CN205594182U - Marine gravimeter stabilized platform - Google Patents
Marine gravimeter stabilized platform Download PDFInfo
- Publication number
- CN205594182U CN205594182U CN201620198505.8U CN201620198505U CN205594182U CN 205594182 U CN205594182 U CN 205594182U CN 201620198505 U CN201620198505 U CN 201620198505U CN 205594182 U CN205594182 U CN 205594182U
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- Prior art keywords
- stage body
- digital
- motor
- stabilized platform
- acceleration
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Abstract
The utility model provides a marine gravimeter stabilized platform, including base, frame with be used for installing marine gravimeter's stage body. The base is provided with and holds the chamber, and the frame rotates to be connected in holding the intracavity, and the base is provided with an angle sensor and is used for driving the first motor of frame pivoted. The stage body rotates to be connected in the cavity that the frame encloses, and the frame is provided with the 2nd angle sensor and is used for driving stage body pivoted second motor. The frame is for the rotation axis and the rotation axis mutually perpendicular of stage body for the frame of base. Through calculating the data that each measurement element recorded among the marine gravimeter stabilized platform, control first motor and second motor and rotate, the skew angle of adjustment stage body and frame, make the gravity appearance with the plumb line keeping parallelism, the measurement accuracy of assurance gravity appearance.
Description
Technical field
This utility model relates to gravity measurement field, ocean of navigating, in particular to a kind of ocean
Gravimeter stabilized platform.
Background technology
Marine gravitometer is the gravimeter used on ships or in submarine.In ocean at the uniform velocity
Under the conditions of line navigation, carry out gravity measurement continuously, owing to instrument is placed in the ship of motion
On body, often by pitching and the roll equal angular movement of the carriers such as naval vessel, and vertically add
Speed, horizontal acceleration, basement tilt etc. affect, and gravimetric precision can reduce.Cause
This, adjust the position of marine gravitometer, is allowed to become current sea with ground vertical line keeping parallelism
The gravimetric difficult problem in ocean.
Utility model content
In view of this, the purpose of this utility model embodiment is to provide a kind of marine gravitometer
Stabilized platform, to isolate pitching and the roll equal angular movement of the carriers such as naval vessel, makes marine gravity
Instrument all the time with ground vertical line keeping parallelism, do not affected by acceleration, thus improved marine gravity
The certainty of measurement of instrument.
To achieve these goals, the technical scheme that this utility model embodiment uses is as follows:
A kind of marine gravitometer stabilized platform, described marine gravitometer stabilized platform includes base
Seat, framework and for installing the stage body of marine gravitometer, described pedestal is provided with receiving chamber,
Described frame member is connected to described receiving intracavity, and described pedestal is provided with the first angle sensor
Device and for driving the first motor of described frame member, described stage body is rotationally connected with described
In the cavity that framework surrounds, described framework is provided with the second angular transducer and for driving
Stating the second motor that stage body rotates, described framework is relative to the rotary shaft of described pedestal and described
Stage body is mutually perpendicular to relative to the rotary shaft of described framework, and described stage body is additionally provided with gyroscope
Sensor and acceleration transducer, described pedestal is provided with gravimeter electronic box, described gravity
Instrument electronic box includes digital control module and acceleration analog-to-digital conversion module, described acceleration mould
Number conversion module electrically connects with described acceleration transducer, and described digital control module is with described
Acceleration analog-to-digital conversion module, gyro sensor, the first angular transducer, the second angle
Sensor, the first motor, the second motor all electrically connect
Preferably, described digital control module be used for receiving described first angular transducer,
The angle signal of telecommunication that second angular transducer gathers, receives described gyro sensor and connects
The gyroscope signal gathered, described acceleration analog-to-digital conversion module is for by described acceleration
The analogue signal of degree sensor acquisition is converted to digital pulse signal and by this digit pulse
Signal output is to described digital control module, and described digital control module is additionally operable to institute
The digital pulse signal stating the output of acceleration analog-to-digital conversion module counts, and according to
The angle signal of telecommunication, gyroscope signal and digital pulse signal are according to algorithm set in advance
Calculate, to control described first motor and the second electric machine rotation, described to adjust
Framework and the horizontal level of stage body.
Preferably, described first angular transducer is for sensing the anglec of rotation of described framework
Degree, described second angular transducer is for sensing the anglec of rotation of described stage body, described
Gyro sensor is for sensing described stage body deviation angle with respect to the horizontal plane, institute
State acceleration transducer for sensing the acceleration of described stage body.
Preferably, described digital control module include serial ports, rotation become digital converter,
Microcontroller, pulse-scaling circuit, described serial ports, rotation become digital converter, pulse
Counting circuit electrically connects with described microcontroller.
Preferably, described rotation becomes digital converter for by described first angular transducer
Digital angle letter is converted to the angle signal of telecommunication of described second angular transducer collection
Number, described serial ports is used for receiving the gyroscope signal that described gyro sensor gathers,
Described pulse-scaling circuit is for the numeral to the output of described acceleration analog-to-digital conversion module
Pulse signal counts, described microcontroller for described digital angle signal,
Gyroscope signal, digital pulse signal calculate according to algorithm set in advance, with
Control described first motor and the second electric machine rotation, to adjust described framework and stage body
Horizontal level.
Preferably, described gravimeter electronic box also includes temperature control modules, described temperature
Control module electrically connects with described acceleration transducer, acceleration analog-to-digital conversion module, described
Temperature control modules is used for controlling described acceleration transducer and described acceleration modulus turns
The temperature of die change block place environment.
Preferably, described gravimeter electronic box also includes power transfer module, and being used for will
Input power is converted to the power supply needed for the work of described marine gravitometer stabilized platform.
Preferably, described gyro sensor is optical fibre gyro.
Preferably, described acceleration transducer is quartz accelerometer.
Preferably, described first motor and described second motor are torque motor.
The marine gravitometer stabilized platform that this utility model provides includes pedestal, framework and stage body,
Stage body is used for installing marine gravitometer, and stage body is rotatably connected in framework, and framework is rotatable
Be connected in pedestal.By calculating the data that each measuring cell records, control the first motor
With the second electric machine rotation, adjust stage body and the deviation angle of framework, make gravimeter and ground vertical line
Keeping parallelism, it is ensured that certainty of measurement.
For making above-mentioned purpose of the present utility model, feature and advantage to become apparent,
Preferred embodiment cited below particularly, and coordinate appended accompanying drawing, it is described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of this utility model embodiment, below will be to reality
Execute the required accompanying drawing used in example to be briefly described, it will be appreciated that the following drawings is only shown
Go out some embodiment of the present utility model, be therefore not construed as the restriction to scope,
For those of ordinary skill in the art, on the premise of not paying creative work, also
Other relevant accompanying drawings can be obtained according to these accompanying drawings.
A kind of marine gravitometer stabilized platform that Fig. 1 is provided by this utility model embodiment
Structural representation.
Main element symbol description:
Detailed description of the invention
Below in conjunction with accompanying drawing in this utility model embodiment, in this utility model embodiment
Technical scheme be clearly and completely described, it is clear that described embodiment be only
The a part of embodiment of this utility model rather than whole embodiments.Generally at accompanying drawing herein
Described in and the assembly of this utility model embodiment that illustrates can come with various different configurations
Arrange and design.Therefore, below to the embodiment of the present utility model provided in the accompanying drawings
Describe in detail and be not intended to limit claimed scope of the present utility model, but only table
Show selected embodiment of the present utility model.Based on embodiment of the present utility model, this area skill
The every other embodiment that art personnel are obtained on the premise of not making creative work,
Broadly fall into the scope of this utility model protection.
Refer to Fig. 1, be the marine gravitometer stabilized platform of this utility model embodiment offer
Structural representation.The marine gravitometer stabilized platform that this utility model embodiment provides is used for
The pitching of the carriers such as isolation naval vessel and roll equal angular movement so that marine gravitometer remains
With ground vertical line level, do not affected by horizontal acceleration, thus improved the survey of marine gravitometer
Accuracy of measurement.The marine gravitometer stabilized platform that this utility model embodiment provides includes pedestal
110, framework 120 and stage body 130, stage body 130 is used for installing marine gravitometer 200.
Wherein, pedestal 110 is provided with receiving chamber 111, and accommodating chamber 111 can be various shape
Shape, such as circle, rectangle, polygon etc., this is not done by this utility model embodiment
Limit.Framework 120 is rotationally connected with in receiving chamber 111, and pedestal 110 is additionally provided with first
Angular transducer 112 and the first motor 113, this first motor 113 can be with driver framework 120
Rotate.Framework 120 is provided with the second angular transducer 121 and the second motor 122,
This second motor 122 can drive stage body 130 to rotate.Framework 120 is relative to pedestal
110 rotary shafts rotated are vertical relative to the rotary shaft that framework 120 rotates with stage body 130,
The direction that i.e. framework 120 and stage body 130 rotate is mutually perpendicular to.Here rotary shaft can be managed
Solve for virtual axle, i.e. framework 120 relative to pedestal 110 rotate around axis and platform
Body 130 relative to framework 120 rotate around axis.
Stage body 130 is additionally provided with gyro sensor 131 and acceleration transducer 132, excellent
Selection of land, in this utility model embodiment, gyro sensor 131 is optical fibre gyro, adds
Velocity sensor 132 is quartz accelerometer.
Optical fibre gyro parts are few, instrument firm stable, have stronger shock resistance and add with anti-
The ability of speed motion；The optical fiber of coiling is longer, makes detection sensitivity and resolution ratio laser top
Spiral shell instrument improves several orders of magnitude；, there is not wear problem in mechanical drive disk assembly, because of
And there is longer service life；It is prone to use integrated optics technique, signal stabilization, and can
Directly with numeral output, and couple with computer interface；By changing length or the light of optical fiber
Circulating propagation number of times in coil, it is possible to achieve different precision, and there is wider moving
State scope；The propagation time of coherent beam is short, thus can start moment in principle, it is not necessary to pre-
Heat；Simple in construction, price are low, and volume is little, lightweight.
Quartz accelerometer simple in construction, volume are little, it is fast, highly sensitive to respond.
Pedestal 110 is provided with gravimeter electronic box 114.Gravimeter electronic box 114 includes number
Word control module (not shown) and acceleration analog-to-digital conversion module (not shown).Gravimeter electricity
Sub-case 114 and gyro sensor 131, acceleration transducer the 132, first angular transducer
112, second angular transducer the 121, first motor the 113, second motor 122 all electrically connects.
First motor 113 and the second motor 122 are torque motor.Torque motor is that one has
Soft mechanical characteristic and the specific type of electric machine of wide speed regulating range, the axle of this motor is not with invariable power
Exporting power but export power with constant moment of force, it has the slow-speed of revolution, high pulling torque, overload energy
The features such as power is strong, response is fast, characteristics linearity degree is good, torque fluctuations is little, can directly drive negative
Load saves under drive gear, thus improves the running precision of system.
First angular transducer 112 is for sensing the anglec of rotation of framework 120, the second angle
Sensor 121 is for sensing the anglec of rotation of stage body 130, and then exports and the anglec of rotation
The angle signal of telecommunication joined.Acceleration transducer 132 is used for sensing the acceleration of stage body 130,
This acceleration includes the acceleration in tri-directions of X, Y, Z in three-dimensional system of coordinate, and then output
The analog acceleration signal mated with acceleration.Acceleration analog-to-digital conversion module will be for accelerating
The analogue signal that degree sensor 132 gathers is converted to digital pulse signal and by this digit pulse
Signal exports to digital control module.Gyro sensor 131 is used for sensing described stage body 130
Deviation angle with respect to the horizontal plane, and export the gyroscope signal mated with deviation angle.
Digital control module is for receiving first angular transducer the 112, second angular transducer
The 121 angle signals of telecommunication gathered, and receive the gyroscope that gyro sensor 131 gathers
Signal, and according to receive the angle signal of telecommunication, gyroscope signal and digital pulse signal according to
Algorithm set in advance calculates, to control the first motor 113 and 122 turns of the second motor
Dynamic, to adjust framework 120 and the horizontal level of stage body 130, so that being installed on stage body 130
Marine gravitometer 200 and ground vertical line keeping parallelism.
The marine gravitometer stabilized platform that this utility model embodiment provides is installed on naval vessel etc. and carries
On body, in the driving process on naval vessel, due to the fluctuating of wave, naval vessel can and then rise and fall fortune
Dynamic, the undulatory motion therewith of marine gravitometer stabilized platform, it is installed on the gravimeter of stage body 130
200 cannot keep parallel with ground vertical line.
The effect of marine gravitometer stabilized platform that this utility model embodiment provides be i.e. in order to
Ensure gravimeter 200 all the time with ground vertical line keeping parallelism, concrete operation principle is as described below:
When naval vessel is in moving process, due to carrier inclined and acceleration impact, whole ocean weight
Power instrument stabilized platform can with respect to the horizontal plane run-off the straight, gravimeter 200 also can be relative to ground
Vertical line run-off the straight or skew, thus can have a strong impact on the accurate of its Measuring Oceanic gravity
Property, when the above-described situation occurs, digital control module is according to the first angle sensor received
Device 112 and the framework 120 of the second angular transducer 121 sensing and stage body 130 are relative to water
The gyroscope signal of the deviation angle of plane, gyro sensor 131 collection, acceleration mould
The digital pulse signal of number conversion module output calculates, and then controls the first motor 113
Rotate with the second motor 122, the first motor 113 and the second motor 122 thus driver framework
120 and stage body 130 rotate, adjust framework 120 and the horizontal level of stage body 130, make weight
Power instrument 200 and ground vertical line keeping parallelism, thus ensure that the accurate of gravity measured by gravimeter 200
Property and stability.
Digital control module mainly includes that serial ports, rotation become digital converter, microcontroller and arteries and veins
Rush counting circuit.Described serial ports, rotation change digital converter, pulse-scaling circuit are micro-with described
Controller electrically connects.Serial ports is for receiving the gyroscope that described gyro sensor 131 gathers
Signal.
Rotation becomes digital converter for by described first angular transducer 112 and described second jiao
The angle signal of telecommunication that degree sensor 121 gathers is converted to digital angle signal.Step-by-step counting electricity
Road is for counting the digital pulse signal of acceleration analog-to-digital conversion module output.Micro-control
Device processed is used for numeral angle signal, gyroscope signal and digital pulse signal according to setting in advance
Fixed algorithm calculates, and rotates controlling described first motor 113 and the second motor 122,
To adjust framework 120 and the horizontal level of stage body 130.
Gravimeter electronic box 114 also includes temperature control modules, described temperature control modules with
Described acceleration transducer, acceleration analog-to-digital conversion module electrically connect.Due to acceleration sensing
Device 132 and acceleration analog-to-digital conversion module are when extraneous variations in temperature, and the precision of measurement is by shadow
Ring more obvious, in order to make acceleration transducer 132 and the work of acceleration analog-to-digital conversion module
Under a stable temperature environment, the marine gravitometer that this utility model embodiment provides is steady
Fixed platform is additionally provided with temperature control modules.
Temperature control modules flows through the electric current of heating plate by control, controls the heating of heating plate
Power, so that the temperature in the marine gravitometer stabilized platform of this utility model embodiment offer
Degree reaches an intrinsic temperature, and this intrinsic temperature value can be preset.Thus protect
The certainty of measurement of card acceleration.
Gravimeter electronic box 114 also includes power transfer module, for being changed by input power
For the power supply needed for the marine gravitometer stabilized platform work that this utility model embodiment provides.
The power supply of input is generally the alternating-current voltage source of 220V, by using a series of voltage to become
Change, this 220V voltage source is converted to other power supplys, such as, is become by AC/DC switch
It is changed to the DC source of 28V, then this DC source is transformed to this utility model embodiment carries
Each inertia type instrument, circuit module, circuit board work in the marine gravitometer stabilized platform of confession
Required direct current or alternating current power supply.
Such as, for the DC source that working power is 5V of digital control module, pass through
The DC source of 28V can be depressurized to 5V by one DC/DC power transfer module.
The working power of the first angular transducer 112 and the second angular transducer 121 is
26V/400Hz excitation power supply, by a DC/AC power transfer module, can be by 28V
DC source is converted to the excitatory alternating current power supply of 26V/400Hz.
In sum, the marine gravitometer stabilized platform that this utility model embodiment provides passes through
Calculate the data that each measuring cell records, control the first motor 113 and 122 turns of the second motor
Dynamic, adjust stage body 130 and the deviation angle of framework 120, make gravimeter 200 and ground vertical line
Keeping parallelism, it is ensured that certainty of measurement.
The above, detailed description of the invention the most of the present utility model, but of the present utility model
Protection domain is not limited thereto, and any those familiar with the art is in this practicality
In the technical scope of novel exposure, change can be readily occurred in or replace, all should contain in this reality
Within novel protection domain.Therefore, protection domain of the present utility model should be described with power
The protection domain that profit requires is as the criterion.
Claims (10)
1. a marine gravitometer stabilized platform, it is characterised in that described marine gravitometer
Stabilized platform includes pedestal, framework and for installing the stage body of marine gravitometer, described pedestal
Being provided with receiving chamber, described frame member is connected to described receiving intracavity, and described pedestal is arranged
There is the first angular transducer and for driving the first motor of described frame member, described stage body
Being rotationally connected with in the cavity that described framework surrounds, described framework is provided with the second angle sensor
Device and for driving the second motor that described stage body rotates, described framework is relative to described pedestal
Rotary shaft and described stage body be mutually perpendicular to relative to the rotary shaft of described framework, described stage body
Being additionally provided with gyro sensor and acceleration transducer, described pedestal is provided with gravimeter electricity
Sub-case, described gravimeter electronic box includes digital control module and acceleration analog-to-digital conversion module,
Described acceleration analog-to-digital conversion module electrically connects with described acceleration transducer, described numeral control
Molding block and described acceleration analog-to-digital conversion module, gyro sensor, the first angle sensor
Device, the second angular transducer, the first motor, the second motor all electrically connect.
Marine gravitometer stabilized platform the most according to claim 1, it is characterised in that
Described digital control module is used for receiving described first angular transducer, the second angular transducer
The angle signal of telecommunication gathered, receives described gyro sensor and connects the gyroscope signal of collection,
Described acceleration analog-to-digital conversion module is for the analogue signal gathered by described acceleration transducer
Be converted to digital pulse signal and by the output of this digital pulse signal to described digital control mould
Block, described digital control module is additionally operable to the number to the output of described acceleration analog-to-digital conversion module
Word pulse signal counts, and according to the angle signal of telecommunication, gyroscope signal and digit pulse
Signal calculates according to algorithm set in advance, to control described first motor and the second electricity
Machine rotates, to adjust the horizontal level of described framework and stage body.
Marine gravitometer stabilized platform the most according to claim 2, it is characterised in that
Described first angular transducer is for sensing the anglec of rotation of described framework, described second angle
Sensor is for sensing the anglec of rotation of described stage body, and described gyro sensor is used for sensing
Described stage body deviation angle with respect to the horizontal plane, described acceleration transducer is used for sensing institute
State the acceleration of stage body.
Marine gravitometer stabilized platform the most according to claim 2, it is characterised in that
Described digital control module includes that serial ports, rotation become digital converter, microcontroller, pulsimeter
Number circuit, described serial ports, rotation become digital converter, pulse-scaling circuit and described microcontroller
Device electrically connects.
Marine gravitometer stabilized platform the most according to claim 4, it is characterised in that
Described rotation becomes digital converter for described first angular transducer and described second angle being passed
The angle signal of telecommunication of sensor collection is converted to digital angle signal, and described serial ports is used for receiving institute
Stating the gyroscope signal that gyro sensor gathers, described pulse-scaling circuit is for described
The digital pulse signal of acceleration analog-to-digital conversion module output counts, described microcontroller
For to described digital angle signal, gyroscope signal, digital pulse signal according to setting in advance
Fixed algorithm calculates, to control described first motor and the second electric machine rotation, to adjust
Described framework and the horizontal level of stage body.
Marine gravitometer stabilized platform the most according to claim 1, it is characterised in that
Described gravimeter electronic box also includes temperature control modules, and described temperature control modules is with described
Acceleration transducer, acceleration analog-to-digital conversion module electrically connect, and described temperature control modules is used
In controlling described acceleration transducer and the temperature of described acceleration analog-to-digital conversion module place environment
Degree.
Marine gravitometer stabilized platform the most according to claim 1, it is characterised in that
Described gravimeter electronic box also includes power transfer module, for input power is converted to institute
State the power supply needed for the work of marine gravitometer stabilized platform.
Marine gravitometer stabilized platform the most according to claim 1, it is characterised in that
Described gyro sensor is optical fibre gyro.
Marine gravitometer stabilized platform the most according to claim 1, it is characterised in that
Described acceleration transducer is quartz accelerometer.
Marine gravitometer stabilized platform the most according to claim 1, its feature exists
In, described first motor and described second motor are torque motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620198505.8U CN205594182U (en) | 2016-03-14 | 2016-03-14 | Marine gravimeter stabilized platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620198505.8U CN205594182U (en) | 2016-03-14 | 2016-03-14 | Marine gravimeter stabilized platform |
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| Publication Number | Publication Date |
|---|---|
| CN205594182U true CN205594182U (en) | 2016-09-21 |
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ID=56929728
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620198505.8U Expired - Fee Related CN205594182U (en) | 2016-03-14 | 2016-03-14 | Marine gravimeter stabilized platform |
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| CN (1) | CN205594182U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105607139A (en) * | 2016-03-14 | 2016-05-25 | 中国科学院测量与地球物理研究所 | Stabilized platform for marine gravitometer |
| CN107015287A (en) * | 2017-03-09 | 2017-08-04 | 中国科学院电工研究所 | A kind of gradiometry device and measuring method |
| CN108897058A (en) * | 2018-07-12 | 2018-11-27 | 中国人民解放军国防科技大学 | Pressure-bearing temperature control cabin of strapdown type underwater dynamic gravity measuring instrument |
| CN115264317A (en) * | 2022-09-29 | 2022-11-01 | 张家港奇点光电科技有限公司 | Optical instrument platform with multi-angle is adjusted |
-
2016
- 2016-03-14 CN CN201620198505.8U patent/CN205594182U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105607139A (en) * | 2016-03-14 | 2016-05-25 | 中国科学院测量与地球物理研究所 | Stabilized platform for marine gravitometer |
| CN107015287A (en) * | 2017-03-09 | 2017-08-04 | 中国科学院电工研究所 | A kind of gradiometry device and measuring method |
| CN107015287B (en) * | 2017-03-09 | 2018-12-11 | 中国科学院电工研究所 | A kind of gradiometry device and measurement method |
| US11402538B2 (en) | 2017-03-09 | 2022-08-02 | Institute Of Electrical Engineering, Chinese Academy Of Sciences | Gravity gradient measurement method and apparatus |
| CN108897058A (en) * | 2018-07-12 | 2018-11-27 | 中国人民解放军国防科技大学 | Pressure-bearing temperature control cabin of strapdown type underwater dynamic gravity measuring instrument |
| CN108897058B (en) * | 2018-07-12 | 2019-11-29 | 中国人民解放军国防科技大学 | Pressure-bearing temperature control cabin of strapdown type underwater dynamic gravity measuring instrument |
| CN115264317A (en) * | 2022-09-29 | 2022-11-01 | 张家港奇点光电科技有限公司 | Optical instrument platform with multi-angle is adjusted |
| CN115264317B (en) * | 2022-09-29 | 2022-12-20 | 张家港奇点光电科技有限公司 | Optical instrument platform with multi-angle is adjusted |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160921 Termination date: 20180314 |