig. 1;

Fig. 4 is the application synoptic diagram of The Cloud Terrace in laser alongside system among the embodiment.

Wherein: 1, pedestal; 2, support; 3, cushion block; 4, stepper motor; 5, optical glass; 6, speed reduction unit; 7, laser range sensor; 8, rotation axis; 9, rotary encoder; 10, fuselage; 11, electric box.

Embodiment

Below in conjunction with drawings and Examples the utility model is further described:

Embodiment: extremely shown in Figure 3 referring to Fig. 1, a kind of numerical control scanning type laser The Cloud Terrace that tests the speed, comprise pedestal 1, fuselage 10 and be arranged on the interior laser range sensor 7 of fuselage, cooperate with described laser range sensor on the fuselage and offer transmission window, be coated with optical glass 5 on it, described fuselage is driven by device of rotation driving, and constitute rotation connection structure between described pedestal, rotation axis is horizontally disposed with, and the ultimate value that the emergent ray of described laser range sensor rotates the angle of the relative surface level formation in back is 0 °～± 90 °.

In the present embodiment, the rotation connection structure that fuselage 10 and pedestal are 1 is, is set with pair of brackets 2 on pedestal 1, and fuselage is rotationally connected through the support 2 of rotation axis 8 with both sides, for reducing vibration, a pair of cushion block 3 can be set.Described device of rotation driving comprises stepper motor 4 and the speed reduction unit 6 that is arranged on support one side, and the output shaft of stepper motor 4 connects the described rotation axis 8 of driving through speed reduction unit 6.The other end at described rotation axis 8 is provided with rotary encoder 9.Dorsal part at pedestal 1 is provided with electric box, is used to hold and protect control circuit.

Referring to accompanying drawing 4, the numerical control scanning type laser of this example The Cloud Terrace that tests the speed can be applied to autoscan boats and ships laser and pulls in to shore in the monitoring system:

The boats and ships laser monitoring system of pulling in to shore comprises:

1. the numerical control scanning type laser The Cloud Terrace that tests the speed; The precision of control angle can reach 0.018 °, and the precision of monitoring driving angle is less than 0.1 °, and the response time is a Millisecond.The high-precision laser sensor, the various distance measuring sensor of 100-500 rice, precision is a centimetre-sized

2.MMCS-LIS multi-functional onsite terminal; Receive various sensor model numbers, built-in steering logic, the instruction of response intelligence;

The boats and ships laser monitoring system of pulling in to shore is integrated various sensors, opertaing device, computing equipment, infosystem, provides reliable alongside coherent reference with the full automatic working for the harbour user.

After the staff started the center terminal power supply, the system management software that pulls in to shore started automatically.When needs carry out boats and ships when pulling in to shore operation, only need to select corresponding berth, import corresponding flight number information, system promptly begins monitoring.

System at first reads water level, and begins the space more than the water level is scanned fast; After the approximate location of ship of determining to pull in to shore, tested ship cross section profile is carried out Continuous Tracking scanning, and, calculate the angle of pulling in to shore of ship, fore-stern speed of pulling in to shore, offshore distance and movement tendency according to position that records profile and change in location; To record the result and store automatically, show, be distributed on each terminal, cast off wharf up to tested ship.In this process, all Monitoring Data will compare in warning preset values at different levels, find to report to the police just on all terminals and channel, to issue by preset strategy, and each terminal display screen for example, audible-visual annunciator, printer, and other remote information systems etc.

Claims (5)

1. numerical control scanning type laser The Cloud Terrace that tests the speed, comprise pedestal (1), fuselage (10) and be arranged on the interior laser range sensor (7) of fuselage (10), the last cooperation with described laser range sensor (7) of fuselage (10) offers transmission window, it is characterized in that: described fuselage (10) is driven by device of rotation driving, and described pedestal constitutes rotation connection structure between (1), rotation axis (8) is horizontally disposed with, and the ultimate value that the emergent ray of described laser range sensor rotates the angle of the relative surface level formation in back is 0 °～± 90 °.

2. the numerical control scanning type laser according to claim 1 The Cloud Terrace that tests the speed, it is characterized in that: the rotation connection structure between fuselage (10) and pedestal (1) is, be set with pair of brackets (2) on pedestal (1), fuselage (10) is rotationally connected through the support (2) of rotation axis (8) with both sides.

3. the numerical control scanning type laser according to claim 2 The Cloud Terrace that tests the speed, it is characterized in that: described device of rotation driving comprises stepper motor (4) and the speed reduction unit (6) that is arranged on support (2) one sides, and the output shaft of stepper motor (4) connects driving described rotation axis (8) through speed reduction unit (6).

4. the numerical control scanning type laser according to claim 3 The Cloud Terrace that tests the speed, it is characterized in that: the end at described rotation axis (8) is provided with rotary encoder (9).

5. according to claim 1 or the 3 described numerical control scanning type lasers The Cloud Terrace that tests the speed, it is characterized in that: fuselage when rotating, output distance-angle coordinate synchronously.

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