WO2016107213A1 - 一种用于海洋工程水池假底布置的定位装置 - Google Patents

一种用于海洋工程水池假底布置的定位装置 Download PDF

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Publication number
WO2016107213A1
WO2016107213A1 PCT/CN2015/089627 CN2015089627W WO2016107213A1 WO 2016107213 A1 WO2016107213 A1 WO 2016107213A1 CN 2015089627 W CN2015089627 W CN 2015089627W WO 2016107213 A1 WO2016107213 A1 WO 2016107213A1
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control
laser
degree
positioning device
freedom
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English (en)
French (fr)
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杨建民
田新亮
郭孝先
肖龙飞
彭涛
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Shanghai Jiao Tong University
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Shanghai Jiao Tong University
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Priority to US15/541,100 priority Critical patent/US11035751B2/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M10/00—Hydrodynamic testing; Arrangements in or on ship-testing tanks or water tunnels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves

Definitions

  • the invention relates to a positioning device used in the technical field of marine engineering, in particular to a positioning device for a false bottom arrangement of a marine engineering pool.
  • the offshore engineering pool is an important equipment for marine engineering research. It is mainly responsible for the model test of marine structures and plays a pivotal role in the research of marine engineering.
  • the offshore engineering pool In order to simulate the marine environment with different water depths, the offshore engineering pool usually installs a large-area false bottom that can be lifted and lowered as a whole. Through the lifting of the false bottom, different test water depths can be adjusted to simulate the marine environment with different water depths.
  • the false bottom is used to simulate the sea floor in a real marine environment.
  • most of the marine structures are positioned by the mooring system.
  • One end of the anchor chain is fixed on the marine structure, and the other end is fixed on the seabed.
  • the coordinates of the anchor chain on the false bottom are calculated according to the test scale relationship, and the corresponding points are found on the false bottom as the seabed anchor point of the model test mooring system.
  • the anchor points of each anchor chain need to be found on the false bottom and marked, so that the anchor chain can be arranged during the test.
  • the existing positioning method usually first raises the false bottom out of the water surface, then measures the scale, lines, and positions on the false bottom, finds the anchor point, and marks it accordingly. Although this method is simple and intuitive, the operation is very cumbersome, usually requires 3-4 people to operate on a false bottom, which is inefficient and has low precision.
  • the technical problem to be solved by the present invention is to provide a positioning device for a false bottom arrangement of a marine engineering pool with simple structure, fast operation, high positioning accuracy, high work efficiency, and stable operation.
  • the present invention provides a positioning device for a false bottom arrangement of a marine engineering pool, comprising:
  • the laser emitting system comprising a laser emitter for providing a laser beam
  • the rotating platform system comprising a two-degree-of-freedom rotating table for carrying the laser emitter and making the laser beam spatially directional;
  • the laser beam is capable of accurately indicating the coordinates given on the false bottom of the pool.
  • the laser emitting system further includes a laser controller disposed inside the laser emitter for controlling a switch of the laser emitter and an intensity of the laser beam.
  • the two-degree-of-freedom rotary table includes a first rotating electrical machine and a second rotating electrical machine, and a rotating shaft of the first rotating electrical machine and a rotating shaft of the second rotating electrical machine are perpendicular to each other, the first rotating electrical machine and The second rotating electrical machine is rotatable 360° along respective corresponding rotational axes.
  • the rotary platform system further includes a corner position sensor disposed inside the two-degree-of-freedom rotary table, the angle position sensor capable of accurately measuring the first rotating electric machine and the real-time The rotational position of the second rotating electrical machine is described and transmitted to the control and computing system.
  • control and computing system includes a control terminal, a computer, and control solution software; the control terminal is configured to control the computer to run the control solution software; and the control solution software has functions including parameter calibration Inspection and calibration, parameter input and solution, laser source control, rotary table motor control.
  • parameter verification and calibration refers to the control solution software calculating the two degrees of freedom by using the known coordinates and the corresponding motor rotation angle by calibrating the known coordinates on the pool bottom.
  • the coordinates and attitude parameters of the rotating table itself are used.
  • control solution software can automatically calculate the first rotating electrical machine and the second corresponding thereto. The angle of rotation required to rotate the motor.
  • the laser source control refers to the control that the control solution software implements remote manual or automatic opening and closing of the laser transmitter.
  • the rotary table motor control means that the control solving software can manually or automatically control the first rotating electrical machine and the second rotating electrical machine to reach an arbitrary azimuth angle.
  • the laser emitter has the characteristics of high precision, good collimation, and remote control, and the laser energy emitted by the laser emitter is kept within a range in which a person can safely contact, and is harmless to the human body.
  • first rotating electrical machine and the second rotating electrical machine have the characteristics of large rotating range, high control precision, small step size, and the like, and have certain dustproof and moistureproof performance, and are suitable for a special working environment of an offshore engineering pool. .
  • the invention also provides a method for positioning a false bottom of a marine engineering pool according to any of the above positioning devices, comprising the following steps:
  • the rotating platform system is fixed at a fixed position on the top of the bottom of the pool, and the first rotating electric machine in the two-degree-of-freedom rotating table is ensured to be in a horizontal position, so that the laser beam emitted by the laser emitter can Cover all areas of the pool false bottom without cover;
  • control and calculation system is disposed beside the pool bottom, and the rotation and rotation of the two-degree-of-freedom rotary table is controlled by the control and calculation system to align the laser beam emitted by the laser emitter Known pool fake bottom a fixed reference point, running a calibration program, and calculating coordinates and attitude parameters of the two-degree-of-freedom rotary table itself;
  • a third step of inputting coordinates to be instructed the control and calculation system calculating an angle at which the two-degree-of-freedom rotary table needs to be rotated according to a given coordinate, and controlling the rotation of the two-degree-of-freedom rotary table to cause the
  • the laser beam emitted by the laser emitter accurately indicates the false bottom position corresponding to the given coordinates, thereby completing the false bottom positioning work.
  • the positioning device for the false bottom arrangement of the marine engineering pool adopts the characteristics of laser linear propagation and the like, and is driven by two stepless variable speed motors, which can accurately indicate the position of any coordinate on the false bottom, and the positioning is clear and functional.
  • the structural composition is easy to implement.
  • the device has high precision, simple operation, quick operation, labor saving, and greatly improved test efficiency.
  • the device has the advantages of simple structure, strong practicability, low cost and high precision.
  • FIG. 1 is a schematic structural view of a positioning device for a false bottom arrangement of a marine engineering pool according to a preferred embodiment of the present invention
  • FIG. 2 is a schematic structural view of a two-degree-of-freedom rotary table according to a preferred embodiment of the present invention
  • FIG. 3 is a schematic diagram of the algorithm principle of a preferred embodiment of the present invention.
  • a preferred embodiment of the present invention provides a positioning device for a false bottom arrangement of a marine engineering pool, the structure of which includes a laser emitting system, a rotating platform system, a control and computing system.
  • the control and computing system is disposed beside the pool bottom 100, including the control terminal 11, the computer 12, and the control solution software.
  • the control terminal 11 is used to control the computer 12 to run control solution software.
  • the rotary platform system is connected to the control terminal 11 via a network cable 13.
  • the rotary platform system includes a two-degree-of-freedom rotary table 21 and a corner position sensor.
  • the two-degree-of-freedom rotary table 21 is disposed on the top of the pool false bottom 100.
  • two free The degree rotary table 21 is fixed to the roof 200 at the top of the pool bottom 100.
  • the two-degree-of-freedom rotating table 21 includes a first rotating electrical machine 211 and a second rotating electrical machine 212.
  • the rotating shaft of the first rotating electrical machine 211 and the rotating shaft of the second rotating electrical machine 212 are perpendicular to each other, and the first rotating electrical machine 211 and the second rotating electrical machine 212 It is possible to rotate 360° along the respective corresponding rotation axes.
  • the first rotating electrical machine 211 and the second rotating electrical machine 212 of the present embodiment all have the characteristics of large rotating range, high control precision, small step size, and the like, and have certain dustproof and moistureproof performance, and are suitable for the special working environment of the marine engineering pool.
  • the corner position sensor in the rotary platform system is disposed inside the two-degree-of-freedom rotary table 21, and can accurately measure the rotational positions of the first rotary electric machine 211 and the second rotary electric machine 212 in real time, and transmit the rotational position to the control and Computing system.
  • the laser emitting system includes a laser emitter 31 and a laser controller, and the laser emitter 31 is mounted on the two-degree-of-freedom rotating stage 21, specifically, on the second rotating electrical machine 212, as shown in FIG.
  • the laser emitter 31 serves as a laser source for providing a laser beam 310.
  • the platform on which the first rotating electrical machine 211 is located is in a horizontal position, so that the laser beam 310 emitted by the laser emitter 31 can cover all ranges of the pool false bottom 100 without obstruction. Since the first rotating electrical machine 211 and the second rotating electrical machine 212 are respectively rotatable 360° along respective corresponding rotational axes, the laser beam 310 emitted by the laser emitter 31 has spatially arbitrary directivity.
  • the laser emitter 31 of the embodiment has the characteristics of high precision, good collimation, remote control, and the like, and the laser energy emitted by the laser emitter 31 is kept within a range in which a person can safely contact, and is harmless to the human body.
  • a laser controller in the laser emitting system is disposed inside the laser emitter 31 for controlling the intensity of the switch and the laser beam of the laser emitter 31.
  • the laser controller is connected to the laser emitter 31 through a wire, and is also capable of realizing laser emission. Remote control of the device.
  • the control and calculation system of the present embodiment is for calculating the angle at which the two-degree-of-freedom rotary table 21 needs to be rotated according to a given coordinate, and controlling the rotation of the two-degree-of-freedom rotary table 21 so that the laser beam emitted from the laser emitter 31 can be accurately
  • the ground indicates the coordinates given on the pool bottom 100.
  • the functions of the control solver in the control and calculation system include parameter verification and calibration, parameter input and solution, laser source control, and rotary table motor control.
  • the parameter verification and calibration refers to the control solution software to calculate the coordinates of the two-degree-of-freedom rotary table 21 by using the known coordinates and the corresponding motor rotation angle by calibrating the known coordinates on the false bottom of the pool.
  • Gesture parameters The parameter input and the solution means that after manually inputting the coordinates to be indicated on the bottom of the pool, the control solution software can automatically calculate the required rotation angles of the first rotating electrical machine 211 and the second rotating electrical machine 212 corresponding thereto.
  • Laser source control refers to the control solution software that implements remote manual or automatic opening and closing of the laser transmitter 31.
  • the rotary table motor control means that the control solver software can manually or automatically control the first rotary electric machine 211 and the second rotary electric machine 212 to reach an arbitrary azimuth angle.
  • the working process of the positioning device for the false bottom arrangement of the marine engineering pool is as follows:
  • the control and calculation system is used to control the rotation of the two-degree-of-freedom rotating table 21, so that the laser beam 310 emitted by the laser emitter 31 is aligned with the fixed reference point of the known pool bottom 100, and the calibration procedure is run to calculate two freedoms.
  • the coordinate to be instructed is input, and the control and calculation system calculates the angle at which the two units of high-precision rotation 21 are required to rotate according to the given coordinates, and controls the rotation of the two-degree-of-freedom rotary table 21 so that the laser emitter 31
  • the emitted laser beam 310 accurately indicates the false bottom position corresponding to the given coordinates, thereby completing the false bottom positioning work.
  • the algorithm principle in the control solution software of this embodiment is shown in FIG. 3, and can be based on the given coordinates (X, Y, Z) on the pool bottom and the position coordinates (X0, Y0, Z0) of the laser emitter 31.
  • the known motor rotation angle ( ⁇ , ⁇ ) and the rotary table position height H are obtained as the position coordinates (X0, Y0, Z0) of the laser emitter 31.
  • the absolute coordinate system of the pool bottom is XYZ
  • the local coordinate system of the two-degree-of-freedom rotary table 21 is The coordinate position in the absolute coordinate system is (X0, Y0, Z0), and the corner is ( ⁇ ', ⁇ ', ⁇ ').
  • ⁇ 0 and ⁇ 0 are initial motor rotation angles.

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  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种用于海洋工程水池假底（100）布置的定位装置，包括：激光发射系统、旋转平台系统、控制与计算系统。其中激光发射系统包括用于提供激光光束（310）的激光发射器（31）；旋转平台系统包括两自由度旋转台（21），该两自由度旋转台（21）用于搭载激光发射器（31），并使激光光束（310）具有空间任意指向性；控制与计算系统用于根据给定的坐标计算出两自由度旋转台（21）需要转动的角度，并控制两自由度旋转台（21）的转动，使激光发射器（31）发出的激光光束（310）能够准确地指示水池假底（100）上给定的坐标。与现有的假底人工定位方式相比，该定位装置精度高、操作简单、快捷、节省人力，大幅提高试验效率。

Description

一种用于海洋工程水池假底布置的定位装置 技术领域
本发明涉及一种用于海洋工程技术领域的定位装置，尤其涉及一种用于海洋工程水池假底布置的定位装置。
背景技术
海洋工程水池是海洋工程研究的重要设备，主要担负着海洋结构物模型试验的任务，在海洋工程领域的研究中发挥着举足轻重的作用。为了模拟不同水深的海洋环境，海洋工程水池通常会安装整体可升降的大面积假底。通过假底的升降，可以调节不同的试验水深，从而模拟不同水深的海洋环境。
在模型试验中，假底用以模拟真实海洋环境中的海底。在实际海洋作业生产活动中，海洋结构物大多通过锚泊系统进行定位，其锚链的一端固定在海洋结构物上，另一端，固定在海底。在模型试验中，会将根据试验缩尺关系计算出锚链在假底上的坐标，并在该假底上找到对应的点，作为模型试验锚泊系统的海底锚泊点。
在模型试验准备阶段，需要在假底上找到各个锚链的锚泊点，并做好标记，便于试验时布置锚链。现有的定位方法通常是先将假底升出水面，然后在假底上量尺、划线、定位，找到锚泊点，并做相应标记。虽然这种方法简单、直观，但操作非常繁琐，通常需要由3-4人在假底上操作，效率低，且其精度也较低。
发明内容
有鉴于现有技术的上述缺陷，本发明所要解决的技术问题是提供一种结构简单、操作快捷、定位精度高、工作效率高、工作稳定的用于海洋工程水池假底布置的定位装置。
为实现上述目的，本发明提供了一种用于海洋工程水池假底布置的定位装置，包括：
激光发射系统，所述激光发射系统包括激光发射器，所述激光发射器用于提供激光光束；
旋转平台系统，所述旋转平台系统包括两自由度旋转台，所述两自由度旋转台用于搭载所述激光发射器，并使所述激光光束具有空间任意指向性；
控制与计算系统，所述控制与计算系统用于根据给定的坐标计算出所述两自由度旋转台需要转动的角度，并控制所述两自由度旋转台的转动，使所述激光发射器发出 的所述激光光束能够准确地指示水池假底上给定的坐标。
进一步地，所述激光发射系统还包括激光控制器，所述激光控制器设置在所述激光发射器的内部，用于控制所述激光发射器的开关和所述激光光束的强度。
进一步地，所述两自由度旋转台包括第一旋转电机和第二旋转电机，所述第一旋转电机的旋转轴和所述第二旋转电机的旋转轴相互垂直，所述第一旋转电机和所述第二旋转电机能够分别沿各自对应的旋转轴360°旋转。
进一步地，所述旋转平台系统还包括转角位置传感器，所述转角位置传感器设置在所述两自由度旋转台的内部，所述转角位置传感器能够精确地测量实时的所述第一旋转电机和所述第二旋转电机的转动位置，并将所述转动位置传输给所述控制与计算系统。
进一步地，所述控制与计算系统包括控制终端、计算机和控制解算软件；所述控制终端用于控制所述计算机运行所述控制解算软件；所述控制解算软件具有的功能包括参数校验与标定、参数输入与解算、激光源控制、旋转台电机控制。
进一步地，所述参数校验与标定指的是所述控制解算软件通过对水池假底上已知坐标的标定，利用已知的坐标和对应的电机旋转角度，解算出所述两自由度旋转台自身的坐标与姿态参数。
进一步地，所述参数输入与解算指的是手动输入水池假底上需要指示的坐标后，所述控制解算软件能够自动解算出与之对应的所述第一旋转电机和所述第二旋转电机所需的旋转角度。
进一步地，所述激光源控制指的是所述控制解算软件对所述激光发射器实现远程手动或自动开启、关闭的控制。
进一步地，所述旋转台电机控制指的是所述控制解算软件能够手动或自动控制所述第一旋转电机和所述第二旋转电机到达任意方位角。
进一步地，所述激光发射器具有高精度、准直性好、可以远程控制等特点，同时所述激光发射器发射的激光能量保持在人可以安全接触的范围内，对人体无害。
进一步地，所述第一旋转电机和所述第二旋转电机均具有转动范围大、控制精度高、步长小等特点，同时具备一定的防尘防潮性能，适用于海洋工程水池的特殊工作环境。
本发明还提供了一种如上述任意一种定位装置对海洋工程水池假底进行定位的方法，包括如下步骤：
第一步，将所述旋转平台系统固定于水池假底顶部的固定位置，并保证所述两自由度旋转台中的第一旋转电机处于水平位置，从而使所述激光发射器发出的激光光束能够没有遮挡地覆盖水池假底的所有范围；
第二步，在所述水池假底旁设置所述控制与计算系统，利用所述控制与计算系统控制所述两自由度旋转台的转动，使所述激光发射器发出的激光光束对准已知的水池假底 的固定参考点，运行标定程序，解算出所述两自由度旋转台自身的坐标与姿态参数；
第三步，输入需要指示的坐标，所述控制与计算系统根据给定的坐标计算出所述两自由度旋转台需要转动的角度，并控制所述两自由度旋转台的转动，使所述激光发射器发出的激光光束准确地指示与所述给定的坐标对应的假底位置，从而完成假底定位工作。
本发明的有益效果是：
本发明的一种用于海洋工程水池假底布置的定位装置，利用激光直线传播等特点，由两部无级变速电动机驱动，可以精确地在假底上指示任意坐标的位置，定位清晰，功能明确，结构组成容易实现。与现有的假底人工定位方式相比，本装置精度高、操作简单、快捷、节省人力，大幅提高试验效率。与其他领域应用的GPS定位等装置相比，本装置结构简单，实用性强，造价低廉，精度较高。
以下将结合附图对本发明的构思、具体结构及产生的技术效果作进一步说明，以充分地了解本发明的目的、特征和效果。
附图说明
图1是本发明的一个较佳实施例的用于海洋工程水池假底布置的定位装置的结构示意图；
图2是本发明的一个较佳实施例的两自由度旋转台的结构示意图；
图3是本发明的一个较佳实施例的算法原理示意图。
具体实施方式
如图1所示，本发明的一个较佳实施例提供了一种用于海洋工程水池假底布置的定位装置，其结构包括激光发射系统、旋转平台系统、控制与计算系统。其中控制与计算系统设置在水池假底100旁边，包括控制终端11、计算机12和控制解算软件。控制终端11用于控制计算机12运行控制解算软件。
旋转平台系统通过网线13与控制终端11连接，旋转平台系统包括两自由度旋转台21和转角位置传感器，两自由度旋转台21设置在水池假底100的顶部，比如本实施例中，两自由度旋转台21固定在水池假底100顶部的房顶200上。两自由度旋转台21包括第一旋转电机211和第二旋转电机212，第一旋转电机211的旋转轴和第二旋转电机212的旋转轴相互垂直，第一旋转电机211和第二旋转电机212能够分别沿各自对应的旋转轴360°旋转。本实施例的第一旋转电机211和第二旋转电机212均具有转动范围大、控制精度高、步长小等特点，同时具备一定的防尘防潮性能，适用于海洋工程水池的特殊工作环境。旋转平台系统中的转角位置传感器设置在两自由度旋转台21的内部，能够精确地测量出实时的第一旋转电机211和第二旋转电机212的转动位置，并将该转动位置传输给控制与计算系统。
激光发射系统包括激光发射器31和激光控制器，激光发射器31搭载在两自由度旋转台21上，具体来说是固定在第二旋转电机212上，如图2所示。激光发射器31作为激光光源，用于提供激光光束310。本实施例中，第一旋转电机211所在的平台处于水平位置，从而使激光发射器31发出的激光光束310能够没有遮挡地覆盖水池假底100的所有范围。由于第一旋转电机211和第二旋转电机212能够分别沿各自对应的旋转轴360°旋转，因而激光发射器31发出的激光光束310具有空间任意指向性。本实施例的激光发射器31具有高精度、准直性好、可以远程控制等特点，同时激光发射器31发射的激光能量保持在人可以安全接触的范围内，对人体无害。激光发射系统中的激光控制器设置在激光发射器31的内部，用于控制激光发射器31的开关和激光光束的强度，激光控制器通过网线与激光发射器31连接，还能够实现对激光发射器的远程控制。
本实施例的控制与计算系统用于根据给定的坐标计算出两自由度旋转台21需要转动的角度，并控制两自由度旋转台21的转动，使激光发射器31发出的激光光束能够准确地指示水池假底100上给定的坐标。控制与计算系统中的控制解算软件具有的功能包括参数校验与标定、参数输入与解算、激光源控制、旋转台电机控制。
其中，参数校验与标定指的是控制解算软件通过对水池假底上已知坐标的标定，利用已知的坐标和对应的电机旋转角度，解算出两自由度旋转台21自身的坐标与姿态参数。参数输入与解算指的是手动输入水池假底上需要指示的坐标后，控制解算软件能够自动解算出与之对应的第一旋转电机211和第二旋转电机212所需的旋转角度。激光源控制指的是控制解算软件对激光发射器31实现远程手动或自动开启、关闭的控制。旋转台电机控制指的是控制解算软件能够手动或自动控制第一旋转电机211和第二旋转电机212到达任意方位角。
本实施用于海洋工程水池假底布置的定位装置的工作过程如下：
第一步，利用控制与计算系统控制两自由度旋转台21转动，使激光发射器31发出的激光光束310对准已知的水池假底100的固定参考点，运行标定程序，解算出两自由度旋转台21自身的坐标与姿态参数；
第二步，输入需要指示的坐标，控制与计算系统根据给定的坐标计算出两自由度高精度旋转21台需要转动的角度，并控制两自由度旋转台21的转动，使激光发射器31发出的激光光束310准确地指示与给定的坐标对应的假底位置，从而完成假底定位工作。
本实施例的控制解算软件中的算法原理如图3所示，可以根据水池假底上的给定坐标(X，Y，Z)和激光发射器31的位置坐标(X0，Y0，Z0)，算出所需的两个电机(即第一电机211和第二电机212)的旋转角度(α，β)；同时也具备通过瞄准给定的水池点坐标(X，Y，Z)，和已知的电机旋转角度(α，β)和旋转台位置高度H，得到激光发射器31的位置坐标(X0，Y0，Z0)的能力。
水池假底绝对坐标系为XYZ，两自由度旋转台21自身局部坐标系为
Figure PCTCN2015089627-appb-000001
在绝对坐标系中的坐标位置为(X0，Y0，Z0)，转角为(α′，β′，γ′)。
安装时经过调整，可以保证两坐标系间夹角α′，β′，γ′均为小角度，则两坐标系满足转换关系：
Figure PCTCN2015089627-appb-000002
将假底绝对坐标系中点坐标(X，Y，Z)转入两自由度旋转台21的相对坐标系中，为点
Figure PCTCN2015089627-appb-000003
在相对坐标系中，满足如下关系：
Figure PCTCN2015089627-appb-000004
Figure PCTCN2015089627-appb-000005
(1)给定位置坐标(X，Y，Z)，已知两个电机的旋转角度(α，β)，两自由度旋转台21的位置高度H，求解激光发射器31的位置坐标(X0，Y0，Z0)：
Figure PCTCN2015089627-appb-000006
(2)给定坐标(X，Y，Z)，已知激光发射器31的位置坐标(X0，Y0，Z0)，求解两个电机的旋转角度(α，β)：
Figure PCTCN2015089627-appb-000007
Figure PCTCN2015089627-appb-000008
Figure PCTCN2015089627-appb-000009
其中，α0，β0为初始电机转角。
以上详细描述了本发明的较佳具体实施例。应当理解，本领域的普通技术人员无需创造性劳动就可以根据本发明的构思作出诸多修改和变化。因此，凡本技术领域中技术人员依本发明的构思在现有技术的基础上通过逻辑分析、推理或者有限的实验可 以得到的技术方案，皆应在由权利要求书所确定的保护范围内。

Claims (10)

  1. 一种用于海洋工程水池假底布置的定位装置，其特征在于，包括：
    激光发射系统，所述激光发射系统包括激光发射器，所述激光发射器用于提供激光光束；
    旋转平台系统，所述旋转平台系统包括两自由度旋转台，所述两自由度旋转台用于搭载所述激光发射器，并使所述激光光束具有空间任意指向性；
    控制与计算系统，所述控制与计算系统用于根据给定的坐标计算出所述两自由度旋转台需要转动的角度，并控制所述两自由度旋转台的转动，使所述激光发射器发出的所述激光光束能够准确地指示水池假底上给定的坐标。
  2. 如权利要求1所述的定位装置，其特征在于，所述激光发射系统还包括激光控制器，所述激光控制器设置在所述激光发射器的内部，用于控制所述激光发射器的开关和所述激光光束的强度。
  3. 如权利要求1所述的定位装置，其特征在于，所述两自由度旋转台包括第一旋转电机和第二旋转电机，所述第一旋转电机的旋转轴和所述第二旋转电机的旋转轴相互垂直，所述第一旋转电机和所述第二旋转电机能够分别沿各自对应的旋转轴360°旋转。
  4. 如权利要求3所述的定位装置，其特征在于，所述旋转平台系统还包括转角位置传感器，所述转角位置传感器设置在所述两自由度旋转台的内部，所述转角位置传感器能够精确地测量实时的所述第一旋转电机和所述第二旋转电机的转动位置，并将所述转动位置传输给所述控制与计算系统。
  5. 如权利要求1所述的定位装置，其特征在于，所述控制与计算系统包括控制终端、计算机和控制解算软件；所述控制终端用于控制所述计算机运行所述控制解算软件；所述控制解算软件具有的功能包括参数校验与标定、参数输入与解算、激光源控制、旋转台电机控制。
  6. 如权利要求5所述的定位装置，其特征在于，所述参数校验与标定指的是所述控制解算软件通过对水池假底上已知坐标的标定，利用已知的坐标和对应的电机旋转角度，解算出所述两自由度旋转台自身的坐标与姿态参数。
  7. 如权利要求5所述的定位装置，其特征在于，所述参数输入与解算指的是手动输入水池假底上需要指示的坐标后，所述控制解算软件能够自动解算出与之对应的所述第一旋转电机和所述第二旋转电机所需的旋转角度。
  8. 如权利要求5所述的定位装置，其特征在于，所述激光源控制指的是所述控制解算软件对所述激光发射器实现远程手动或自动开启、关闭的控制。
  9. 如权利要求5所述的定位装置，其特征在于，所述旋转台电机控制指的是所述控制解算软件能够手动或自动控制所述第一旋转电机和所述第二旋转电机到达任意方 位角。
  10. 一种如权利要求1～9中任意一项所述的定位装置对海洋工程水池假底进行定位的方法，其特征在于，包括如下步骤：
    第一步，将所述旋转平台系统固定于水池假底顶部的固定位置，使所述激光发射器发出的激光光束能够没有遮挡地覆盖水池假底的所有范围；
    第二步，利用所述控制与计算系统控制所述两自由度旋转台的转动，使所述激光发射器发出的激光光束对准已知的水池假底的固定参考点，运行标定程序，解算出所述两自由度旋转台自身的坐标与姿态参数；
    第三步，输入需要指示的坐标，所述控制与计算系统根据给定的坐标计算出所述两自由度旋转台需要转动的角度，并控制所述两自由度旋转台的转动，使所述激光发射器发出的激光光束准确地指示与所述给定的坐标对应的假底位置，从而完成假底定位工作。
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